From 493aa983f2d4c27b9260f5ae72bed18626499124 Mon Sep 17 00:00:00 2001 From: Jeffery Ji Date: Thu, 18 Jan 2024 16:49:22 -0500 Subject: [PATCH] Created 3 new autos --- .run/Clean.run.xml | 5 +- src/main/deploy/choreo/1_Piece_Taxi.chor | 286 + src/main/deploy/choreo/2_Piece.chor | 7023 +++++++++ src/main/deploy/choreo/3_Piece_Mid.chor | 1500 ++ src/main/deploy/choreo/3peicemid.chor | 1633 --- src/main/deploy/choreo/BRP-449.chor | 2475 ++-- .../deploy/choreo/Experimental-4_Piece.chor | 12205 ++++++++-------- .../choreo/Experimental-4_Piece_Proto.chor | 7665 ++-------- src/main/deploy/choreo/Taxi.chor | 214 + .../auto/routines/Experimental1PieceTaxi.kt | 35 + .../auto/routines/Experimental3PieceMid.kt | 35 + .../auto/routines/ExperimentalTaxi.kt | 35 + .../robot2024/auto/routines/RoutineChooser.kt | 18 + 13 files changed, 17266 insertions(+), 15863 deletions(-) create mode 100644 src/main/deploy/choreo/1_Piece_Taxi.chor create mode 100644 src/main/deploy/choreo/2_Piece.chor create mode 100644 src/main/deploy/choreo/3_Piece_Mid.chor delete mode 100644 src/main/deploy/choreo/3peicemid.chor create mode 100644 src/main/deploy/choreo/Taxi.chor create mode 100644 src/main/kotlin/frc/team449/robot2024/auto/routines/Experimental1PieceTaxi.kt create mode 100644 src/main/kotlin/frc/team449/robot2024/auto/routines/Experimental3PieceMid.kt create mode 100644 src/main/kotlin/frc/team449/robot2024/auto/routines/ExperimentalTaxi.kt diff --git a/.run/Clean.run.xml b/.run/Clean.run.xml index 7ff02fc..d753dd6 100644 --- a/.run/Clean.run.xml +++ b/.run/Clean.run.xml @@ -18,7 +18,6 @@ true true false - false @@ -40,7 +39,6 @@ true true false - false @@ -48,7 +46,7 @@ @@ -62,7 +60,6 @@ true true false - false \ No newline at end of file diff --git a/src/main/deploy/choreo/1_Piece_Taxi.chor b/src/main/deploy/choreo/1_Piece_Taxi.chor new file mode 100644 index 0000000..37acd61 --- /dev/null +++ b/src/main/deploy/choreo/1_Piece_Taxi.chor @@ -0,0 +1,286 @@ +{ + "version": "v0.2", + 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"uuid": "fb7119aa-67c9-4a50-a01e-7486b8c1fe5d" - }, - { - "scope": [ - "last" - ], - "type": "StopPoint", - "uuid": "2698d8f4-ca24-4769-9dbb-e8596e0ddbdb" - }, - { - "scope": [ - 1, - 2 - ], - "type": "StraightLine", - "uuid": "7dfcc746-a52b-468b-8dd2-491fab77c168" - }, - { - "scope": [ - 1, - 2 - ], - "type": "MaxVelocity", - "uuid": "1010f584-08e9-4b94-9a77-0960e910ef27", - "velocity": 0.575 - } - ], - "usesControlIntervalGuessing": false, - "defaultControlIntervalCount": 100, - "usesDefaultFieldObstacles": true, - "circleObstacles": [] } } } \ No newline at end of file diff --git a/src/main/deploy/choreo/Taxi.chor b/src/main/deploy/choreo/Taxi.chor new file mode 100644 index 0000000..bc61e62 --- /dev/null +++ b/src/main/deploy/choreo/Taxi.chor @@ -0,0 +1,214 @@ +{ + "version": "v0.2", + "robotConfiguration": { + "mass": 74.08797700309194, + "rotationalInertia": 6, + "motorMaxTorque": 1.162295081967213, + "motorMaxVelocity": 4800, + "gearing": 6.75, + "wheelbase": 0.5778496879611685, 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"defaultControlIntervalCount": 40, + "usesDefaultFieldObstacles": true, + "circleObstacles": [] + } + } +} \ No newline at end of file diff --git a/src/main/kotlin/frc/team449/robot2024/auto/routines/Experimental1PieceTaxi.kt b/src/main/kotlin/frc/team449/robot2024/auto/routines/Experimental1PieceTaxi.kt new file mode 100644 index 0000000..c16d4f8 --- /dev/null +++ b/src/main/kotlin/frc/team449/robot2024/auto/routines/Experimental1PieceTaxi.kt @@ -0,0 +1,35 @@ +package frc.team449.robot2024.auto.routines + +import edu.wpi.first.wpilibj2.command.WaitCommand +import frc.team449.control.auto.ChoreoRoutine +import frc.team449.control.auto.ChoreoRoutineStructure +import frc.team449.control.auto.ChoreoTrajectory +import frc.team449.robot2024.Robot +import frc.team449.robot2024.auto.AutoUtil + +class Experimental1PieceTaxi( + robot: Robot, + isRed: Boolean +) : ChoreoRoutineStructure { + + override val routine = + ChoreoRoutine( + drive = robot.drive, + parallelEventMap = hashMapOf(), + stopEventMap = hashMapOf( + 0 to WaitCommand(1.5), + 1 to WaitCommand(1.5), + 2 to WaitCommand(1.5) + ), + debug = true + ) + + override val trajectory: MutableList = + if (isRed) { + AutoUtil.transformForRed( + ChoreoTrajectory.createTrajectory("1_Piece_Taxi") + ) + } else { + ChoreoTrajectory.createTrajectory("1_Piece_Taxi") + } +} diff --git a/src/main/kotlin/frc/team449/robot2024/auto/routines/Experimental3PieceMid.kt b/src/main/kotlin/frc/team449/robot2024/auto/routines/Experimental3PieceMid.kt new file mode 100644 index 0000000..6ef3818 --- /dev/null +++ b/src/main/kotlin/frc/team449/robot2024/auto/routines/Experimental3PieceMid.kt @@ -0,0 +1,35 @@ +package frc.team449.robot2024.auto.routines + +import edu.wpi.first.wpilibj2.command.WaitCommand +import frc.team449.control.auto.ChoreoRoutine +import frc.team449.control.auto.ChoreoRoutineStructure +import frc.team449.control.auto.ChoreoTrajectory +import frc.team449.robot2024.Robot +import frc.team449.robot2024.auto.AutoUtil + +class Experimental3PieceMid( + robot: Robot, + isRed: Boolean +) : ChoreoRoutineStructure { + + override val routine = + ChoreoRoutine( + drive = robot.drive, + parallelEventMap = hashMapOf(), + stopEventMap = hashMapOf( + 0 to WaitCommand(1.5), + 1 to WaitCommand(1.5), + 2 to WaitCommand(1.5) + ), + debug = true + ) + + override val trajectory: MutableList = + if (isRed) { + AutoUtil.transformForRed( + ChoreoTrajectory.createTrajectory("3_Piece_Mid") + ) + } else { + ChoreoTrajectory.createTrajectory("3_Piece_Mid") + } +} diff --git a/src/main/kotlin/frc/team449/robot2024/auto/routines/ExperimentalTaxi.kt b/src/main/kotlin/frc/team449/robot2024/auto/routines/ExperimentalTaxi.kt new file mode 100644 index 0000000..1718b14 --- /dev/null +++ b/src/main/kotlin/frc/team449/robot2024/auto/routines/ExperimentalTaxi.kt @@ -0,0 +1,35 @@ +package frc.team449.robot2024.auto.routines + +import edu.wpi.first.wpilibj2.command.WaitCommand +import frc.team449.control.auto.ChoreoRoutine +import frc.team449.control.auto.ChoreoRoutineStructure +import frc.team449.control.auto.ChoreoTrajectory +import frc.team449.robot2024.Robot +import frc.team449.robot2024.auto.AutoUtil + +class ExperimentalTaxi( + robot: Robot, + isRed: Boolean +) : ChoreoRoutineStructure { + + override val routine = + ChoreoRoutine( + drive = robot.drive, + parallelEventMap = hashMapOf(), + stopEventMap = hashMapOf( + 0 to WaitCommand(1.5), + 1 to WaitCommand(1.5), + 2 to WaitCommand(1.5) + ), + debug = true + ) + + override val trajectory: MutableList = + if (isRed) { + AutoUtil.transformForRed( + ChoreoTrajectory.createTrajectory("Taxi") + ) + } else { + ChoreoTrajectory.createTrajectory("Taxi") + } +} diff --git a/src/main/kotlin/frc/team449/robot2024/auto/routines/RoutineChooser.kt b/src/main/kotlin/frc/team449/robot2024/auto/routines/RoutineChooser.kt index 6e263aa..f2c662e 100644 --- a/src/main/kotlin/frc/team449/robot2024/auto/routines/RoutineChooser.kt +++ b/src/main/kotlin/frc/team449/robot2024/auto/routines/RoutineChooser.kt @@ -11,6 +11,12 @@ class RoutineChooser(private val robot: Robot) : SendableChooser() { "DoNothing" to DoNothing(robot).createCommand(), "Red4Piece" to Experimental4Piece(robot, true).createCommand(), "Blue4Piece" to Experimental4Piece(robot, false).createCommand(), + "Red3PieceMid" to Experimental3PieceMid(robot, true).createCommand(), + "Blue3PieceMid" to Experimental3PieceMid(robot, false).createCommand(), + "Red1PieceTaxi" to Experimental1PieceTaxi(robot, true).createCommand(), + "Blue1PieceTaxi" to Experimental1PieceTaxi(robot, false).createCommand(), + "RedTaxi" to ExperimentalTaxi(robot, true).createCommand(), + "BlueTaxi" to ExperimentalTaxi(robot, false).createCommand(), ) } @@ -30,5 +36,17 @@ class RoutineChooser(private val robot: Robot) : SendableChooser() { "Blue4Piece" } ) + this.addOption( + "3 Piece Mid", + if (isRed) "Red3PieceMid" else "Blue3PieceMid" + ) + this.addOption( + "1 Piece Taxi", + if (isRed) "Red1PieceTaxi" else "Blue1PieceTaxi" + ) + this.addOption( + "Taxi", + if (isRed) "RedTaxi" else "BlueTaxi" + ) } }