From eef02530df35200adff03a759ef6aefb99f6febe Mon Sep 17 00:00:00 2001 From: charlizew1 Date: Thu, 19 Mar 2026 10:59:22 +0800 Subject: [PATCH 1/6] got rid of unused code --- .../lib/swerve/pathplanner/PathPlanner.java | 18 ------------------ 1 file changed, 18 deletions(-) diff --git a/src/main/java/com/team6962/lib/swerve/pathplanner/PathPlanner.java b/src/main/java/com/team6962/lib/swerve/pathplanner/PathPlanner.java index dc363c34..e0c5b103 100644 --- a/src/main/java/com/team6962/lib/swerve/pathplanner/PathPlanner.java +++ b/src/main/java/com/team6962/lib/swerve/pathplanner/PathPlanner.java @@ -27,7 +27,6 @@ public class PathPlanner { private CommandSwerveDrive drivetrain; - private ChassisSpeeds lastSpeeds; private boolean trackingTranslation = false; private boolean trackingRotation = false; private Map mirroredPaths = new HashMap<>(); @@ -43,21 +42,6 @@ public PathPlanner(CommandSwerveDrive drivetrain) { ChassisSpeeds appliedSpeeds = ChassisSpeeds.fromRobotRelativeSpeeds(speeds, new Rotation2d(drivetrain.getYaw())); - if (lastSpeeds != null) { - appliedSpeeds.vxMetersPerSecond += - (appliedSpeeds.vxMetersPerSecond - lastSpeeds.vxMetersPerSecond) - / 0.02 - * drivetrain.getConstants().Driving.AutoLinearAccelerationScalar; - appliedSpeeds.vyMetersPerSecond += - (appliedSpeeds.vyMetersPerSecond - lastSpeeds.vyMetersPerSecond) - / 0.02 - * drivetrain.getConstants().Driving.AutoLinearAccelerationScalar; - appliedSpeeds.omegaRadiansPerSecond += - (appliedSpeeds.omegaRadiansPerSecond - lastSpeeds.omegaRadiansPerSecond) - / 0.02 - * drivetrain.getConstants().Driving.AutoAngularAccelerationScalar; - } - if (!trackingTranslation) { appliedSpeeds.vxMetersPerSecond = 0; appliedSpeeds.vyMetersPerSecond = 0; @@ -149,7 +133,6 @@ private Command followPath( public void initialize() { trackingRotation = trackRotation; trackingTranslation = trackTranslation; - lastSpeeds = null; pathPlannerCommand.initialize(); } @@ -163,7 +146,6 @@ public void end(boolean interrupted) { pathPlannerCommand.end(interrupted); trackingRotation = false; trackingTranslation = false; - lastSpeeds = null; } @Override From 9f1f78600c3ef40f26cd3c2fb124c9e4666847ad Mon Sep 17 00:00:00 2001 From: charlizew1 Date: Mon, 30 Mar 2026 03:17:14 +0800 Subject: [PATCH 2/6] created depot outpost code and choreo and made an off center line choreo --- .../deploy/choreo/left_depot_outpost.traj | 345 +++++++++++ .../choreo/left_off_center_neutral.traj | 557 ++++++++++++++++++ src/main/java/frc/robot/auto/Autonomous.java | 88 +++ 3 files changed, 990 insertions(+) create mode 100644 src/main/deploy/choreo/left_depot_outpost.traj create mode 100644 src/main/deploy/choreo/left_off_center_neutral.traj diff --git a/src/main/deploy/choreo/left_depot_outpost.traj b/src/main/deploy/choreo/left_depot_outpost.traj new file mode 100644 index 00000000..a7ef5e22 --- /dev/null +++ b/src/main/deploy/choreo/left_depot_outpost.traj @@ -0,0 +1,345 @@ +{ + "name":"left_depot_outpost", + "version":3, + 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"fx":[89.00713,88.78541,88.90416,89.06249], "fy":[5.10531,-8.09939,-6.98195,4.52697]}, + {"t":10.41048, "x":3.40356, "y":7.43038, "heading":0.00417, "vx":-0.45619, "vy":0.00802, "omega":-0.08559, "ax":6.27454, "ay":-0.10364, "alpha":1.16252, "fx":[89.01579,88.77562,88.89685,89.07237], "fy":[5.10858,-8.30086,-7.17407,4.49006]}, + {"t":10.43471, "x":3.39435, "y":7.43055, "heading":0.00209, "vx":-0.30413, "vy":0.00551, "omega":-0.05742, "ax":6.27455, "ay":-0.11048, "alpha":1.17771, "fx":[89.0238,88.76611,88.89005,89.0812], "fy":[5.10925,-8.48623,-7.34589,4.45875]}, + {"t":10.45895, "x":3.38882, "y":7.43065, "heading":0.0007, "vx":-0.15206, "vy":0.00283, "omega":-0.02888, "ax":6.27455, "ay":-0.11672, "alpha":1.19156, "fx":[89.03128,88.75683,88.88383,89.08908], "fy":[5.10689,-8.65833,-7.49938,4.43308]}, + {"t":10.48318, "x":3.38698, "y":7.43068, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], + "splits":[0,32] + }, + "events":[] +} diff --git a/src/main/java/frc/robot/auto/Autonomous.java b/src/main/java/frc/robot/auto/Autonomous.java index bb1be985..0bab5d6e 100644 --- a/src/main/java/frc/robot/auto/Autonomous.java +++ b/src/main/java/frc/robot/auto/Autonomous.java @@ -71,6 +71,70 @@ private Command doubleNeutralCycle(boolean rightSide) { shootFuel.shoot()); } + private Command depotOutpostCycle(boolean rightSide) { + return Commands.sequence( + Commands.runOnce( + () -> + robot + .getSwerveDrive() + .getLocalization() + .resetPosition(mirrorPose(LEFT_START_POSE, rightSide))), + robot + .getSwerveDrive() + .followPath("left_depot_outpost.0", rightSide), + shootFuel.shoot(), + robot + .getSwerveDrive() + .followPath("left_depot_outpost.1", rightSide), + robot.getIntakeExtension().extend(), robot.getIntakeRollers().intakeFast(), + robot + .getSwerveDrive() + .followPath("left_depot_outpost.2", rightSide) + .deadlineFor(robot.getIntakeExtension().retract()), + shootFuel.shoot(), + robot + .getSwerveDrive() + .followPath("left_depot_outpost.3", rightSide), + shootFuel.shoot()); + } + + private Command depotCycle(boolean rightSide) { + return Commands.sequence( + Commands.runOnce( + () -> + robot + .getSwerveDrive() + .getLocalization() + .resetPosition(mirrorPose(LEFT_START_POSE, rightSide))), + robot + .getSwerveDrive() + .followPath("left_depot_outpost.0", rightSide), + shootFuel.shoot(), + robot + .getSwerveDrive() + .followPath("left_depot_outpost.1", rightSide), + robot.getIntakeExtension().extend(), robot.getIntakeRollers().intakeFast(), + robot + .getSwerveDrive() + .followPath("left_depot_outpost.2", rightSide) + .deadlineFor(robot.getIntakeExtension().retract()), + shootFuel.shoot()); + } + + private Command outpostCycle(boolean rightSide) { + return Commands.sequence( + Commands.runOnce( + () -> + robot + .getSwerveDrive() + .getLocalization() + .resetPosition(mirrorPose(LEFT_START_POSE, rightSide))), + robot + .getSwerveDrive() + .followPath("left_depot_outpost.3", rightSide), + shootFuel.shoot()); + } + public Command leftSingleNeutralCycle() { return singleNeutralCycle(false); } @@ -87,6 +151,30 @@ public Command rightDoubleNeutralCycle() { return doubleNeutralCycle(true); } + public Command leftDepotOutpostCycle() { + return depotOutpostCycle(false); + } + + public Command rightDepotOutpostCycle() { + return depotOutpostCycle(true); + } + + public Command leftDepotCycle() { + return depotCycle(false); + } + + public Command rightDepotCycle() { + return depotCycle(true); + } + + public Command leftOutpostCycle() { + return outpostCycle(false); + } + + public Command rightOutpostCycle() { + return outpostCycle(true); + } + public Command preload() { return shootFuel .shoot() From f6eeb194fc9b46b3a7f6cffe039a853d33b6490d Mon Sep 17 00:00:00 2001 From: charlizew1 Date: Mon, 30 Mar 2026 03:48:46 +0800 Subject: [PATCH 3/6] made off center double and single code --- src/main/java/frc/robot/auto/Autonomous.java | 95 ++++++++++++++++---- 1 file changed, 78 insertions(+), 17 deletions(-) diff --git a/src/main/java/frc/robot/auto/Autonomous.java b/src/main/java/frc/robot/auto/Autonomous.java index 0bab5d6e..6ce41252 100644 --- a/src/main/java/frc/robot/auto/Autonomous.java +++ b/src/main/java/frc/robot/auto/Autonomous.java @@ -79,23 +79,17 @@ private Command depotOutpostCycle(boolean rightSide) { .getSwerveDrive() .getLocalization() .resetPosition(mirrorPose(LEFT_START_POSE, rightSide))), - robot - .getSwerveDrive() - .followPath("left_depot_outpost.0", rightSide), - shootFuel.shoot(), - robot - .getSwerveDrive() - .followPath("left_depot_outpost.1", rightSide), + robot.getSwerveDrive().followPath("left_depot_outpost.0", rightSide), + shootFuel.shootAllFuelStationary(), + robot.getSwerveDrive().followPath("left_depot_outpost.1", rightSide), robot.getIntakeExtension().extend(), robot.getIntakeRollers().intakeFast(), robot .getSwerveDrive() .followPath("left_depot_outpost.2", rightSide) .deadlineFor(robot.getIntakeExtension().retract()), - shootFuel.shoot(), - robot - .getSwerveDrive() - .followPath("left_depot_outpost.3", rightSide), - shootFuel.shoot()); + shootFuel.shootAllFuelStationary(), + robot.getSwerveDrive().followPath("left_depot_outpost.3", rightSide), + shootFuel.shootAllFuelStationary()); } private Command depotCycle(boolean rightSide) { @@ -109,7 +103,7 @@ private Command depotCycle(boolean rightSide) { robot .getSwerveDrive() .followPath("left_depot_outpost.0", rightSide), - shootFuel.shoot(), + shootFuel.shootAllFuelStationary(), robot .getSwerveDrive() .followPath("left_depot_outpost.1", rightSide), @@ -118,7 +112,7 @@ private Command depotCycle(boolean rightSide) { .getSwerveDrive() .followPath("left_depot_outpost.2", rightSide) .deadlineFor(robot.getIntakeExtension().retract()), - shootFuel.shoot()); + shootFuel.shootAllFuelStationary()); } private Command outpostCycle(boolean rightSide) { @@ -129,10 +123,61 @@ private Command outpostCycle(boolean rightSide) { .getSwerveDrive() .getLocalization() .resetPosition(mirrorPose(LEFT_START_POSE, rightSide))), + robot.getSwerveDrive().followPath("left_depot_outpost.0", rightSide), + shootFuel.shootAllFuelStationary(), + robot.getSwerveDrive().followPath("left_depot_outpost.3", rightSide), + shootFuel.shootAllFuelStationary()); + } + + private Command doubleOffCenterNeutralCycle(boolean rightSide) { + return Commands.sequence( + Commands.runOnce( + () -> + robot + .getSwerveDrive() + .getLocalization() + .resetPosition(mirrorPose(LEFT_START_POSE, rightSide))), + robot.getSwerveDrive().followPath("left_off_center_neutral.0", rightSide), robot .getSwerveDrive() - .followPath("left_depot_outpost.3", rightSide), - shootFuel.shoot()); + .followPath("left_off_center_neutral.1", rightSide) + .deadlineFor(robot.getIntakeExtension().extend(), robot.getIntakeRollers().intakeFast()), + robot.getIntakeExtension().retract(), + robot.getSwerveDrive().followPath("left_off_center_neutral.2", rightSide), + shootFuel.shootAllFuelStationary(), + robot + .getSwerveDrive() + .followPath("left_off_center_neutral.3", rightSide) + .deadlineFor( + robot.getIntakeExtension().extend()), + robot + .getSwerveDrive() + .followPath("left_off_center_neutral.4", rightSide) + .deadlineFor( + robot.getIntakeRollers().intakeFast()), + robot.getIntakeExtension().retract(), + robot + .getSwerveDrive() + .followPath("left_off_center_neutral.5", rightSide), + shootFuel.shootAllFuelStationary()); + } + + private Command singleOffCenterNeutralCycle(boolean rightSide) { + return Commands.sequence( + Commands.runOnce( + () -> + robot + .getSwerveDrive() + .getLocalization() + .resetPosition(mirrorPose(LEFT_START_POSE, rightSide))), + robot.getSwerveDrive().followPath("left_off_center_neutral.0", rightSide), + robot + .getSwerveDrive() + .followPath("left_off_center_neutral.1", rightSide) + .deadlineFor(robot.getIntakeExtension().extend(), robot.getIntakeRollers().intakeFast()), + robot.getIntakeExtension().retract(), + robot.getSwerveDrive().followPath("left_off_center_neutral.2", rightSide), + shootFuel.shootAllFuelStationary()); } public Command leftSingleNeutralCycle() { @@ -167,7 +212,7 @@ public Command rightDepotCycle() { return depotCycle(true); } - public Command leftOutpostCycle() { + public Command leftOutpostCycle() { return outpostCycle(false); } @@ -175,6 +220,22 @@ public Command rightOutpostCycle() { return outpostCycle(true); } + public Command leftSingleOffCenterNeutralCycle() { + return singleOffCenterNeutralCycle(false); + } + + public Command rightSingleOffCenterNeutralCycle() { + return singleOffCenterNeutralCycle(true); + } + + public Command leftDoubleOffCenterNeutralCycle() { + return doubleOffCenterNeutralCycle(false); + } + + public Command rightDoubleOffCenterNeutralCycle() { + return doubleOffCenterNeutralCycle(true); + } + public Command preload() { return shootFuel .shoot() From 733da3e3e5cb7288064de3f89346755087c6ae48 Mon Sep 17 00:00:00 2001 From: charlizew1 Date: Mon, 30 Mar 2026 03:49:43 +0800 Subject: [PATCH 4/6] tweaked the choreo --- src/main/deploy/choreo/left_neutral.traj | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/deploy/choreo/left_neutral.traj b/src/main/deploy/choreo/left_neutral.traj index 1bb6d0a3..c2010658 100644 --- a/src/main/deploy/choreo/left_neutral.traj +++ b/src/main/deploy/choreo/left_neutral.traj @@ -50,7 +50,7 @@ {"x":{"exp":"6.308206081390381 m", "val":6.308206081390381}, "y":{"exp":"3.457355260848999 m", "val":3.457355260848999}, "heading":{"exp":"1.594600939174493 rad", "val":1.594600939174493}, "intervals":82, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"6.103530406951904 m", "val":6.103530406951904}, "y":{"exp":"7.012250900268555 m", "val":7.012250900268555}, "heading":{"exp":"2.5661680713290727 rad", "val":2.5661680713290727}, "intervals":21, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"5.575682163238525 m", "val":5.575682163238525}, "y":{"exp":"7.432374954223633 m", "val":7.432374954223633}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"3.4104273319244385 m", "val":3.4104273319244385}, "y":{"exp":"7.453919887542725 m", "val":7.453919887542725}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":{"exp":"3.4280807971954346 m", "val":3.4280807971954346}, "y":{"exp":"7.475034713745117 m", "val":7.475034713745117}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, From 765abcd204b81066b1bc2d336779247ec6770db3 Mon Sep 17 00:00:00 2001 From: charlizew1 Date: Tue, 31 Mar 2026 02:56:05 +0800 Subject: [PATCH 5/6] made right depot and outpost paths and code --- .../deploy/choreo/left_depot_outpost.traj | 564 ++++----- .../choreo/left_off_center_neutral.traj | 1027 +++++++++-------- .../deploy/choreo/right_depot_outpost.traj | 362 ++++++ src/main/java/frc/robot/RobotContainer.java | 11 + src/main/java/frc/robot/auto/Autonomous.java | 134 ++- 5 files changed, 1301 insertions(+), 797 deletions(-) create mode 100644 src/main/deploy/choreo/right_depot_outpost.traj diff --git a/src/main/deploy/choreo/left_depot_outpost.traj b/src/main/deploy/choreo/left_depot_outpost.traj index a7ef5e22..f5b260c3 100644 --- a/src/main/deploy/choreo/left_depot_outpost.traj +++ b/src/main/deploy/choreo/left_depot_outpost.traj @@ -8,14 +8,14 @@ {"x":3.4104273319244385, "y":7.621623992919922, "heading":0.0, "intervals":25, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":2.957810163497925, "y":6.9522833824157715, "heading":0.0, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":2.545908212661743, "y":6.334430694580078, "heading":0.0, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, - {"x":1.6019666194915771, "y":5.939691543579102, "heading":3.141592653589793, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":0.7471681833267212, "y":6.018139362335205, "heading":3.141592653589793, "intervals":21, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":1.6019666194915771, "y":5.939691543579102, "heading":3.141592653589793, "intervals":18, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":0.41831302642822266, "y":5.9536051750183