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Limelight #4

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b7ea648
added basic limelight class
AyushSagar16 Mar 8, 2024
5565bf1
working limelight(?)
AyushSagar16 Mar 9, 2024
c15312d
Merge branch 'main' of https://github.com/FRC5190/2024CompetitionSeas…
AyushSagar16 Mar 11, 2024
bc086c4
added feeder control
AyushSagar16 Mar 11, 2024
922c42c
3 note autonomous
AyushSagar16 Mar 11, 2024
9a4d967
added limelight led blinking if note is intaked
yashgupta-17 Mar 11, 2024
a93707c
update superstructure init
yashgupta-17 Mar 11, 2024
3870ca0
Increased swerve speed
AyushSagar16 Mar 11, 2024
29936f0
changed the RotateToSpeaker
sampathk123 Mar 13, 2024
35984a3
Update Pathplannerlib
AyushSagar16 Mar 13, 2024
c12286c
Added autos to test
AyushSagar16 Mar 13, 2024
2cd83d8
Working 4 note auto
AyushSagar16 Mar 14, 2024
6d9ae9b
Added auto arm angle
AyushSagar16 Mar 16, 2024
9939bfa
3/16 testing with new arm
AyushSagar16 Mar 17, 2024
5a3c48f
added regression formula
AyushSagar16 Mar 19, 2024
7c5cd69
Cleaned code, added rpm to shooter, added documentation
AyushSagar16 Mar 19, 2024
ed62566
cleaned up more code
AyushSagar16 Mar 19, 2024
afd509e
Driver practice 3/19 (fix autobuilder problem)
AyushSagar16 Mar 20, 2024
bd1a290
Updated dependencies and added middle note auto
AyushSagar16 Mar 20, 2024
0c7415c
oops forgot this
AyushSagar16 Mar 20, 2024
de55522
full field driver practice
AyushSagar16 Mar 22, 2024
0bc0052
Autonomous (will fix later)
AyushSagar16 Mar 23, 2024
d374e8a
3/23
AyushSagar16 Mar 23, 2024
67e26ba
buildspace changes
AyushSagar16 Apr 9, 2024
baa9485
Updated ShootingPosition
sampathk123 Apr 13, 2024
61bad45
Some changes
sampathk123 Aug 13, 2024
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12 changes: 12 additions & 0 deletions .pathplanner/settings.json
Original file line number Diff line number Diff line change
@@ -0,0 +1,12 @@
{
"robotWidth": 0.9,
"robotLength": 0.9,
"holonomicMode": true,
"pathFolders": [],
"autoFolders": [],
"defaultMaxVel": 3.0,
"defaultMaxAccel": 3.0,
"defaultMaxAngVel": 540.0,
"defaultMaxAngAccel": 720.0,
"maxModuleSpeed": 4.5
}
2 changes: 2 additions & 0 deletions Hardware.md
Original file line number Diff line number Diff line change
Expand Up @@ -22,6 +22,8 @@ This document details all of the hardware (motors, motor controllers, sensors, e
| 13 | Shooter L | NEO | SPARK MAX | ? |
| 14 | Shooter R | NEO | SPARK MAX | ? |
| 15 | Feeder | NEO 550 | SPARK MAX | ? |
| 16 | Climber L | NEO | SPARK MAX | ? |
| 17 | Climber R | NEO | SPARK MAX | ? |



Expand Down
21 changes: 20 additions & 1 deletion build.gradle
Original file line number Diff line number Diff line change
@@ -1,6 +1,6 @@
plugins {
id "java"
id "edu.wpi.first.GradleRIO" version "2024.3.1"
id "edu.wpi.first.GradleRIO" version "2024.3.2"
}

java {
Expand Down Expand Up @@ -69,6 +69,9 @@ dependencies {

testImplementation 'org.junit.jupiter:junit-jupiter:5.10.1'
testRuntimeOnly 'org.junit.platform:junit-platform-launcher'

def akitJson = new groovy.json.JsonSlurper().parseText(new File(projectDir.getAbsolutePath() + "/vendordeps/AdvantageKit.json").text)
annotationProcessor "org.littletonrobotics.akit.junction:junction-autolog:$akitJson.version"
}

test {
Expand All @@ -90,6 +93,22 @@ jar {
duplicatesStrategy = DuplicatesStrategy.INCLUDE
}

repositories {
maven {
url = uri("https://maven.pkg.github.com/Mechanical-Advantage/AdvantageKit")
credentials {
username = "Mechanical-Advantage-Bot"
password = "\u0067\u0068\u0070\u005f\u006e\u0056\u0051\u006a\u0055\u004f\u004c\u0061\u0079\u0066\u006e\u0078\u006e\u0037\u0051\u0049\u0054\u0042\u0032\u004c\u004a\u006d\u0055\u0070\u0073\u0031\u006d\u0037\u004c\u005a\u0030\u0076\u0062\u0070\u0063\u0051"
}
}
}

