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Merged
alexDickhans merged 8 commits into from
May 6, 2025
Merged

5 5 #106

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c51c104
Minute hotel room testing
alexDickhans May 5, 2025
503abf9
basically done
alexDickhans May 5, 2025
debb0f4
Hotel room 69
alexDickhans May 5, 2025
7d0f766
Done with skills basically
alexDickhans May 5, 2025
711473c
No more stage frieight
alexDickhans May 5, 2025
b6db3ea
Scrim time! lets see liam
alexDickhans May 5, 2025
d81a298
Future note: don't touch other side of the ladder
alexDickhans May 5, 2025
9b3749b
ready for worlds!
alexDickhans May 6, 2025
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4 changes: 2 additions & 2 deletions include/autonomous/positive.h
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Original file line number Diff line number Diff line change
Expand Up @@ -18,7 +18,7 @@ class Positive {
return new Sequence({
drivetrainSubsystem->setNorm(startPose.head<2>(), Eigen::Matrix2f::Identity() * 0.05, startPose.z(), flip),
new Ramsete(drivetrainSubsystem, flip ? &p_4_1_blue : &p_4_1_red),
(new Rotate(drivetrainSubsystem, 190_deg, flip))->withTimeout(700_ms),
(new Rotate(drivetrainSubsystem, 195_deg, flip))->withTimeout(700_ms),
new Ramsete(drivetrainSubsystem, flip ? &p_4_2_blue : &p_4_2_red),
SharedCommands::descoreCornerFull(),
new ScheduleCommand(intakeWithEject),
Expand All @@ -38,7 +38,7 @@ class Positive {
new ScheduleCommand(liftSubsystem->positionCommand(180_deg, 0.0)),
SharedCommands::driveToAlliance(),
new Ramsete(drivetrainSubsystem, flip ? &p_4_1_blue : &p_4_1_red),
(new Rotate(drivetrainSubsystem, 190_deg, flip))->withTimeout(700_ms),
(new Rotate(drivetrainSubsystem, 195_deg, flip))->withTimeout(700_ms),
new Ramsete(drivetrainSubsystem, flip ? &p_4_2_blue : &p_4_2_red),
SharedCommands::descoreCornerFull(),
new ScheduleCommand(intakeWithEject),
Expand Down
10 changes: 5 additions & 5 deletions include/autonomous/sharedCommands.h
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Original file line number Diff line number Diff line change
Expand Up @@ -39,27 +39,27 @@ class SharedCommands {
*/
static Command *descoreCorner() {
return new Sequence(
{drivetrainSubsystem->pct(0.3, 0.3)->with(new ScheduleCommand(bottomOuttakeWithEject))->withTimeout(200_ms), drivetrainSubsystem->pct(1.0, 1.0)->with(new ScheduleCommand(bottomOuttakeWithEject))->withTimeout(150_ms),
{drivetrainSubsystem->pct(0.3, 0.3)->with(new ScheduleCommand(bottomOuttakeWithEject))->withTimeout(100_ms), drivetrainSubsystem->pct(1.0, 1.0)->with(new ScheduleCommand(bottomOuttakeWithEject))->withTimeout(150_ms),
oneRingOutOfCorner(), cycleCorner(), oneRingOutOfCorner(), cycleCorner(), oneRingOutOfCorner()});
}

static Command *descoreCornerFull() {
return new Sequence(
{drivetrainSubsystem->pct(0.3, 0.3)->with(new ScheduleCommand(bottomOuttakeWithEject))->withTimeout(200_ms), drivetrainSubsystem->pct(1.0, 1.0)->with(new ScheduleCommand(bottomOuttakeWithEject))->withTimeout(150_ms),
{drivetrainSubsystem->pct(0.3, 0.3)->with(new ScheduleCommand(bottomOuttakeWithEject))->withTimeout(100_ms), drivetrainSubsystem->pct(1.0, 1.0)->with(new ScheduleCommand(bottomOuttakeWithEject))->withTimeout(150_ms),
oneRingOutOfCorner(), cycleCorner(), oneRingOutOfCorner(), cycleCorner(), oneRingOutOfCorner(), cycleCorner(), oneRingOutOfCorner()});
}

