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CurtinFRC · Aug 22, 2024 · 5ad966e · 5ad966e
1 parent b2a6990
commit 5ad966e
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Showing 9 changed files with 6,856 additions and 6,248 deletions.
diff --git a/src/main/deploy/choreo/Centre1423.1.traj b/src/main/deploy/choreo/Centre1423.1.traj
diff --git a/src/main/deploy/choreo/Centre1423.2.traj b/src/main/deploy/choreo/Centre1423.2.traj
diff --git a/src/main/deploy/choreo/Centre1423.3.traj b/src/main/deploy/choreo/Centre1423.3.traj
diff --git a/src/main/deploy/choreo/Centre1423.4.traj b/src/main/deploy/choreo/Centre1423.4.traj
diff --git a/src/main/deploy/choreo/Centre1423.traj b/src/main/deploy/choreo/Centre1423.traj
diff --git a/src/main/deploy/pathplanner/autos/Centre1423.auto b/src/main/deploy/pathplanner/autos/Centre1423.auto
@@ -5,70 +5,90 @@
       "x": 1.242100715637207,
       "y": 5.6102094650268555
     },
-    "rotation": -1.3958534722521843e-26
+    "rotation": 4.025176869272959e-26
   },
   "command": {
     "type": "sequential",
     "data": {
       "commands": [
         {
-          "type": "named",
+          "type": "parallel",
           "data": {
-            "name": "Arm"
-          }
-        },
-        {
-          "type": "named",
-          "data": {
-            "name": "Shoot"
-          }
-        },
-        {
-          "type": "path",
-          "data": {
-            "pathName": "Centre1423.1"
-          }
-        },
-        {
-          "type": "named",
-          "data": {
-            "name": "Shoot"
-          }
-        },
-        {
-          "type": "path",
-          "data": {
-            "pathName": "Centre1423.2"
-          }
-        },
-        {
-          "type": "named",
-          "data": {
-            "name": "Shoot"
-          }
-        },
-        {
-          "type": "path",
-          "data": {
-            "pathName": "Centre1423.3"
-          }
-        },
-        {
-          "type": "named",
-          "data": {
-            "name": "Shoot"
-          }
-        },
-        {
-          "type": "path",
-          "data": {
-            "pathName": "Centre1423.4"
-          }
-        },
-        {
-          "type": "named",
-          "data": {
-            "name": "Shoot"
+            "commands": [
+              {
+                "type": "named",
+                "data": {
+                  "name": "Spinup"
+                }
+              },
+              {
+                "type": "sequential",
+                "data": {
+                  "commands": [
+                    {
+                      "type": "named",
+                      "data": {
+                        "name": "Arm"
+                      }
+                    },
+                    {
+                      "type": "named",
+                      "data": {
+                        "name": "Passthrough"
+                      }
+                    },
+                    {
+                      "type": "path",
+                      "data": {
+                        "pathName": "Centre1423.1"
+                      }
+                    },
+                    {
+                      "type": "named",
+                      "data": {
+                        "name": "Passthrough"
+                      }
+                    },
+                    {
+                      "type": "path",
+                      "data": {
+                        "pathName": "Centre1423.2"
+                      }
+                    },
+                    {
+                      "type": "named",
+                      "data": {
+                        "name": "Passthrough"
+                      }
+                    },
+                    {
+                      "type": "path",
+                      "data": {
+                        "pathName": "Centre1423.3"
+                      }
+                    },
+                    {
+                      "type": "named",
+                      "data": {
+                        "name": "Passthrough"
+                      }
+                    },
+                    {
+                      "type": "path",
+                      "data": {
+                        "pathName": "Centre1423.4"
+                      }
+                    },
+                    {
+                      "type": "named",
+                      "data": {
+                        "name": "Passthrough"
+                      }
+                    }
+                  ]
+                }
+              }
+            ]
           }
         }
       ]

diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
@@ -121,7 +121,7 @@ public Robot() {
     NamedCommands.registerCommand("Spinup", m_shooter.spinup(200).andThen(m_shooter.maintain()));
     NamedCommands.registerCommand("Passthrough", Commands.deferredProxy(() -> m_index.shoot()));
 
-    m_autoChooser.setDefaultOption("Centre1253", m_drivetrain.getAutoPath("Centre213"));
+    m_autoChooser.setDefaultOption("Centre1253", m_drivetrain.getAutoPath("Centre1423"));
     SmartDashboard.putData(m_autoChooser);
     SmartDashboard.putNumber("Arm", armangle);
 
@@ -171,7 +171,6 @@ public Robot() {
     m_driver.a().whileTrue(m_drivetrain.applyRequest(() -> m_brake));
     m_driver.y().onTrue(m_drivetrain.runOnce(() -> m_drivetrain.seedFieldRelative()));
 
-    m_codriver.a().onTrue(m_climber.climb());
     m_codriver.leftBumper().whileTrue(m_index.shoot());
     m_codriver.rightBumper().whileTrue(m_superstructure.outake());
     m_codriver

diff --git a/src/main/java/frc/robot/subsystems/Index.java b/src/main/java/frc/robot/subsystems/Index.java
@@ -37,9 +37,11 @@ public class Index extends SubsystemBase {
   public Index() {}
 
   public Command shoot() {
-    // return run(() -> m_motor.setVoltage(-8)).until(m_hasNote);
-    return run(() -> m_motor.setVoltage(-8)).until(m_hasNote.negate());
-    // return run(() -> m_motor.setVoltage(-8));
+    if (!m_hasNote.getAsBoolean()) {
+      return runOnce(() ->{}).withName("Empty Index");
+    } else {
+      return run(() -> m_motor.setVoltage(-8)).until(m_hasNote.negate()).withName("Index PassThrough");
+    }
   }
 
   public Command intake(double voltage) {