untested wipe auto

FRC-4509-MechBulls · Mar 17, 2024 · ca42ee5 · ca42ee5
1 parent 8d17ebc
commit ca42ee5
Show file tree

Hide file tree

Showing 4 changed files with 204 additions and 0 deletions.
diff --git a/src/main/deploy/pathplanner/autos/SS-PL.auto b/src/main/deploy/pathplanner/autos/SS-PL.auto
@@ -0,0 +1,80 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 0.7952442380734501,
+      "y": 4.3029049206577845
+    },
+    "rotation": 117.699472808055
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "setObjectiveSpeaker"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "disableAimAssist"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "disableUseFedPoseIntention"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "readyToShootMode"
+          }
+        },
+        {
+          "type": "race",
+          "data": {
+            "commands": [
+              {
+                "type": "wait",
+                "data": {
+                  "waitTime": 8.0
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "waitForArmError"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "shootMode"
+          }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 1.0
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "holdMode"
+          }
+        }
+      ]
+    }
+  },
+  "folder": null,
+  "choreoAuto": false
+}
diff --git a/src/main/deploy/pathplanner/autos/wipe.auto b/src/main/deploy/pathplanner/autos/wipe.auto
@@ -0,0 +1,31 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 0.8099299203965142,
+      "y": 4.3029049206577845
+    },
+    "rotation": -56.30993247402022
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "holdMode"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "wipe1"
+          }
+        }
+      ]
+    }
+  },
+  "folder": null,
+  "choreoAuto": false
+}
diff --git a/src/main/deploy/pathplanner/paths/wipe1.path b/src/main/deploy/pathplanner/paths/wipe1.path
@@ -0,0 +1,90 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 0.765872873427322,
+        "y": 4.3029049206577845
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 1.5588997188727838,
+        "y": 1.6007393732139887
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 7.521286742036812,
+        "y": 0.8664552570607831
+      },
+      "prevControl": {
+        "x": 6.52184183505766,
+        "y": 0.8997700872934209
+      },
+      "nextControl": {
+        "x": 8.402427681420658,
+        "y": 0.8370838924146554
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 8.206778694259144,
+        "y": 7.124380038233761
+      },
+      "prevControl": {
+        "x": 8.316388479619627,
+        "y": 6.453092100414903
+      },
+      "nextControl": {
+        "x": 8.134712915692662,
+        "y": 7.565735595332097
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 5.549777415344305,
+        "y": 6.924878235721383
+      },
+      "prevControl": {
+        "x": 6.773993021670255,
+        "y": 6.770717751961819
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 0.5,
+      "rotationDegrees": 8.0,
+      "rotateFast": false
+    }
+  ],
+  "constraintZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 4.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 8.0,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": null,
+  "previewStartingState": {
+    "rotation": -57.528807709151515,
+    "velocity": 0
+  },
+  "useDefaultConstraints": true
+}
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -156,6 +156,9 @@ private void createAutos(){
 
     autoChooser.addOption("CS-PL-01-00-02",new PathPlannerAuto("CS-PL-01-00-02"));
     autoChooser.addOption("AS-PL-00",new PathPlannerAuto("AS-PL-00"));
+    autoChooser.addOption("SS-PL",new PathPlannerAuto("SS-PL"));
+    autoChooser.addOption("wipe",new PathPlannerAuto("wipe"));
+