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Friday cmp #69

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28598a1
Open fingers when approaching 2nd cone south auto
jlbabilino Apr 19, 2023
0d219c1
Wednesday
Apr 20, 2023
dc047e2
Changes before Q22
Apr 20, 2023
b092fa8
Friday morning
Apr 21, 2023
a1eec79
Friday CMP
May 11, 2023
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5 changes: 4 additions & 1 deletion .Glass/glass.json
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Original file line number Diff line number Diff line change
Expand Up @@ -40,6 +40,9 @@
},
"open": true
},
"Vision": {
"open": true
},
"open": true
},
"cadmia": {
Expand Down Expand Up @@ -80,7 +83,7 @@
"Plot <0>": {
"plots": [
{
"height": 338,
"height": 0,
"series": [
{
"color": [
Expand Down
4 changes: 2 additions & 2 deletions autos/blue-north-3cone-low/blue-north-3cone-low_2_place8.json
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Original file line number Diff line number Diff line change
Expand Up @@ -55,7 +55,7 @@
"velocity_y": 0.0,
"velocity_y_constrained": true,
"waypoint_type": "custom",
"x": 2.0811913600854677,
"x": 1.9795913600854675,
"x_constrained": true,
"y": 4.483030936467877,
"y_constrained": true
Expand Down Expand Up @@ -87,4 +87,4 @@
"time_unit": "second",
"torque_unit": "newton_metre"
}
}
}
29 changes: 10 additions & 19 deletions autos/blue-north-3cone-low/blue-north-3cone-low_3_pick3.json
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Expand Up @@ -4,16 +4,7 @@
},
"paths": {
"pick3": {
"obstacles": [
{
"center_x": 3.5524717356228166,
"center_y": 1.6264701001203439,
"name": "chgstat",
"obstacle_type": "circle",
"radius": 2.5,
"safety_distance": 0.0
}
],
"obstacles": [],
"waypoints": [
{
"angular_velocity": 0.0,
Expand All @@ -28,7 +19,7 @@
"velocity_y": 0.0,
"velocity_y_constrained": true,
"waypoint_type": "custom",
"x": 2.0811913600854677,
"x": 1.9795913600854675,
"x_constrained": true,
"y": 4.483030936467877,
"y_constrained": true
Expand Down Expand Up @@ -61,19 +52,19 @@
"velocity_magnitude_constrained": true,
"velocity_x": 0.25,
"velocity_x_constrained": false,
"velocity_y": 0.25,
"velocity_y": 0.25000000000000044,
"velocity_y_constrained": false,
"waypoint_type": "custom",
"x": 6.228102344112418,
"x": 6.4567023441124185,
"x_constrained": true,
"y": 3.5327814971674347,
"y": 3.735981497167433,
"y_constrained": true
},
{
"angular_velocity": 0.0,
"angular_velocity_constrained": true,
"control_interval_count": 20,
"heading": 5.4836733810242855,
"heading": 5.497787143782138,
"heading_constrained": true,
"name": "pick",
"velocity_magnitude_constrained": true,
Expand All @@ -82,9 +73,9 @@
"velocity_y": 0.0,
"velocity_y_constrained": true,
"waypoint_type": "custom",
"x": 6.782564399253481,
"x": 7.112764399253481,
"x_constrained": true,
"y": 2.9700968481329495,
"y": 3.0716968481329494,
"y_constrained": true
}
]
Expand All @@ -94,7 +85,7 @@
"bumper_length": 0.954,
"bumper_width": 0.903,
"mass": 90.718474,
"moment_of_inertia": 5.0,
"moment_of_inertia": 8.0,
"motor_max_angular_speed": 83.7758040957278,
"motor_max_torque": 4.0,
"team_number": 2363,
Expand All @@ -114,4 +105,4 @@
"time_unit": "second",
"torque_unit": "newton_metre"
}
}
}
12 changes: 6 additions & 6 deletions autos/blue-north-3cone-low/blue-north-3cone-low_4_place7.json
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Expand Up @@ -9,8 +9,8 @@
{
"angular_velocity": 0.0,
"angular_velocity_constrained": true,
"control_interval_count": 20,
"heading": 5.4836733810242855,