static Command *cycleCorner() {
return new Sequence({
drivetrainSubsystem->pct(0.0, 0.0)->withTimeout(300_ms),
drivetrainSubsystem->pct(0.4, 0.4)->withTimeout(100_ms),
drivetrainSubsystem->pct(0.4, 0.4)->withTimeout(200_ms),
});
}

static Command *oneRingOutOfCorner() {
return new Sequence({
drivetrainSubsystem->pct(0.2, 0.2)->with(new ScheduleCommand(cornerClearIntakeSequence))->withTimeout(600_ms),
drivetrainSubsystem->pct(-0.2, -0.2)->with(new ScheduleCommand(bottomIntakeSubsystem->pctCommand(1.0)->with(TopIntakePositionCommand::fromClosePositionCommand(topIntakeSubsystem, 0.95, 0.0))))->withTimeout(400_ms),
drivetrainSubsystem->pct(0.3, 0.3)->with(new ScheduleCommand(cornerClearIntakeSequence))->withTimeout(600_ms),
drivetrainSubsystem->pct(-0.3, -0.3)->with(new ScheduleCommand(bottomIntakeSubsystem->pctCommand(1.0)->with(TopIntakePositionCommand::fromClosePositionCommand(topIntakeSubsystem, 0.95, 0.0))))->withTimeout(400_ms),
});
}
};
4 changes: 2 additions & 2 deletions include/autonomous/skills.h
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Original file line number Diff line number Diff line change
Expand Up @@ -42,12 +42,12 @@ class Skills {
new ScheduleCommand(liftSubsystem->positionCommand(CONFIG::WALL_STAKE_PRIME_HEIGHT, 0.0)->withTimeout(200_ms)->andThen(liftSubsystem->positionCommand(200_deg, 0.0))),
new TankMotionProfiling(drivetrainSubsystem, {50_in/second, 140_in/second/second}, -5.2_in, false, 0.0, 0.0, false),
new Ramsete(drivetrainSubsystem, &skills_3),
drivetrainSubsystem->pct(0.3, 0.3)->withTimeout(0.1_s),
drivetrainSubsystem->pct(0.35, 0.35)->withTimeout(0.1_s),
new ScheduleCommand(intakeNoEject),
drivetrainSubsystem->pct(0.2, 0.2)->race(
SharedCommands::scoreWallStakesWithoutTopIntake()->asProxy())->andThen(
new ScheduleCommand(liftSubsystem->positionCommand(155_deg, 0.0))),
drivetrainSubsystem->pct(-0.5, -0.5)->withTimeout(0.24_s),
drivetrainSubsystem->pct(-0.5, -0.5)->withTimeout(0.27_s),
new Ramsete(drivetrainSubsystem, &skills_4),
drivetrainSubsystem->pct(0.0, 0.5)->withTimeout(0.2_s),
new ScheduleCommand(hang),
Expand Down
28 changes: 12 additions & 16 deletions include/subsystems/subsystems.h
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Original file line number Diff line number Diff line change
Expand Up @@ -151,6 +151,14 @@ inline void initializeController() {

primary.getTrigger(DIGITAL_B)->onTrue(
liftSubsystem->positionCommand(10_deg)->withTimeout(1_s)->andThen(liftSubsystem->zero()));

primary.getTrigger(DIGITAL_A)->whileTrue((new WaitCommand(200_ms))
->andThen(new InstantCommand(
[]() {
auto newAlliance = OPPONENTS;
ALLIANCE = newAlliance;
},
{})));
}

inline void initializePathCommands() {
Expand All @@ -177,7 +185,7 @@ inline void initializePathCommands() {
PathCommands::registerCommand("liftZero", liftSubsystem->positionCommand(6_deg));
PathCommands::registerCommand("scoreAllianceStake", liftSubsystem->positionCommand(200_deg, 0.0));
PathCommands::registerCommand("outtakeBottom", bottomIntakeSubsystem->pctCommand(-1.0));
PathCommands::registerCommand("LBdrop", liftSubsystem->positionCommand(140_deg, 0.0));
PathCommands::registerCommand("LBdrop", liftSubsystem->positionCommand(100_deg, 0.0));
PathCommands::registerCommand("lbTouch", liftSubsystem->positionCommand(150_deg, 0.0));
}