configurations.all {
exclude group: "edu.wpi.first.wpilibj"
}



// Configure jar and deploy tasks
deployArtifact.jarTask = jar
wpi.java.configureExecutableTasks(jar)
Expand Down
50 changes: 41 additions & 9 deletions simgui.json
Original file line number Diff line number Diff line change
@@ -1,28 +1,60 @@
{
"HALProvider": {
"Other Devices": {
"navX-Sensor[0]": {
"header": {
"open": true
}
}
}
},
"NTProvider": {
"types": {
"/FMSInfo": "FMSInfo"
"/FMSInfo": "FMSInfo",
"/Shuffleboard/2024/Field": "Field2d",
"/Shuffleboard/2024/SendableChooser[0]": "String Chooser",
"/Shuffleboard/2024/SendableChooser[1]": "String Chooser",
"/Shuffleboard/2024/Superstructure": "Mechanism2d",
"/SmartDashboard/Field": "Field2d",
"/SmartDashboard/SendableChooser[0]": "String Chooser",
"/SmartDashboard/SendableChooser[1]": "String Chooser",
"/SmartDashboard/field": "Field2d"
}
},
"NetworkTables": {
"Retained Values": {
"open": false
},
"transitory": {
"AdvantageKit": {
"RealOutputs": {
"PathFollowing": {
"open": true
},
"open": true
},
"open": true
},
"Shuffleboard": {
".metadata": {
"open": true
"open": false
},
".recording": {
"open": true
"open": false
}
},
"SmartDashboard": {
"open": true
}
}
},
"NetworkTables Info": {
"AdvantageScope@1": {
"Publishers": {
"open": false
},
"Subscribers": {
"open": false
},
"open": false
},
"DartClient_13310512@1": {
"open": false
},
"visible": true
}
}
74 changes: 74 additions & 0 deletions src/main/deploy/pathplanner/New Path.path
Original file line number Diff line number Diff line change
@@ -0,0 +1,74 @@
{
"waypoints": [
{
"anchorPoint": {
"x": 1.0,
"y": 3.0
},
"prevControl": null,
"nextControl": {
"x": 2.0,
"y": 3.0
},
"holonomicAngle": 0,
"isReversal": false,
"velOverride": null,
"isLocked": false,
"isStopPoint": false,
"stopEvent": {
"names": [],
"executionBehavior": "parallel",
"waitBehavior": "none",
"waitTime": 0
}
},
{
"anchorPoint": {
"x": 3.0,
"y": 5.0
},
"prevControl": {
"x": 3.0,
"y": 4.0
},
"nextControl": {
"x": 3.0,
"y": 4.0
},
"holonomicAngle": 0,
"isReversal": true,
"velOverride": null,
"isLocked": false,
"isStopPoint": false,
"stopEvent": {
"names": [],
"executionBehavior": "parallel",
"waitBehavior": "none",
"waitTime": 0
}
},
{
"anchorPoint": {
"x": 5.0,
"y": 3.0
},
"prevControl": {
"x": 4.0,
"y": 3.0
},
"nextControl": null,
"holonomicAngle": 0,
"isReversal": false,
"velOverride": null,
"isLocked": false,
"isStopPoint": false,
"stopEvent": {
"names": [],
"executionBehavior": "parallel",
"waitBehavior": "none",
"waitTime": 0
}
}
],
"markers": []
}
25 changes: 25 additions & 0 deletions src/main/deploy/pathplanner/autos/New Auto.auto
Original file line number Diff line number Diff line change
@@ -0,0 +1,25 @@
{
"version": 1.0,
"startingPose": null,
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "left_intake"
}
},
{
"type": "path",
"data": {
"pathName": "middle_intake"
}
}
]
}
},
"folder": null,
"choreoAuto": false
}
52 changes: 52 additions & 0 deletions src/main/deploy/pathplanner/paths/Example Path.path
Original file line number Diff line number Diff line change
@@ -0,0 +1,52 @@
{
"version": 1.0,
"waypoints": [
{
"anchor": {
"x": 14.05,
"y": 4.35
},
"prevControl": null,
"nextControl": {
"x": 15.05,
"y": 4.35
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 4.0,
"y": 6.0
},
"prevControl": {
"x": 3.0,
"y": 6.0
},
"nextControl": null,
"isLocked": false,
"linkedName": null
}
],
"rotationTargets": [],
"constraintZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 3.0,
"maxAcceleration": 3.0,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0
},
"goalEndState": {
"velocity": 0,
"rotation": 0,
"rotateFast": false
},
"reversed": false,
"folder": null,
"previewStartingState": {
"rotation": 0,
"velocity": 0
},
"useDefaultConstraints": true
}
52 changes: 52 additions & 0 deletions src/main/deploy/pathplanner/paths/go_straight.path
Original file line number Diff line number Diff line change
@@ -0,0 +1,52 @@
{
"version": 1.0,
"waypoints": [
{
"anchor": {
"x": 1.3674521584632144,
"y": 5.555162990025228
},
"prevControl": null,
"nextControl": {
"x": 2.3674521584632147,
"y": 5.555162990025228
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 3.3529085604537125,
"y": 5.555162990025228
},
"prevControl": {
"x": 2.3529085604537125,
"y": 5.555162990025228
},
"nextControl": null,
"isLocked": false,
"linkedName": null
}
],
"rotationTargets": [],
"constraintZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 2.0,
"maxAcceleration": 1.0,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0
},
"goalEndState": {
"velocity": 0,
"rotation": 0,
"rotateFast": false
},
"reversed": false,
"folder": null,
"previewStartingState": {
"rotation": 0,
"velocity": 0
},
"useDefaultConstraints": false
}
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