"control_interval_count": 0,
"heading": 5.497787143782138,
"heading_constrained": true,
"name": "pick",
"velocity_magnitude_constrained": true,
Expand All @@ -19,9 +19,9 @@
"velocity_y": 0.0,
"velocity_y_constrained": true,
"waypoint_type": "custom",
"x": 6.782564399253481,
"x": 7.112764399253481,
"x_constrained": true,
"y": 2.9700968481329495,
"y": 3.0716968481329494,
"y_constrained": true
},
{
Expand Down Expand Up @@ -63,7 +63,7 @@
{
"angular_velocity": 0.0,
"angular_velocity_constrained": true,
"control_interval_count": 40,
"control_interval_count": 20,
"heading": 3.141592653589793,
"heading_constrained": true,
"name": "place",
Expand Down Expand Up @@ -105,4 +105,4 @@
"time_unit": "second",
"torque_unit": "newton_metre"
}
}
}
6 changes: 3 additions & 3 deletions autos/blue-south-2cone-high/blue-south-2cone-high_0_place1.json
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Original file line number Diff line number Diff line change
Expand Up @@ -21,7 +21,7 @@
"waypoint_type": "custom",
"x": 3.05877775930775,
"x_constrained": true,
"y": 0.5170177190245612,
"y": 0.4154177190245612,
"y_constrained": true
},
{
Expand All @@ -39,7 +39,7 @@
"waypoint_type": "custom",
"x": 1.9355777593077477,
"x_constrained": true,
"y": 0.5170177190245612,
"y": 0.4154177190245612,
"y_constrained": true
}
]
Expand Down Expand Up @@ -69,4 +69,4 @@
"time_unit": "second",
"torque_unit": "newton_metre"
}
}
}
6 changes: 3 additions & 3 deletions autos/blue-south-2cone-high/blue-south-2cone-high_1_pick1.json
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Expand Up @@ -21,7 +21,7 @@
"waypoint_type": "custom",
"x": 1.9355777593077477,
"x_constrained": true,
"y": 0.5170177190245612,
"y": 0.4154177190245612,
"y_constrained": true
},
{
Expand All @@ -39,7 +39,7 @@
"waypoint_type": "custom",
"x": 2.1519634430382037,
"x_constrained": true,
"y": 0.7182973763365106,
"y": 0.6166973763365106,
"y_constrained": true
},
{
Expand Down Expand Up @@ -159,4 +159,4 @@
"time_unit": "second",
"torque_unit": "newton_metre"
}
}
}
4 changes: 2 additions & 2 deletions autos/blue-south-2cone-high/blue-south-2cone-high_2_place3.json
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Expand Up @@ -111,7 +111,7 @@
"waypoint_type": "custom",
"x": 1.908741064825703,
"x_constrained": true,
"y": 1.6076419403433835,
"y": 1.5314419403433837,
"y_constrained": true
}
]
Expand Down Expand Up @@ -141,4 +141,4 @@
"time_unit": "second",
"torque_unit": "newton_metre"
}
}
}
6 changes: 3 additions & 3 deletions autos/red-north-3cone-low/red-north-3cone-low_2_place8.json
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Expand Up @@ -39,7 +39,7 @@
"waypoint_type": "custom",
"x": 11.65525392711544,
"x_constrained": true,
"y": 4.73941277169068,
"y": 4.612412771690679,
"y_constrained": true
},
{
Expand All @@ -55,7 +55,7 @@
"velocity_y": 0.0,
"velocity_y_constrained": true,
"waypoint_type": "custom",
"x": 14.53675762391453,
"x": 14.63835762391453,
"x_constrained": true,
"y": 4.483030936467877,
"y_constrained": true
Expand Down Expand Up @@ -87,4 +87,4 @@
"time_unit": "second",
"torque_unit": "newton_metre"
}
}
}
14 changes: 7 additions & 7 deletions autos/red-north-3cone-low/red-north-3cone-low_3_pick3.json
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Expand Up @@ -19,7 +19,7 @@
"velocity_y": 0.0,
"velocity_y_constrained": true,
"waypoint_type": "custom",
"x": 14.53675762391453,
"x": 14.63835762391453,
"x_constrained": true,
"y": 4.483030936467877,
"y_constrained": true
Expand Down Expand Up @@ -55,9 +55,9 @@
"velocity_y": 0.3,