105, "heading":3.141592653589793, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":2.3399572372436523, "y":6.334430694580078, "heading":0.0, "intervals":21, "split":true, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, - {"x":3.4211995601654053, "y":7.621623992919922, "heading":0.0, "intervals":30, "split":true, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":3.4010961055755615, "y":7.576888561248779, "heading":0.0, "intervals":30, "split":true, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":2.2541444301605225, "y":4.583847999572754, "heading":0.0, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, - {"x":1.636291742324829, "y":2.730289936065674, "heading":0.0, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, - {"x":1.207227349281311, "y":0.6192929744720459, "heading":3.141592653589793, "intervals":32, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":0.42111098766326904, "y":0.6381959319114685, "heading":0.0, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":1.636291742324829, "y":2.730289936065674, "heading":0.0, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, + {"x":1.165044188499451, "y":0.7443870902061462, "heading":3.141592653589793, "intervals":32, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":0.3821360468864441, "y":0.6465235948562622, "heading":0.0, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, @@ -29,14 +29,14 @@ {"x":{"exp":"3.4104273319244385 m", "val":3.4104273319244385}, "y":{"exp":"7.621623992919922 m", "val":7.621623992919922}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":25, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"2.957810163497925 m", "val":2.957810163497925}, "y":{"exp":"6.9522833824157715 m", "val":6.9522833824157715}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, {"x":{"exp":"2.545908212661743 m", "val":2.545908212661743}, "y":{"exp":"6.334430694580078 m", "val":6.334430694580078}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":27, "split":false, "fixTranslation":true, "fixHeading":false, "overrideIntervals":false}, - {"x":{"exp":"1.6019666194915771 m", "val":1.6019666194915771}, "y":{"exp":"5.939691543579102 m", "val":5.939691543579102}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"0.7471681833267212 m", "val":0.7471681833267212}, "y":{"exp":"6.018139362335205 m", "val":6.018139362335205}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":21, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"1.6019666194915771 m", "val":1.6019666194915771}, "y":{"exp":"5.939691543579102 m", "val":5.939691543579102}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":18, "split":true, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"0.41831302642822266 m", "val":0.41831302642822266}, "y":{"exp":"5.9536051750183105 m", "val":5.9536051750183105}, "heading":{"exp":"3.141592653589793 rad", "val":3.141592653589793}, "intervals":23, "split":false, 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"fy":[30.51964,-18.93049,-32.29045,2.8382]}, + {"t":6.74671, "x":0.67783, "y":0.68926, "heading":2.63609, "vx":-1.70062, "vy":-0.15417, "omega":2.75177, "ax":5.94501, "ay":-0.11896, "alpha":-5.12268, "fx":[79.91028,85.89124,82.69805,88.57666], "fy":[38.34514,-19.92193,-32.26795,7.09982]}, + {"t":6.76328, "x":0.65047, "y":0.68669, "heading":2.6817, "vx":-1.60209, "vy":-0.15614, "omega":2.66687, "ax":5.87807, "ay":0.03046, "alpha":-5.70101, "fx":[76.66258,85.46197,82.90407,88.25225], "fy":[44.60327,-21.79458,-31.90719,10.82529]}, + {"t":6.77986, "x":0.62472, "y":0.6841, "heading":2.72589, "vx":-1.50468, "vy":-0.15563, "omega":2.57239, "ax":5.8087, "ay":0.14466, "alpha":-6.23276, "fx":[73.52423,84.81018,83.18877,87.82453], "fy":[49.6948,-24.33317,-31.30308,14.14354]}, + {"t":6.79643, "x":0.60058, "y":0.68154, "heading":2.76853, "vx":-1.40841, "vy":-0.15324, "omega":2.46909, "ax":5.7381, "ay":0.23308, "alpha":-6.73555, "fx":[70.5492,83.94728,83.52296,87.32516], "fy":[53.90298,-27.29903,-30.5254,17.13678]}, + {"t":6.813, "x":0.57803, "y":0.67904, "heading":2.80945, "vx":-1.31331, "vy":-0.14937, "omega":2.35746, "ax":5.66715, "ay":0.3034, "alpha":-7.21649, "fx":[67.75621,82.90558,83.88434,86.77608], "fy":[57.42824,-30.45787,-29.62711,19.85931]}, + {"t":6.82957, "x":0.55704, "y":0.6766, "heading":2.84852, "vx":-1.21939, "vy":-0.14434, "omega":2.23787, "ax":5.59684, "ay":0.36168, "alpha":-7.67564, "fx":[65.14824,81.73765,84.25599,86.19379], "fy":[60.41429,-33.60596,-28.64951,22.34804]}, + {"t":6.84615, "x":0.5376, "y":0.67426, "heading":2.8856, "vx":-1.12664, "vy":-0.13835, "omega":2.11066, "ax":5.52824, "ay":0.41237, "alpha":-8.10945, "fx":[62.72154,80.50764,84.62526,85.59163], "fy":[62.96613,-36.58784,-27.6257,24.62868]}, + {"t":6.86272, "x":0.51969, "y":0.67202, "heading":2.92058, "vx":-1.03502, "vy":-0.13152, "omega":1.97626, "ax":5.4624, "ay":0.45851, "alpha":-8.51343, "fx":[60.46979,79.27951,84.98285,84.98091], "fy":[65.16205,-39.30202,-26.58279,26.71959]}, + {"t":6.87929, "x":0.50329, "y":0.66991, "