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CrolineCroisCrolineCrois
committedMar 27, 2025·
pract match 1
1 parent 92c5b23 commit b0464ec

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-77
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‎src/main/deploy/pathplanner/autos/Ida- 1! 1J!.auto

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‎src/main/deploy/pathplanner/autos/Ida- 1! 1L! LtLS!.auto

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‎src/main/deploy/pathplanner/autos/New New New Auto.auto renamed to ‎src/main/deploy/pathplanner/autos/Ida- 2! 2G!.auto

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{
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{
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}
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"resetOdom": true,
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"folder": "Pinnacles",
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‎src/main/deploy/pathplanner/autos/Ida- 3! 3E! (L4).auto

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"resetOdom": true,
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"choreoAuto": false
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‎src/main/deploy/pathplanner/autos/Ida- 3! 3E!.auto

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"resetOdom": true,
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"folder": "idaho",
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"choreoAuto": false
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‎src/main/deploy/pathplanner/autos/Ida- ground algae.auto

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"pathName": "GroundAlgAlign"
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"resetOdom": true,
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‎src/main/deploy/pathplanner/autos/Ida- leave 1.auto

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"resetOdom": true,
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"folder": "idaho",
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"choreoAuto": false
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‎src/main/deploy/pathplanner/autos/Ida- leave 2.auto

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"resetOdom": true,
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‎src/main/deploy/pathplanner/autos/Ida- leave 3.auto

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{
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"resetOdom": true,
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"folder": "idaho",
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"choreoAuto": false
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‎src/main/deploy/pathplanner/autos/Ida- side Leave 1.auto

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{
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‎src/main/deploy/pathplanner/autos/Ida- side leave 3.auto

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‎src/main/deploy/pathplanner/autos/New Auto.auto

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‎src/main/deploy/pathplanner/autos/New New New New New Auto.auto

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‎src/main/deploy/pathplanner/paths/2G!.path

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‎src/main/deploy/pathplanner/paths/3D!.path

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‎src/main/deploy/pathplanner/paths/C align.path

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
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‎src/main/deploy/pathplanner/paths/D align.path

Lines changed: 4 additions & 4 deletions
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‎src/main/deploy/pathplanner/paths/GroundAlgAlign.path

Lines changed: 7 additions & 7 deletions
Original file line numberDiff line numberDiff line change
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4141
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‎src/main/deploy/pathplanner/paths/GroundAlgPros!.path

Lines changed: 38 additions & 8 deletions
Original file line numberDiff line numberDiff line change
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3147
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32-
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3363
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3464
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3565
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‎src/main/deploy/pathplanner/paths/GroundAlgae1!.path

Lines changed: 8 additions & 8 deletions
Original file line numberDiff line numberDiff line change
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33
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6-
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2525
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2727
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‎src/main/deploy/pathplanner/paths/L align.path

Lines changed: 5 additions & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -16,12 +16,12 @@
1616
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1717
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19-
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@@ -42,7 +42,7 @@
4242
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4343
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4444
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45-
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4646
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4747
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4848
"folder": "Aligning",

‎src/main/deploy/pathplanner/paths/LS1tL.path

Lines changed: 65 additions & 0 deletions
Original file line numberDiff line numberDiff line change
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61+
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65+
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‎src/main/deploy/pathplanner/paths/Leave 1.path

Lines changed: 4 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -4,24 +4,24 @@
44
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2727
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‎src/main/deploy/pathplanner/paths/Leave 3.path

Lines changed: 4 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -4,24 +4,24 @@
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2727
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‎src/main/deploy/pathplanner/paths/Only leave 3.path

Lines changed: 4 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -4,24 +4,24 @@
44
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2727
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‎src/main/deploy/pathplanner/paths/RS3tC.path

Lines changed: 65 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,65 @@
1+
{
2+
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3+
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29+
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33+
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40+
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43+
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52+
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53+
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55+
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59+
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60+
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61+
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62+
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64+
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65+
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‎src/main/deploy/pathplanner/paths/Side leave 1.path

Lines changed: 4 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -16,12 +16,12 @@
1616
},
1717
{
1818
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19-
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20-
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20+
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2121
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2222
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23-
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24+
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2525
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2626
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2727
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‎src/main/deploy/pathplanner/paths/reefAlignPath.path

Lines changed: 5 additions & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -16,12 +16,12 @@
1616
},
1717
{
1818
"anchor": {
19-
"x": 3.512397540983606,
20-
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19+
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20+
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2121
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2222
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23-
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24-
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24+
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2525
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2626
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2727
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@@ -42,7 +42,7 @@
4242
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4343
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4444
"velocity": 0,
45-
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45+
"rotation": -60.25511870305781
4646
},
4747
"reversed": false,
4848
"folder": "Testing",