Expand All @@ -203,11 +211,11 @@ inline void initializeCommands() {
intakeWithEject = topIntakeWithEject->with(bottomIntakeSubsystem->pctCommand(1.0));
bottomOuttakeWithEject = topIntakeWithEject->with(bottomIntakeSubsystem->pctCommand(-1.0));
cornerClearIntakeSequence =
topIntakeWithEject->with(bottomIntakeSubsystem->pctCommand(1.0)->withTimeout(10_ms)->andThen(
topIntakeWithEject->with(bottomIntakeSubsystem->pctCommand(1.0)->withTimeout(100_ms)->andThen(
bottomIntakeSubsystem->pctCommand(-1.0)->withTimeout(200_ms)->andThen(
bottomIntakeSubsystem->pctCommand(1.0)->withTimeout(390_ms))));
bottomIntakeSubsystem->pctCommand(1.0))));

if (topIntakeSubsystem->visionConnected()) {
if (topIntakeSubsystem->visionConnected() && AUTON != SKILLS) {
basicLoadLB = new Sequence({
new ParallelRaceGroup({
bottomIntakeSubsystem->pctCommand(1.0),
Expand All @@ -224,12 +232,6 @@ inline void initializeCommands() {
topIntakeSubsystem->pctCommand(1.0)->until([]() { return topIntakeSubsystem->stalled(300_ms); }),
liftSubsystem->positionCommand(CONFIG::WALL_STAKE_LOAD_HEIGHT, 0.0),
}),
// new ParallelRaceGroup({bottomIntakeSubsystem->pctCommand(1.0), topIntakeSubsystem->pctCommand(0.0),
// liftSubsystem->positionCommand(CONFIG::WALL_STAKE_LOAD_HEIGHT, 0.0),
// new WaitCommand(50_ms)}),
// new ParallelRaceGroup({bottomIntakeSubsystem->pctCommand(1.0), topIntakeSubsystem->pctCommand(1.0),
// liftSubsystem->positionCommand(CONFIG::WALL_STAKE_LOAD_HEIGHT, 0.0),
// new WaitCommand(80_ms)}),
new ParallelRaceGroup({bottomIntakeSubsystem->pctCommand(1.0), topIntakeSubsystem->pctCommand(0.0),
liftSubsystem->positionCommand(CONFIG::WALL_STAKE_PRIME_HEIGHT, 0.0),
new WaitCommand(150_ms)}),
Expand All @@ -246,12 +248,6 @@ inline void initializeCommands() {
topIntakeSubsystem->pctCommand(1.0)->until([]() { return topIntakeSubsystem->stalled(300_ms); }),
liftSubsystem->positionCommand(CONFIG::WALL_STAKE_LOAD_HEIGHT, 0.0),
}),
// new ParallelRaceGroup({bottomIntakeSubsystem->pctCommand(1.0), topIntakeSubsystem->pctCommand(0.0),
// liftSubsystem->positionCommand(CONFIG::WALL_STAKE_LOAD_HEIGHT, 0.0),
// new WaitCommand(50_ms)}),
// new ParallelRaceGroup({bottomIntakeSubsystem->pctCommand(1.0), topIntakeSubsystem->pctCommand(1.0),
// liftSubsystem->positionCommand(CONFIG::WALL_STAKE_LOAD_HEIGHT, 0.0),
// new WaitCommand(80_ms)}),
new ParallelRaceGroup({bottomIntakeSubsystem->pctCommand(1.0), topIntakeSubsystem->pctCommand(0.0),
liftSubsystem->positionCommand(CONFIG::WALL_STAKE_PRIME_HEIGHT, 0.0),
new WaitCommand(150_ms)}),
Expand Down
8 changes: 4 additions & 4 deletions static/p_4_2_red.json
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Original file line number Diff line number Diff line change
