Merge pull request #126 from robo7660/Fixes

Changes from Week 1 Comp
FRC7660 · Mar 7, 2024 · 044ed2b · 044ed2b
2 parents ad9d0b1 + 3510514
commit 044ed2b
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Showing 44 changed files with 988 additions and 87 deletions.
diff --git a/.pathplanner/settings.json b/.pathplanner/settings.json
@@ -6,7 +6,7 @@
     "New Folder"
   ],
   "autoFolders": [],
-  "defaultMaxVel": 2.0,
+  "defaultMaxVel": 15.0,
   "defaultMaxAccel": 5.0,
   "defaultMaxAngVel": 180.0,
   "defaultMaxAngAccel": 180.0,

diff --git a/Dashboards/MILFORD_DASH.html b/Dashboards/MILFORD_DASH.html
@@ -0,0 +1,67 @@
+<dashboard-tab
+    tab-name="TeleOperated"
+    slot="tab"
+    selected=""
+    source-provider="NetworkTables"
+><frc-camera-wrapper
+        source-provider="NetworkTables"
+        style="transform: translate(609.188px, 376.038px); width: 489.613px; height: 346.363px;"
+        streams="[]"
+        background-color="black"
+        wait-image="./no-camera-stream.jpg"
+        crosshair-color="white"
+        source-key="/CameraPublisher/USB Camera 1"
+    ></frc-camera-wrapper><frc-sendable-chooser
+        source-provider="NetworkTables"
+        style="transform: translate(724px, 104px); width: 383.187px; height: 79.3875px;"
+        options="[]"
+        source-key="/SmartDashboard/SendableChooser[0]"
+    ></frc-sendable-chooser><frc-boolean-box
+        source-provider="NetworkTables"
+        style="transform: translate(620.8px, 0px);"
+        label="Upper Index"
+        source-key="/SmartDashboard/Lower Break-Beam"
+    ></frc-boolean-box><frc-boolean-box
+        source-provider="NetworkTables"
+        style="transform: translate(619.4px, 82.2px);"
+        label="Lower Index"
+    ></frc-boolean-box><frc-basic-fms-info
+        source-provider="NetworkTables"
+        style="transform: translate(717.34px, 4.39997px);"
+        source-key="/FMSInfo"
+    ></frc-basic-fms-info><frc-camera-wrapper
+        source-provider="NetworkTables"
+        style="transform: translate(0.787537px, 384px); width: 608px; height: 338.4px;"
+        streams="[]"
+        background-color="black"
+        wait-image="./no-camera-stream.jpg"
+        crosshair-color="white"
+        source-key="/CameraPublisher/USB Camera 0"
+        hide-crosshair=""
+    ></frc-camera-wrapper><frc-camera-wrapper
+        source-provider="NetworkTables"
+        style="transform: translate(2.40002px, 2.3875px); width: 606.362px; height: 383.188px;"
+        source-key="/CameraPublisher/limelight"
+        streams="[]"
+        background-color="black"
+        wait-image="./no-camera-stream.jpg"
+        hide-crosshair=""
+        crosshair-color="white"
+    ></frc-camera-wrapper><frc-boolean-box
+        source-provider="NetworkTables"
+        style="transform: translate(618px, 167.8px);"
+        source-key="/SmartDashboard/Intake Running"
+        label="Intake Running"
+    ></frc-boolean-box><frc-swerve-drivebase
+        source-provider="NetworkTables"
+        style="transform: translate(1174.4px, 141.4px);"
+        wheellocations="[2.5,2,2.5,-2,-2.5,2,-2.5,-2]"
+        measuredstates="[0,0,0,0,0,0,0,0]"
+        desiredstates="[0,0,0,0,0,0,0,0]"
+        sizeleftright="4"
+        sizefrontback="5"
+    ></frc-swerve-drivebase></dashboard-tab><dashboard-tab
+    slot="tab"
+    tab-name="Autonomous"
+    source-provider="NetworkTables"
+></dashboard-tab>
diff --git a/src/main/deploy/pathplanner/autos/Simple Shoot Amp.auto b/src/main/deploy/pathplanner/autos/Simple Shoot Amp.auto
@@ -0,0 +1,43 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 0.6946944060158917,
+      "y": 6.727333169630711
+    },
+    "rotation": -120.0013184955057
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Simple Shoot Amp 1"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Simple Shoot Amp 2"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "align-launch"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Simple Shoot Amp 3"
+          }
+        }
+      ]
+    }
+  },
+  "folder": null,
+  "choreoAuto": false
+}
diff --git a/src/main/deploy/pathplanner/autos/Simple Shoot Center.auto b/src/main/deploy/pathplanner/autos/Simple Shoot Center.auto
@@ -0,0 +1,37 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 1.367427722973922,
+      "y": 5.5866114582541275
+    },
+    "rotation": 179.5103044068707
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Simple Shoot Center 1"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "align-launch"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Simple Shoot Center 2"
+          }
+        }
+      ]
+    }
+  },
+  "folder": null,
+  "choreoAuto": false
+}
diff --git a/src/main/deploy/pathplanner/autos/Simple Shoot Safe Blue.auto b/src/main/deploy/pathplanner/autos/Simple Shoot Safe Blue.auto
@@ -0,0 +1,37 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 0.77430354290908,
+      "y": 4.303448834817898
+    },
+    "rotation": 120.48894049983096
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Simple Shoot Safe 1 Blue"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "align-launch"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Simple Shoot Safe 2"
+          }
+        }
+      ]
+    }
+  },
+  "folder": null,
+  "choreoAuto": false
+}
diff --git a/src/main/deploy/pathplanner/autos/Simple Shoot Safe Red.auto b/src/main/deploy/pathplanner/autos/Simple Shoot Safe Red.auto
@@ -0,0 +1,37 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 0.77430354290908,
+      "y": 4.303448834817898
+    },
+    "rotation": 120.48894049983096
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Simple Shoot Safe 1 Red"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "align-launch"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Simple Shoot Safe 2"
+          }
+        }
+      ]
+    }
+  },
+  "folder": null,
+  "choreoAuto": false
+}
diff --git a/src/main/deploy/pathplanner/paths/CenterLine 1.path b/src/main/deploy/pathplanner/paths/CenterLine 1.path
@@ -50,7 +50,7 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 2.0,
+    "maxVelocity": 15.0,
     "maxAcceleration": 5.0,
     "maxAngularVelocity": 180.0,
     "maxAngularAcceleration": 180.0