‎src/main/deploy/pathplanner/settings.json

Lines changed: 1 addition & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -12,6 +12,7 @@
1212
"Testing"
1313
],
1414
"autoFolders": [
15+
"idaho",
1516
"Pinnacles",
1617
"Testing"
1718
],

‎src/main/java/frc/robot/Commands/Intake/Pivot/PivotUp87Command.java

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -9,7 +9,7 @@ public class PivotUp87Command extends Command{
99

1010
public PivotUp87Command(PivotSubsystem pivotSubsystem){
1111
this.pivotSubsystem = pivotSubsystem;
12-
this.addRequirements(pivotSubsystem);
12+
addRequirements(pivotSubsystem);
1313
}
1414

1515
@Override

‎src/main/java/frc/robot/Constants.java

Lines changed: 3 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -194,15 +194,16 @@ public static class VisionConstants{
194194
new CameraConfig(
195195
"7",
196196
new Transform3d(
197-
-0.019, -0.2413, 0.981,
197+
-0.019, -0.3613, 0.981,
198198
new Rotation3d(0, -Math.PI/6., Math.PI*17./18.)
199199
),
200200
PoseStrategy.LOWEST_AMBIGUITY
201201
),
202202
new CameraConfig(//front top
203203
"5",
204204
new Transform3d(
205-
0.031, -0.2413,0.981,
205+
206+
0.031, -0.4013,0.981,
206207
new Rotation3d(0, -Math.PI / 6., Math.PI/12.)
207208
),
208209
PoseStrategy.LOWEST_AMBIGUITY

‎src/main/java/frc/robot/RobotContainer.java

Lines changed: 5 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -178,9 +178,13 @@ public RobotContainer() {
178178
NamedCommands.registerCommand("RollerIntake", new RollerInCommand(rollerSubsystem));
179179
NamedCommands.registerCommand("PivotToOuttake", new PivotToOuttakeCommand(pivotSubsystem));
180180
NamedCommands.registerCommand("RollerOuttake", new RollerOutCommand(rollerSubsystem));
181+
NamedCommands.registerCommand("PivotToVertical", new PivotUp87Command(pivotSubsystem));
182+
NamedCommands.registerCommand("ElevatorToL1", new ElevatorToL1Command(elevatorSubsystem));
183+
NamedCommands.registerCommand("ElevatorToSource", new ElevatorToSourceCommand(elevatorSubsystem));
184+
NamedCommands.registerCommand("PivotToSource",new PivotToSourceCommand(pivotSubsystem));
181185
autoChooser = AutoBuilder.buildAutoChooserWithOptionsModifier(
182186
(stream) -> isCompetition
183-
? stream.filter(auto -> auto.getName().startsWith("Test"))
187+
? stream.filter(auto -> auto.getName().startsWith("Ida"))
184188
: stream
185189
);
186190
SmartDashboard.putData("AutoChooser", autoChooser);

‎src/main/java/frc/robot/subsystems/Climb/ClimbSubsystem.java

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -45,7 +45,7 @@ public ClimbSubsystem() {
4545
.withSoftwareLimitSwitch(
4646
new SoftwareLimitSwitchConfigs()
4747
.withForwardSoftLimitEnable(true)
48-
.withForwardSoftLimitThreshold(50)
48+
.withForwardSoftLimitThreshold(55)
4949
);
5050

5151

‎src/main/java/frc/robot/subsystems/Elevator/ElevatorSubsystem.java

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -79,7 +79,7 @@ public void periodic() {
7979
}
8080
motor.logStats();
8181
zeroLimitSwitch.logStats();
82-
System.out.println(motor.getPosition());
82+
// System.out.println(motor.getPosition());
8383
if(DebugConstants.MASTER_DEBUG || ElevatorConstants.ELEVATOR_DEBUG) {
8484
motor.publishStats();
8585
zeroLimitSwitch.publishStats();

‎src/main/java/frc/robot/subsystems/Intake/Roller/RollerSubsystem.java

Lines changed: 2 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -66,6 +66,8 @@ public void periodic(){
6666
rollerMotor.publishStats();
6767
// intakeSensor.publishStats();
6868
}
69+
// coralSensor.publishStats();
70+
// algaeSensor.publishStats();
6971
}
7072

7173
public boolean getCoralSensor() {

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