Expand Up @@ -41,12 +41,12 @@
"y": 1.097
},
{
"x": -1.126,
"y": 1.325
"x": -1.125,
"y": 1.339
},
{
"x": -1.447,
"y": 1.558
"x": -1.446,
"y": 1.572
}
],
"constraints": {
Expand Down
16 changes: 8 additions & 8 deletions static/p_4_3_blue.json
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Original file line number Diff line number Diff line change
Expand Up @@ -8,19 +8,19 @@
"path": [
{
"x": -1.479,
"y": 1.463
"y": -1.463
},
{
"x": -1.343,
"y": 1.338
"y": -1.338
},
{
"x": -1.303,
"y": 1.187
"y": -1.187
},
{
"x": -1.359,
"y": 0.956
"y": -0.956
}
],
"constraints": {
Expand All @@ -34,19 +34,19 @@
"path": [
{
"x": -1.359,
"y": 0.956
"y": -0.956
},
{
"x": -1.303,
"y": 1.187
"y": -1.187
},
{
"x": -0.701,
"y": 0.861
"y": -0.861
},
{
"x": -0.261,
"y": 0.7
"y": -0.7
}
],
"constraints": {
Expand Down
20 changes: 10 additions & 10 deletions static/skills_1.json
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Original file line number Diff line number Diff line change
Expand Up @@ -119,8 +119,8 @@
"y": -0.363
},
{
"x": 1.13,
"y": -0.368
"x": 1.118,
"y": -0.367
},
{
"x": 1.183,
Expand All @@ -142,14 +142,14 @@
},
{
"x": 1.194,
"y": 1.553
"y": 1.512
},
{
"x": 1.632,
"y": 1.42
"x": 1.689,
"y": 1.497
},
{
"x": 1.516,
"x": 1.539,
"y": 1.158
}
],
Expand All @@ -163,12 +163,12 @@
"stop_end": false,
"path": [
{
"x": 1.516,
"x": 1.539,
"y": 1.158
},
{
"x": 1.332,
"y": 0.735
"x": 1.352,
"y": 0.736
},
{
"x": 1.098,
Expand Down Expand Up @@ -199,7 +199,7 @@
"name": "intakeNoEject"
},
{
"t": 5.803,
"t": 5.838,
"name": "declamp"
},
{
Expand Down
42 changes: 21 additions & 21 deletions static/skills_2.json
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Original file line number Diff line number Diff line change
Expand Up @@ -67,16 +67,16 @@
"y": -1.103
},
{
"x": 1.308,
"y": -1.134
"x": 1.302,
"y": -1.149
},
{
"x": 1.204,
"y": -1.137
"x": 1.198,
"y": -1.152
}
],
"constraints": {
"velocity": 0.551,
"velocity": 0.475,
"accel": 3.048
}
},
Expand All @@ -85,12 +85,12 @@
"stop_end": false,
"path": [
{
"x": 1.204,
"y": -1.137
"x": 1.198,
"y": -1.152
},
{
"x": 1.107,
"y": -1.14
"x": 1.101,
"y": -1.155
},
{
"x": 0.519,
Expand Down Expand Up @@ -197,12 +197,12 @@
"y": -1.42
},
{
"x": 0.077,
"y": -1.32
"x": 0.052,
"y": -1.317
},
{
"x": -0.035,
"y": -1.149
"x": -0.059,
"y": -1.146
}
],
"constraints": {
Expand All @@ -215,20 +215,20 @@
"stop_end": false,
"path": [
{
"x": -0.035,
"y": -1.149
"x": -0.059,
"y": -1.146
},
{
"x": 0.006,
"y": -1.212
"x": -0.018,
"y": -1.209
},
{
"x": 0.015,
"y": -1.291
"x": -0.007,
"y": -1.286
},
{
"x": 0.002,
"y": -1.565
"x": -0.019,
"y": -1.56
}
],
"constraints": {
Expand Down
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