diff --git a/src/main/deploy/pathplanner/paths/Centerline 1-2.path b/src/main/deploy/pathplanner/paths/Centerline 1-2.path
@@ -32,7 +32,7 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 2.0,
+    "maxVelocity": 15.0,
     "maxAcceleration": 5.0,
     "maxAngularVelocity": 180.0,
     "maxAngularAcceleration": 180.0

diff --git a/src/main/deploy/pathplanner/paths/Centerline 1-3.path b/src/main/deploy/pathplanner/paths/Centerline 1-3.path
@@ -32,7 +32,7 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 2.0,
+    "maxVelocity": 15.0,
     "maxAcceleration": 5.0,
     "maxAngularVelocity": 180.0,
     "maxAngularAcceleration": 180.0

diff --git a/src/main/deploy/pathplanner/paths/Centerline 1-4.path b/src/main/deploy/pathplanner/paths/Centerline 1-4.path
@@ -32,7 +32,7 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 2.0,
+    "maxVelocity": 15.0,
     "maxAcceleration": 5.0,
     "maxAngularVelocity": 180.0,
     "maxAngularAcceleration": 180.0

diff --git a/src/main/deploy/pathplanner/paths/Centerline 1-5.path b/src/main/deploy/pathplanner/paths/Centerline 1-5.path
@@ -32,7 +32,7 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 2.0,
+    "maxVelocity": 15.0,
     "maxAcceleration": 5.0,
     "maxAngularVelocity": 180.0,
     "maxAngularAcceleration": 180.0

diff --git a/src/main/deploy/pathplanner/paths/Close 2-1.path b/src/main/deploy/pathplanner/paths/Close 2-1.path
@@ -32,7 +32,7 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 2.0,
+    "maxVelocity": 15.0,
     "maxAcceleration": 5.0,
     "maxAngularVelocity": 180.0,
     "maxAngularAcceleration": 180.0

diff --git a/src/main/deploy/pathplanner/paths/Close 2-2.path b/src/main/deploy/pathplanner/paths/Close 2-2.path
@@ -32,7 +32,7 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 2.0,
+    "maxVelocity": 15.0,
     "maxAcceleration": 5.0,
     "maxAngularVelocity": 180.0,
     "maxAngularAcceleration": 180.0

diff --git a/src/main/deploy/pathplanner/paths/Close 2-3.path b/src/main/deploy/pathplanner/paths/Close 2-3.path
@@ -32,7 +32,7 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 2.0,
+    "maxVelocity": 15.0,
     "maxAcceleration": 5.0,
     "maxAngularVelocity": 180.0,
     "maxAngularAcceleration": 180.0

diff --git a/src/main/deploy/pathplanner/paths/Close 2-Escape.path b/src/main/deploy/pathplanner/paths/Close 2-Escape.path
@@ -32,7 +32,7 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 2.0,
+    "maxVelocity": 15.0,
     "maxAcceleration": 5.0,
     "maxAngularVelocity": 180.0,
     "maxAngularAcceleration": 180.0

diff --git a/src/main/deploy/pathplanner/paths/Mid 2 Piece 1.path b/src/main/deploy/pathplanner/paths/Mid 2 Piece 1.path
@@ -28,18 +28,24 @@
       "linkedName": null
     }
   ],
-  "rotationTargets": [],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 0.5,
+      "rotationDegrees": 132.00142152168155,
+      "rotateFast": false
+    }
+  ],
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 2.0,
+    "maxVelocity": 15.0,
     "maxAcceleration": 5.0,
     "maxAngularVelocity": 180.0,
     "maxAngularAcceleration": 180.0
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": 139.02826366648515,
+    "rotation": 135.73452103426732,
     "rotateFast": true
   },
   "reversed": false,

diff --git a/src/main/deploy/pathplanner/paths/Mid 2 Piece 2.path b/src/main/deploy/pathplanner/paths/Mid 2 Piece 2.path
@@ -62,7 +62,7 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 2.0,
+    "maxVelocity": 15.0,
     "maxAcceleration": 5.0,
     "maxAngularVelocity": 180.0,
     "maxAngularAcceleration": 180.0

diff --git a/src/main/deploy/pathplanner/paths/Mid 2 Piece 3.path b/src/main/deploy/pathplanner/paths/Mid 2 Piece 3.path
@@ -38,7 +38,7 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 2.0,
+    "maxVelocity": 15.0,
     "maxAcceleration": 5.0,
     "maxAngularVelocity": 180.0,
     "maxAngularAcceleration": 180.0

diff --git a/src/main/deploy/pathplanner/paths/Rotate 90.path b/src/main/deploy/pathplanner/paths/Rotate 90.path
@@ -32,7 +32,7 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 2.0,
+    "maxVelocity": 15.0,
     "maxAcceleration": 5.0,
     "maxAngularVelocity": 180.0,
     "maxAngularAcceleration": 180.0