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Added autos, amp, feeding, operator controls and other misc stuff
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keckothedragon committed Oct 1, 2024
1 parent f962e2d commit b217a3f
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Showing 23 changed files with 1,159 additions and 48 deletions.
49 changes: 49 additions & 0 deletions src/main/deploy/pathplanner/autos/New Auto.auto
Original file line number Diff line number Diff line change
@@ -0,0 +1,49 @@
{
"version": 1.0,
"startingPose": null,
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "Start to 4"
}
},
{
"type": "path",
"data": {
"pathName": "4 to shoot"
}
},
{
"type": "named",
"data": {
"name": "AutoShoot"
}
},
{
"type": "path",
"data": {
"pathName": "shoot to 5"
}
},
{
"type": "path",
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"pathName": "5 to shoot"
}
},
{
"type": "named",
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]
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},
"folder": null,
"choreoAuto": false
}
70 changes: 70 additions & 0 deletions src/main/deploy/pathplanner/paths/4 to shoot.path
Original file line number Diff line number Diff line change
@@ -0,0 +1,70 @@
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"useDefaultConstraints": true
}
76 changes: 76 additions & 0 deletions src/main/deploy/pathplanner/paths/5 to shoot.path
Original file line number Diff line number Diff line change
@@ -0,0 +1,76 @@
{
"version": 1.0,
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92 changes: 92 additions & 0 deletions src/main/deploy/pathplanner/paths/Start to 4.path
Original file line number Diff line number Diff line change
@@ -0,0 +1,92 @@
{
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76 changes: 76 additions & 0 deletions src/main/deploy/pathplanner/paths/shoot to 5.path
Original file line number Diff line number Diff line change
@@ -0,0 +1,76 @@
{
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8 changes: 8 additions & 0 deletions src/main/java/frc/robot/Constants.java
Original file line number Diff line number Diff line change
Expand Up @@ -107,6 +107,9 @@ public static final class KickerConstants {
public static final LoggedTunableNumber kEjectingVoltage =
new LoggedTunableNumber("KickerEjectVoltage", -7.0);

public static final LoggedTunableNumber kShootingTimeout =
new LoggedTunableNumber("KickerShootingTimeout", 1.0);

// Simulation constants
public static final DCMotor kSimGearbox = DCMotor.getNEO(1);
public static final double kSimGearing = 1.0;
Expand Down Expand Up @@ -138,6 +141,11 @@ public static final class ShooterConstants {
public static final LoggedTunableNumber kBottomKV =
new LoggedTunableNumber("Bottom Flywheel kV", 0.0);

public static final LoggedTunableNumber kAmpTopVelocity =
new LoggedTunableNumber("AmpTopVelocity", 5.0);
public static final LoggedTunableNumber kAmpBottomVelocity =
new LoggedTunableNumber("AmpBottomVelocity", 7.0);

// Simulation constants
public static final DCMotor kSimTopGearbox = DCMotor.getNEO(1);
public static final DCMotor kSimBottomGearbox = DCMotor.getNEO(1);
Expand Down
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