"velocity_y_constrained": false,
"waypoint_type": "custom",
"x": 10.389846639887583,
"x": 10.010435516088627,
"x_constrained": true,
"y": 3.6089814971674348,
"y": 3.8508929249637114,
"y_constrained": true
},
{
Expand All @@ -73,9 +73,9 @@
"velocity_y": 0.0,
"velocity_y_constrained": true,
"waypoint_type": "custom",
"x": 9.75918458474652,
"x": 9.379773460947565,
"x_constrained": true,
"y": 2.9700968481329495,
"y": 3.212008275929226,
"y_constrained": true
}
]
Expand All @@ -85,7 +85,7 @@
"bumper_length": 0.954,
"bumper_width": 0.903,
"mass": 90.718474,
"moment_of_inertia": 5.0,
"moment_of_inertia": 8.0,
"motor_max_angular_speed": 83.7758040957278,
"motor_max_torque": 4.0,
"team_number": 2363,
Expand All @@ -105,4 +105,4 @@
"time_unit": "second",
"torque_unit": "newton_metre"
}
}
}
10 changes: 5 additions & 5 deletions autos/red-north-3cone-low/red-north-3cone-low_4_place7.json
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Expand Up @@ -9,7 +9,7 @@
{
"angular_velocity": 0.0,
"angular_velocity_constrained": true,
"control_interval_count": 20,
"control_interval_count": 0,
"heading": -2.3420807274344924,
"heading_constrained": true,
"name": "pick",
Expand All @@ -19,9 +19,9 @@
"velocity_y": 0.0,
"velocity_y_constrained": true,
"waypoint_type": "custom",
"x": 9.75918458474652,
"x": 9.379773460947565,
"x_constrained": true,
"y": 2.9700968481329495,
"y": 3.212008275929226,
"y_constrained": true
},
{
Expand Down Expand Up @@ -57,7 +57,7 @@
"waypoint_type": "custom",
"x": 13.884522559120708,
"x_constrained": true,
"y": 4.291635173710526,
"y": 4.139235173710526,
"y_constrained": true
},
{
Expand Down Expand Up @@ -105,4 +105,4 @@
"time_unit": "second",
"torque_unit": "newton_metre"
}
}
}
10 changes: 7 additions & 3 deletions src/main/cpp/RobotContainer.cpp
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Expand Up @@ -59,10 +59,14 @@ RobotContainer::RobotContainer(std::function<bool(void)> isDisabled)
double rightXAxis = -m_driver.GetRawAxis(kZorroRightYAxis);
double rightYAxis = -m_driver.GetRawAxis(kZorroRightXAxis);
double leftXAxis = -m_driver.GetRawAxis(kZorroLeftXAxis);
double x = std::abs(rightXAxis) < 0.025 ? 0.0 : rightXAxis;
double y = std::abs(rightYAxis) < 0.025 ? 0.0 : rightYAxis;
double omega = std::abs(leftXAxis) < 0.025 ? 0.0 : leftXAxis;
return m_drive.JoystickDrive(
std::abs(rightXAxis) < 0.025 ? 0.0 : rightXAxis,
std::abs(rightYAxis) < 0.025 ? 0.0 : rightYAxis,
std::abs(leftXAxis) < 0.025 ? 0.0 : leftXAxis, true, m_isBlue);
x,
y,
omega,
true, m_isBlue, m_superstructure.GetAbsoluteArmPosition().value());
},
{&m_drive} // requirements
));
Expand Down
15 changes: 13 additions & 2 deletions src/main/cpp/commands/autos/North2ConeHighChgstat.cpp
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Expand Up @@ -35,8 +35,19 @@ North2ConeHighChgstat::North2ConeHighChgstat(SwerveDrive* drive,
"north-2cone-high-chgstat_1_pick4")),
SequentialCommandGroup(WaitCommand(0.25_s),
InstantCommand([superstructure]() {
superstructure->IntakeCone();
}))),
superstructure->IntakeCube();
superstructure->m_stealth = true;
})),
SequentialCommandGroup(
WaitCommand(TrajectoryManager::GetTrajectory(
allianceSidePrefix + "north-2cone-high-chgstat_1_pick4")
.GetTotalTime() -
0.2_s),
InstantCommand(
[superstructure]() { superstructure->IntakeCone(); }),
WaitCommand(0.1_s), InstantCommand([superstructure]() {
superstructure->m_stealth = false;
}))),

DriveTrajectory(
drive, &TrajectoryManager::GetTrajectory(
Expand Down
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