spinup shooter for whole auto (only in 4 note rn)

CurtinFRC · Aug 22, 2024 · b2a6990 · b2a6990
1 parent d84dce2
commit b2a6990
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Showing 13 changed files with 25,397 additions and 4,961 deletions.
diff --git a/src/main/deploy/choreo/Amp1456.1.traj b/src/main/deploy/choreo/Amp1456.1.traj
diff --git a/src/main/deploy/choreo/Amp1456.traj b/src/main/deploy/choreo/Amp1456.traj
diff --git a/src/main/deploy/choreo/Centre14523.1.traj b/src/main/deploy/choreo/Centre14523.1.traj
diff --git a/src/main/deploy/choreo/Centre14523.2.traj b/src/main/deploy/choreo/Centre14523.2.traj
diff --git a/src/main/deploy/choreo/Centre14523.3.traj b/src/main/deploy/choreo/Centre14523.3.traj
diff --git a/src/main/deploy/choreo/Centre14523.4.traj b/src/main/deploy/choreo/Centre14523.4.traj
diff --git a/src/main/deploy/choreo/Centre14523.5.traj b/src/main/deploy/choreo/Centre14523.5.traj
diff --git a/src/main/deploy/choreo/Centre14523.traj b/src/main/deploy/choreo/Centre14523.traj
diff --git a/src/main/deploy/pathplanner/autos/Amp1456.auto b/src/main/deploy/pathplanner/autos/Amp1456.auto
@@ -0,0 +1,31 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 0.8108881115913391,
+      "y": 6.524380683898926
+    },
+    "rotation": 58.81503015813043
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "Arm"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Amp1456"
+          }
+        }
+      ]
+    }
+  },
+  "folder": null,
+  "choreoAuto": true
+}
diff --git a/src/main/deploy/pathplanner/autos/Centre14523.auto b/src/main/deploy/pathplanner/autos/Centre14523.auto
@@ -0,0 +1,25 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 1.233476996421814,
+      "y": 5.618833065032959
+    },
+    "rotation": 1.035051827793095e-26
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Centre14523"
+          }
+        }
+      ]
+    }
+  },
+  "folder": null,
+  "choreoAuto": true
+}
diff --git a/src/main/deploy/pathplanner/autos/Centre213.auto b/src/main/deploy/pathplanner/autos/Centre213.auto
@@ -12,51 +12,77 @@
     "data": {
       "commands": [
         {
-          "type": "named",
+          "type": "parallel",
           "data": {
-            "name": "Arm"
-          }
-        },
-        {
-          "type": "named",
-          "data": {
-            "name": "Shoot"
-          }
-        },
-        {
-          "type": "path",
-          "data": {
-            "pathName": "Centre213.1"
-          }
-        },
-        {
-          "type": "named",
-          "data": {
-            "name": "Shoot"
-          }
-        },
-        {
-          "type": "path",
-          "data": {
-            "pathName": "Centre213.2"
-          }
-        },
-        {
-          "type": "named",
-          "data": {
-            "name": "Shoot"
-          }
-        },
-        {
-          "type": "path",
-          "data": {
-            "pathName": "Centre213.3"
-          }
-        },
-        {
-          "type": "named",
-          "data": {
-            "name": "Shoot"
+            "commands": [
+              {
+                "type": "named",
+                "data": {
+                  "name": "Spinup"
+                }
+              },
+              {
+                "type": "sequential",
+                "data": {
+                  "commands": [
+                    {
+                      "type": "named",
+                      "data": {
+                        "name": "Arm"
+                      }
+                    },
+                    {
+                      "type": "wait",
+                      "data": {
+                        "waitTime": 0.5
+                      }
+                    },
+                    {
+                      "type": "named",
+                      "data": {
+                        "name": "Passthrough"
+                      }
+                    },
+                    {
+                      "type": "path",
+                      "data": {
+                        "pathName": "Centre213.1"
+                      }
+                    },
+                    {
+                      "type": "named",
+                      "data": {
+                        "name": "Passthrough"
+                      }
+                    },
+                    {
+                      "type": "path",
+                      "data": {
+                        "pathName": "Centre213.2"
+                      }
+                    },
+                    {
+                      "type": "named",
+                      "data": {
+                        "name": "Passthrough"
+                      }
+                    },
+                    {
+                      "type": "path",
+                      "data": {
+                        "pathName": "Centre213.3"
+                      }
+                    },
+                    {
+                      "type": "named",
+                      "data": {
+                        "name": "Passthrough"
+                      }
+                    }
+                  ]
+                }
+              }
+            ]
           }
         }
       ]

diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
@@ -118,8 +118,10 @@ public Robot() {
     NamedCommands.registerCommand(
         "Intake", Commands.deferredProxy(() -> m_superstructure.intake()));
     NamedCommands.registerCommand("OTFArm", m_arm.moveToPosition(0.7528).andThen(m_arm.maintain()));
+    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("Centre1253"));
+    m_autoChooser.setDefaultOption("Centre1253", m_drivetrain.getAutoPath("Centre213"));
     SmartDashboard.putData(m_autoChooser);
     SmartDashboard.putNumber("Arm", armangle);