auto-1253 (#99)

CurtinFRC · Aug 21, 2024 · d84dce2 · d84dce2
1 parent 7f6a04e
commit d84dce2
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Showing 12 changed files with 19,298 additions and 2,490 deletions.
diff --git a/src/main/deploy/choreo/Centre12_5_3.1.traj b/src/main/deploy/choreo/Centre12_5_3.1.traj
diff --git a/src/main/deploy/choreo/Centre12_5_3.2.traj b/src/main/deploy/choreo/Centre12_5_3.2.traj
diff --git a/src/main/deploy/choreo/Centre12_5_3.3.traj b/src/main/deploy/choreo/Centre12_5_3.3.traj
diff --git a/src/main/deploy/choreo/Centre12_5_3.4.traj b/src/main/deploy/choreo/Centre12_5_3.4.traj
diff --git a/src/main/deploy/choreo/Centre12_5_3.traj b/src/main/deploy/choreo/Centre12_5_3.traj
diff --git a/src/main/deploy/choreo/Centre1_423.1.traj b/src/main/deploy/choreo/Centre1_423.1.traj
diff --git a/src/main/deploy/choreo/Centre1_423.traj b/src/main/deploy/choreo/Centre1_423.traj
diff --git a/src/main/deploy/pathplanner/autos/Centre1253.auto b/src/main/deploy/pathplanner/autos/Centre1253.auto
@@ -0,0 +1,49 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 1.2383723258972168,
+      "y": 5.75889778137207
+    },
+    "rotation": -2.586146940140809e-26
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "Arm"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Centre12_5_3.1"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Centre12_5_3.2"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Centre12_5_3.3"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Centre12_5_3.4"
+          }
+        }
+      ]
+    }
+  },
+  "folder": null,
+  "choreoAuto": true
+}
diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
@@ -119,7 +119,7 @@ public Robot() {
         "Intake", Commands.deferredProxy(() -> m_superstructure.intake()));
     NamedCommands.registerCommand("OTFArm", m_arm.moveToPosition(0.7528).andThen(m_arm.maintain()));
 
-    m_autoChooser.setDefaultOption("Centre1423", m_drivetrain.getAutoPath("Centre1423"));
+    m_autoChooser.setDefaultOption("Centre1253", m_drivetrain.getAutoPath("Centre1253"));
     SmartDashboard.putData(m_autoChooser);
     SmartDashboard.putNumber("Arm", armangle);
 

diff --git a/src/main/java/frc/robot/generated/TunerConstants.java b/src/main/java/frc/robot/generated/TunerConstants.java
diff --git a/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java b/src/main/java/frc/robot/subsystems/CommandSwerveDrivetrain.java
@@ -14,7 +14,6 @@
 import com.ctre.phoenix6.Orchestra;
 import com.ctre.phoenix6.Utils;
 import com.ctre.phoenix6.configs.AudioConfigs;
-import com.ctre.phoenix6.controls.MotionMagicTorqueCurrentFOC;
 import com.ctre.phoenix6.hardware.TalonFX;
 import com.ctre.phoenix6.mechanisms.swerve.SwerveDrivetrain;
 import com.ctre.phoenix6.mechanisms.swerve.SwerveDrivetrainConstants;