heading":2.95334, "vx":-0.94449, "vy":-0.12392, "omega":1.83517, "ax":5.40021, "ay":0.50189, "alpha":-8.88386, "fx":[58.38597,78.10736,85.32209,84.37155], "fy":[67.06167,-41.69609,-25.54328,28.63422]}, + {"t":6.89587, "x":0.48838, "y":0.66792, "heading":2.98375, "vx":-0.85499, "vy":-0.1156, "omega":1.68794, "ax":5.34232, "ay":0.54343, "alpha":-9.21865, "fx":[56.46304,77.03029,85.6384,83.77244], "fy":[68.71129,-43.75586,-24.5261,30.3827]}, + {"t":6.91244, "x":0.47494, "y":0.66608, "heading":3.01172, "vx":-0.76646, "vy":-0.10659, "omega":1.53516, "ax":5.28909, "ay":0.58344, "alpha":-9.51731, "fx":[54.69432,76.07168,85.92886,83.19159], "fy":[70.14757,-45.49294,-23.54722,31.9729]}, + {"t":6.92901, "x":0.46296, "y":0.6644, "heading":3.03717, "vx":-0.6788, "vy":-0.09692, "omega":1.37743, "ax":5.2407, "ay":0.62183, "alpha":-9.78075, "fx":[53.07349,75.24141,86.19181,82.63625], "fy":[71.39995,-46.93385,-22.62015,33.41115]}, + {"t":6.94558, "x":0.45243, "y":0.66287, "heading":3.05999, "vx":-0.59195, "vy":-0.08662, "omega":1.21534, "ax":5.19715, "ay":0.65833, "alpha":-10.01079, "fx":[51.59469,74.53935,86.42657,82.11292], "fy":[72.4924,-48.11187,-21.75631,34.70268]}, + {"t":6.96216, "x":0.44334, "y":0.66153, "heading":3.08014, "vx":-0.50582, "vy":-0.07571, "omega":1.04943, "ax":5.15832, "ay":0.6926, "alpha":-10.20977, "fx":[50.25249,73.95889,86.63314,81.62743], "fy":[73.44465,-49.06157,-20.96528,35.85191]}, + {"t":6.97873, "x":0.43566, "y":0.66037, "heading":3.09753, "vx":-0.42033, "vy":-0.06423, "omega":0.88023, "ax":5.12405, "ay":0.72426, "alpha":-10.38018, "fx":[49.04196,73.4899,86.81202,81.18492], "fy":[74.27297,-49.81556,-20.25507,36.86266]}, + {"t":6.9953, "x":0.4294, "y":0.6594, "heading":3.11212, "vx":-0.33541, "vy":-0.05223, "omega":0.7082, "ax":5.09415, "ay":0.753, "alpha":-10.52445, "fx":[47.95868,73.12101,86.96403,80.78984], "fy":[74.99083,-50.40265,-19.63233,37.73827]}, + {"t":7.01188, "x":0.42454, "y":0.65864, "heading":3.12385, "vx":-0.25098, "vy":-0.03975, "omega":0.53378, "ax":5.06845, "ay":0.77852, "alpha":-10.64476, "fx":[46.99885,72.84119,87.09012,80.44602], "fy":[75.60937,-50.84706,-19.10245,38.48164]}, + {"t":7.02845, "x":0.42108, "y":0.65809, "heading":3.1327, "vx":-0.16699, "vy":-0.02685, "omega":0.35736, "ax":5.04679, "ay":0.80063, "alpha":-10.74293, "fx":[46.15928,72.64085,87.19127,80.15664], "fy":[76.1377,-51.16805,-18.66977,39.09534]}, + {"t":7.04502, "x":0.419, "y":0.65776, "heading":3.13862, "vx":-0.08335, "vy":-0.01358, "omega":0.17932, "ax":5.02905, "ay":0.81919, "alpha":-10.82035, "fx":[45.43748,72.51245,87.26839,79.92424], "fy":[76.58321,-51.37986,-18.33763,39.58158]}, + {"t":7.06159, "x":0.41831, "y":0.65764, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], + "splits":[0,17,98,127,224,263] + }, + "events":[] +} diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 6532db62..66c07780 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -123,10 +123,21 @@ private void configureAutonomousChooser() { autoChooser.addOption("Left Single Neutral Cycle", autonomous.leftSingleNeutralCycle()); autoChooser.addOption("Left Double Neutral Cycle", autonomous.leftDoubleNeutralCycle()); + autoChooser.addOption("Left Depot Outpost Cycle", autonomous.leftDepotOutpostCycle()); + autoChooser.addOption("Left Depot Outpost Cycle", autonomous.leftDepotOutpostCycle()); + autoChooser.addOption("Left Outpost Cycle", autonomous.leftOutpostCycle()); + autoChooser.addOption("Left Depot Cycle", autonomous.leftDepotCycle()); + autoChooser.addOption("Left Single Off Center Neutral Cycle", autonomous.leftSingleOffCenterNeutralCycle()); + autoChooser.addOption("Left Double Off Center Neutral Cycle", autonomous.leftDoubleOffCenterNeutralCycle()); autoChooser.addOption("Right Single Neutral Cycle", autonomous.rightSingleNeutralCycle()); autoChooser.addOption("Right Double Neutral Cycle", autonomous.rightDoubleNeutralCycle()); + autoChooser.addOption("Right Depot Outpost Cycle", autonomous.rightDepotOutpostCycle()); autoChooser.addOption("Right Outpost Cycle", autonomous.rightOutpostCycle()); + autoChooser.addOption("Right Depot Cycle", autonomous.rightDepotCycle()); + autoChooser.addOption("Right Single Off Center Neutral Cycle", autonomous.rightSingleOffCenterNeutralCycle()); + autoChooser.addOption("Right Double Off Center Neutral Cycle", autonomous.rightDoubleOffCenterNeutralCycle()); autoChooser.addOption("Preload", autonomous.preload()); + autoChooser.addOption( "SysId Front Left Steer", swerveDrive.getModules()[0].getSteerMechanism().sysId()); autoChooser.addOption( diff --git a/src/main/java/frc/robot/auto/Autonomous.java b/src/main/java/frc/robot/auto/Autonomous.java index 6ce41252..f9ed99b9 100644 --- a/src/main/java/frc/robot/auto/Autonomous.java +++ b/src/main/java/frc/robot/auto/Autonomous.java @@ -31,6 +31,9 @@ public Autonomous(RobotContainer robot) { private static Pose2d LEFT_START_POSE = new Pose2d(4.436294078826904, 7.646793365478516, new Rotation2d()); + private static Pose2d RIGHT_START_POSE = + new Pose2d(4.436294078826904, 4.156, new Rotation2d()); + private Command singleNeutralCycle(boolean rightSide) { return Commands.sequence( Commands.runOnce( @@ -71,7 +74,7 @@ private Command doubleNeutralCycle(boolean rightSide) { shootFuel.shoot()); } - private Command depotOutpostCycle(boolean rightSide) { + private Command leftDepotOutpostCycle(boolean rightSide) { return Commands.sequence( Commands.runOnce( () -> @@ -81,41 +84,101 @@ private Command depotOutpostCycle(boolean rightSide) { .resetPosition(mirrorPose(LEFT_START_POSE, rightSide))), robot.getSwerveDrive().followPath("left_depot_outpost.0", rightSide), shootFuel.shootAllFuelStationary(), - robot.getSwerveDrive().followPath("left_depot_outpost.1", rightSide), - robot.getIntakeExtension().extend(), robot.getIntakeRollers().intakeFast(), + robot + .getSwerveDrive() + .followPath("left_depot_outpost.1", rightSide), + robot.getIntakeExtension().extend(), robot .getSwerveDrive() .followPath("left_depot_outpost.2", rightSide) - .deadlineFor(robot.getIntakeExtension().retract()), - shootFuel.shootAllFuelStationary(), + .deadlineFor(robot.getIntakeRollers().intakeFast()), robot.getSwerveDrive().followPath("left_depot_outpost.3", rightSide), + shootFuel.shootAllFuelStationary(), + robot + .getSwerveDrive() + .followPath("left_depot_outpost.4", rightSide) + .deadlineFor(robot.getIntakeExtension().retract()), + robot + .getSwerveDrive() + .followPath("left_depot_outpost.5", rightSide), shootFuel.shootAllFuelStationary()); } - private Command depotCycle(boolean rightSide) { + private Command rightDepotOutpostCycle(boolean rightSide) { return Commands.sequence( Commands.runOnce( () -> robot .getSwerveDrive() .getLocalization() - .resetPosition(mirrorPose(LEFT_START_POSE, rightSide))), + .resetPosition(mirrorPose(RIGHT_START_POSE, rightSide))), + robot.getSwerveDrive().followPath("right_depot_outpost.0", rightSide), + shootFuel.shootAllFuelStationary(), robot .getSwerveDrive() - .followPath("left_depot_outpost.0", rightSide), + .followPath("right_depot_outpost.1", rightSide) + .deadlineFor(robot.getIntakeExtension().extend()), + robot + .getSwerveDrive() + .followPath("right_depot_outpost.2", rightSide) + .deadlineFor(robot.getIntakeRollers().intakeFast()), + robot.getSwerveDrive().followPath("right_depot_outpost.3", rightSide), + shootFuel.shootAllFuelStationary(), + robot + .getSwerveDrive() + .followPath("right_depot_outpost.4", rightSide) + .deadlineFor(robot.getIntakeExtension().retract()), + robot + .getSwerveDrive() + .followPath("right_depot_outpost.5", rightSide), + shootFuel.shootAllFuelStationary()); + } + + private Command leftDepotCycle(boolean rightSide) { + return Commands.sequence( + Commands.runOnce( + () -> + robot + .getSwerveDrive() + .getLocalization() + .resetPosition(mirrorPose(LEFT_START_POSE, rightSide))), + robot.getSwerveDrive().followPath("left_depot_outpost.0", rightSide), shootFuel.shootAllFuelStationary(), robot .getSwerveDrive() .followPath("left_depot_outpost.1", rightSide), - robot.getIntakeExtension().extend(), robot.getIntakeRollers().intakeFast(), + robot.getIntakeExtension().extend(), robot .getSwerveDrive() .followPath("left_depot_outpost.2", rightSide) - .deadlineFor(robot.getIntakeExtension().retract()), + .deadlineFor(robot.getIntakeRollers().intakeFast()), + robot.getSwerveDrive().followPath("left_depot_outpost.3", rightSide), shootFuel.shootAllFuelStationary()); } - private Command outpostCycle(boolean rightSide) { + private Command rightDepotCycle(boolean rightSide) { + return Commands.sequence( + Commands.runOnce( + () -> + robot + .getSwerveDrive() + .getLocalization() + .resetPosition(mirrorPose(RIGHT_START_POSE, rightSide))), + robot.getSwerveDrive().followPath("right_depot_outpost.0", rightSide), + shootFuel.shootAllFuelStationary(), + robot + .getSwerveDrive() + .followPath("right_depot_outpost.1", rightSide) + .deadlineFor(robot.getIntakeExtension().extend()), + robot + .getSwerveDrive() + .followPath("right_depot_outpost.2", rightSide) + .deadlineFor(robot.getIntakeRollers().intakeFast()), + robot.getSwerveDrive().followPath("right_depot_outpost.3", rightSide), + shootFuel.shootAllFuelStationary()); + } + + private Command leftOutpostCycle(boolean rightSide) { return Commands.sequence( Commands.runOnce( () -> @@ -125,7 +188,33 @@ private Command outpostCycle(boolean rightSide) { .resetPosition(mirrorPose(LEFT_START_POSE, rightSide))), robot.getSwerveDrive().followPath("left_depot_outpost.0", rightSide), shootFuel.shootAllFuelStationary(), - robot.getSwerveDrive().followPath("left_depot_outpost.3", rightSide), + robot + .getSwerveDrive() + .followPath("left_depot_outpost.4", rightSide) + .deadlineFor(robot.getIntakeExtension().retract()), + robot + .getSwerveDrive() + .followPath("left_depot_outpost.5", rightSide), + shootFuel.shootAllFuelStationary()); + } + + private Command rightOutpostCycle(boolean rightSide) { + return Commands.sequence( + Commands.runOnce( + () -> + robot + .getSwerveDrive() + .getLocalization() + .resetPosition(mirrorPose(RIGHT_START_POSE, rightSide))), + robot.getSwerveDrive().followPath("right_depot_outpost.0", rightSide), + shootFuel.shootAllFuelStationary(), + robot + .getSwerveDrive() + .followPath("right_depot_outpost.4", rightSide) + .deadlineFor(robot.getIntakeExtension().retract()), + robot + .getSwerveDrive() + .followPath("right_depot_outpost.5", rightSide), shootFuel.shootAllFuelStationary()); } @@ -142,20 +231,14 @@ private Command doubleOffCenterNeutralCycle(boolean rightSide) { .getSwerveDrive() .followPath("left_off_center_neutral.1", rightSide) .deadlineFor(robot.getIntakeExtension().extend(), robot.getIntakeRollers().intakeFast()), - robot.getIntakeExtension().retract(), robot.getSwerveDrive().followPath("left_off_center_neutral.2", rightSide), shootFuel.shootAllFuelStationary(), - robot - .getSwerveDrive() - .followPath("left_off_center_neutral.3", rightSide) - .deadlineFor( - robot.getIntakeExtension().extend()), + robot.getSwerveDrive().followPath("left_off_center_neutral.3", rightSide), robot .getSwerveDrive() .followPath("left_off_center_neutral.4", rightSide) .deadlineFor( robot.getIntakeRollers().intakeFast()), - robot.getIntakeExtension().retract(), robot .getSwerveDrive() .followPath("left_off_center_neutral.5", rightSide), @@ -175,7 +258,6 @@ private Command singleOffCenterNeutralCycle(boolean rightSide) { .getSwerveDrive() .followPath("left_off_center_neutral.1", rightSide) .deadlineFor(robot.getIntakeExtension().extend(), robot.getIntakeRollers().intakeFast()), - robot.getIntakeExtension().retract(), robot.getSwerveDrive().followPath("left_off_center_neutral.2", rightSide), shootFuel.shootAllFuelStationary()); } @@ -197,27 +279,27 @@ public Command rightDoubleNeutralCycle() { } public Command leftDepotOutpostCycle() { - return depotOutpostCycle(false); + return leftDepotOutpostCycle(false); } public Command rightDepotOutpostCycle() { - return depotOutpostCycle(true); + return rightDepotOutpostCycle(false); } public Command leftDepotCycle() { - return depotCycle(false); + return leftDepotCycle(false); } public Command rightDepotCycle() { - return depotCycle(true); + return rightDepotCycle(false); } public Command leftOutpostCycle() { - return outpostCycle(false); + return leftOutpostCycle(false); } public Command rightOutpostCycle() { - return outpostCycle(true); + return rightOutpostCycle(false); } public Command leftSingleOffCenterNeutralCycle() { From e83101546ace1d6a54846a4d08dce7311dee6c47 Mon Sep 17 00:00:00 2001 From: Brian <74162951+codeNinja-1@users.noreply.github.com> Date: Tue, 31 Mar 2026 13:44:57 -0700 Subject: [PATCH 6/6] Apply spotless --- src/main/java/frc/robot/RobotContainer.java | 15 ++++--- src/main/java/frc/robot/auto/Autonomous.java | 46 +++++++------------- 2 files changed, 26 insertions(+), 35 deletions(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 9bd77c7f..e02b4ba7 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -131,14 +131,19 @@ private void configureAutonomousChooser() { autoChooser.addOption("Left Depot Outpost Cycle", autonomous.leftDepotOutpostCycle()); autoChooser.addOption("Left Outpost Cycle", autonomous.leftOutpostCycle()); autoChooser.addOption("Left Depot Cycle", autonomous.leftDepotCycle()); - autoChooser.addOption("Left Single Off Center Neutral Cycle", autonomous.leftSingleOffCenterNeutralCycle()); - autoChooser.addOption("Left Double Off Center Neutral Cycle", autonomous.leftDoubleOffCenterNeutralCycle()); + autoChooser.addOption( + "Left Single Off Center Neutral Cycle", autonomous.leftSingleOffCenterNeutralCycle()); + autoChooser.addOption( + "Left Double Off Center Neutral Cycle", autonomous.leftDoubleOffCenterNeutralCycle()); autoChooser.addOption("Right Single Neutral Cycle", autonomous.rightSingleNeutralCycle()); autoChooser.addOption("Right Double Neutral Cycle", autonomous.rightDoubleNeutralCycle()); - autoChooser.addOption("Right Depot Outpost Cycle", autonomous.rightDepotOutpostCycle()); autoChooser.addOption("Right Outpost Cycle", autonomous.rightOutpostCycle()); + autoChooser.addOption("Right Depot Outpost Cycle", autonomous.rightDepotOutpostCycle()); + autoChooser.addOption("Right Outpost Cycle", autonomous.rightOutpostCycle()); autoChooser.addOption("Right Depot Cycle", autonomous.rightDepotCycle()); - autoChooser.addOption("Right Single Off Center Neutral Cycle", autonomous.rightSingleOffCenterNeutralCycle()); - autoChooser.addOption("Right Double Off Center Neutral Cycle", autonomous.rightDoubleOffCenterNeutralCycle()); + autoChooser.addOption( + "Right Single Off Center Neutral Cycle", autonomous.rightSingleOffCenterNeutralCycle()); + autoChooser.addOption( + "Right Double Off Center Neutral Cycle", autonomous.rightDoubleOffCenterNeutralCycle()); autoChooser.addOption("Preload", autonomous.preload()); autoChooser.addOption("SysId Shooter Rollers", shooterRollers.sysId()); diff --git a/src/main/java/frc/robot/auto/Autonomous.java b/src/main/java/frc/robot/auto/Autonomous.java index 061dfb4b..6ba4b1ab 100644 --- a/src/main/java/frc/robot/auto/Autonomous.java +++ b/src/main/java/frc/robot/auto/Autonomous.java @@ -59,8 +59,7 @@ public Command trenchCheck( private static Pose2d LEFT_START_POSE = new Pose2d(4.396968364715576, 7.652250289916992, new Rotation2d()); - private static Pose2d RIGHT_START_POSE = - new Pose2d(4.436294078826904, 4.156, new Rotation2d()); + private static Pose2d RIGHT_START_POSE = new Pose2d(4.436294078826904, 4.156, new Rotation2d()); private Command singleNeutralCycle(boolean rightSide) { robot.getSwerveDrive().loadChoreoPath("left_neutral.0"); @@ -142,9 +141,7 @@ private Command leftDepotOutpostCycle(boolean rightSide) { .resetPosition(mirrorPose(LEFT_START_POSE, rightSide))), robot.getSwerveDrive().followPath("left_depot_outpost.0", rightSide), shootFuel.shootAllFuelStationary(), - robot - .getSwerveDrive() - .followPath("left_depot_outpost.1", rightSide), + robot.getSwerveDrive().followPath("left_depot_outpost.1", rightSide), robot.getIntakeExtension().extend(), robot .getSwerveDrive() @@ -156,9 +153,7 @@ private Command leftDepotOutpostCycle(boolean rightSide) { .getSwerveDrive() .followPath("left_depot_outpost.4", rightSide) .deadlineFor(robot.getIntakeExtension().retract()), - robot - .getSwerveDrive() - .followPath("left_depot_outpost.5", rightSide), + robot.getSwerveDrive().followPath("left_depot_outpost.5", rightSide), shootFuel.shootAllFuelStationary()); } @@ -186,9 +181,7 @@ private Command rightDepotOutpostCycle(boolean rightSide) { .getSwerveDrive() .followPath("right_depot_outpost.4", rightSide) .deadlineFor(robot.getIntakeExtension().retract()), - robot - .getSwerveDrive() - .followPath("right_depot_outpost.5", rightSide), + robot.getSwerveDrive().followPath("right_depot_outpost.5", rightSide), shootFuel.shootAllFuelStationary()); } @@ -202,9 +195,7 @@ private Command leftDepotCycle(boolean rightSide) { .resetPosition(mirrorPose(LEFT_START_POSE, rightSide))), robot.getSwerveDrive().followPath("left_depot_outpost.0", rightSide), shootFuel.shootAllFuelStationary(), - robot - .getSwerveDrive() - .followPath("left_depot_outpost.1", rightSide), + robot.getSwerveDrive().followPath("left_depot_outpost.1", rightSide), robot.getIntakeExtension().extend(), robot .getSwerveDrive() @@ -246,13 +237,11 @@ private Command leftOutpostCycle(boolean rightSide) { .resetPosition(mirrorPose(LEFT_START_POSE, rightSide))), robot.getSwerveDrive().followPath("left_depot_outpost.0", rightSide), shootFuel.shootAllFuelStationary(), - robot + robot .getSwerveDrive() .followPath("left_depot_outpost.4", rightSide) .deadlineFor(robot.getIntakeExtension().retract()), - robot - .getSwerveDrive() - .followPath("left_depot_outpost.5", rightSide), + robot.getSwerveDrive().followPath("left_depot_outpost.5", rightSide), shootFuel.shootAllFuelStationary()); } @@ -266,13 +255,11 @@ private Command rightOutpostCycle(boolean rightSide) { .resetPosition(mirrorPose(RIGHT_START_POSE, rightSide))), robot.getSwerveDrive().followPath("right_depot_outpost.0", rightSide), shootFuel.shootAllFuelStationary(), - robot + robot .getSwerveDrive() .followPath("right_depot_outpost.4", rightSide) .deadlineFor(robot.getIntakeExtension().retract()), - robot - .getSwerveDrive() - .followPath("right_depot_outpost.5", rightSide), + robot.getSwerveDrive().followPath("right_depot_outpost.5", rightSide), shootFuel.shootAllFuelStationary()); } @@ -288,18 +275,16 @@ private Command doubleOffCenterNeutralCycle(boolean rightSide) { robot .getSwerveDrive() .followPath("left_off_center_neutral.1", rightSide) - .deadlineFor(robot.getIntakeExtension().extend(), robot.getIntakeRollers().intakeFast()), + .deadlineFor( + robot.getIntakeExtension().extend(), robot.getIntakeRollers().intakeFast()), robot.getSwerveDrive().followPath("left_off_center_neutral.2", rightSide), shootFuel.shootAllFuelStationary(), robot.getSwerveDrive().followPath("left_off_center_neutral.3", rightSide), robot .getSwerveDrive() .followPath("left_off_center_neutral.4", rightSide) - .deadlineFor( - robot.getIntakeRollers().intakeFast()), - robot - .getSwerveDrive() - .followPath("left_off_center_neutral.5", rightSide), + .deadlineFor(robot.getIntakeRollers().intakeFast()), + robot.getSwerveDrive().followPath("left_off_center_neutral.5", rightSide), shootFuel.shootAllFuelStationary()); } @@ -315,7 +300,8 @@ private Command singleOffCenterNeutralCycle(boolean rightSide) { robot .getSwerveDrive() .followPath("left_off_center_neutral.1", rightSide) - .deadlineFor(robot.getIntakeExtension().extend(), robot.getIntakeRollers().intakeFast()), + .deadlineFor( + robot.getIntakeExtension().extend(), robot.getIntakeRollers().intakeFast()), robot.getSwerveDrive().followPath("left_off_center_neutral.2", rightSide), shootFuel.shootAllFuelStationary()); } @@ -344,7 +330,7 @@ public Command rightDepotOutpostCycle() { return rightDepotOutpostCycle(false); } - public Command leftDepotCycle() { + public Command leftDepotCycle() { return leftDepotCycle(false); }