From 3c2a8d082f852568639a677759d21a86f8957a64 Mon Sep 17 00:00:00 2001 From: Spike Date: Tue, 4 Apr 2023 21:02:22 -0500 Subject: [PATCH 01/10] Add auton entry --- src/main/java/frc/robot/classes/Auton.java | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/src/main/java/frc/robot/classes/Auton.java b/src/main/java/frc/robot/classes/Auton.java index fdea4082..7a00ed09 100644 --- a/src/main/java/frc/robot/classes/Auton.java +++ b/src/main/java/frc/robot/classes/Auton.java @@ -65,6 +65,7 @@ private enum AutonModes{ private ShuffleboardTab configTab = Shuffleboard.getTab("Config"); private GenericEntry delayEntry = configTab.add("Auton Delay", 0.0).getEntry(); + private GenericEntry loadEntry = configTab.add("Loaded Path", "").getEntry(); private SendableChooser modeChooser = new SendableChooser<>(); private DataLog datalog = DataLogManager.getLog(); @@ -107,7 +108,7 @@ public Auton(SwerveSubsystem swerveSubsystem, ArmSubsystem armSubsystem, IntakeS actions.put("conePullTransition", intakeSubsystem.pullTimed(1.5, true).andThen(highTransitionSequenceCone())); autonCommand = getAutonSequence(); - configTab.add(new InstantCommand(() -> {autonCommand = getAutonSequence();}).beforeStarting(new WaitCommand(1)).withName("Load Auton").ignoringDisable(true)); //wait command is to show if the load auton command ran + configTab.add(new InstantCommand(() -> {autonCommand = getAutonSequence(); loadEntry.setString(autonMode.toString());}).beforeStarting(new WaitCommand(1)).withName("Load Auton").ignoringDisable(true)); //wait command is to show if the load auton command ran } private PathPlannerTrajectory getTrajectory(String name) throws NullPointerException{ From 3f54f6fe3cce1961c6cd0b7af9b3848f278a49bf Mon Sep 17 00:00:00 2001 From: Spike Date: Tue, 4 Apr 2023 21:02:55 -0500 Subject: [PATCH 02/10] Add distance entry --- src/main/java/frc/robot/subsystems/IntakeSubsystem.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/frc/robot/subsystems/IntakeSubsystem.java b/src/main/java/frc/robot/subsystems/IntakeSubsystem.java index f2291062..6b890c5d 100644 --- a/src/main/java/frc/robot/subsystems/IntakeSubsystem.java +++ b/src/main/java/frc/robot/subsystems/IntakeSubsystem.java @@ -50,7 +50,7 @@ public enum FlightStates{ private static GenericEntry currentState = matchTab.add("ToF State", FlightStates.IDLE.toString()).getEntry(); private static GenericEntry sensor0Up = matchTab.add("Cone ToF sensor up: ", true).getEntry(); private static GenericEntry sensor1Up = matchTab.add("Cube ToF sensor up: ", true).getEntry(); - private static GenericEntry cubeDistanceEntry = matchTab.add("Cube distance mm ", true).getEntry(); + private static GenericEntry cubeDistanceEntry = matchTab.add("Cube distance mm ", 0).getEntry(); private DebugLog coneDistLog = new DebugLog(0.0, "Cone Distance", this); private DebugLog cubeDistLog = new DebugLog(0.0, "Cube Distance", this); From e25934be382d03eee7e665a143101c1140ed3a51 Mon Sep 17 00:00:00 2001 From: zaneb Date: Tue, 4 Apr 2023 22:59:07 -0500 Subject: [PATCH 03/10] Path cleanliness (Also a bug in onescorecharge2) --- .../deploy/pathplanner/1ScoreCharge1-1.path | 49 ---- .../deploy/pathplanner/1ScoreCharge2-1.path | 102 --------- .../deploy/pathplanner/1ScoreCharge2-6.path | 102 --------- ...CubeLoad1-1.path => 1ScoreChargeLoad.path} | 0 .../deploy/pathplanner/1ScoreConeLoad1-1.path | 49 ---- .../deploy/pathplanner/1ScoreConeLoad1-6.path | 49 ---- .../pathplanner/1ScoreCubeCharge-1.path | 102 --------- .../pathplanner/1ScoreCubeCharge-6.path | 102 --------- .../deploy/pathplanner/1ScoreCubeLoad1-6.path | 49 ---- .../deploy/pathplanner/1ScoreCubeLoad2-1.path | 99 -------- .../deploy/pathplanner/1ScoreCubeLoad2-6.path | 99 -------- .../deploy/pathplanner/1ScoreLoad2-1.path | 99 -------- .../deploy/pathplanner/1ScoreLoad2-6.path | 99 -------- .../{2ScoreCube-1.path => 2Score.path} | 0 src/main/deploy/pathplanner/2Score1-6.path | 49 ---- src/main/deploy/pathplanner/2Score2-6.path | 99 -------- src/main/deploy/pathplanner/2Score3-1.path | 49 ---- src/main/deploy/pathplanner/2Score3-6.path | 49 ---- ...oreCubeCharge-1.path => 2ScoreCharge.path} | 0 src/main/deploy/pathplanner/2ScoreCone-1.path | 165 -------------- .../deploy/pathplanner/2ScoreCube3-1.path | 99 -------- .../pathplanner/2ScoreLoadCharge1-1.path | 49 ---- .../pathplanner/2ScoreLoadCharge1-6.path | 49 ---- .../pathplanner/2ScoreLoadCharge2-1.path | 49 ---- .../pathplanner/2ScoreLoadCharge2-6.path | 49 ---- .../pathplanner/2ScoreLoadCharge3-1.path | 49 ---- .../pathplanner/2ScoreLoadCharge3-6.path | 49 ---- .../pathplanner/2ScoreLoadCharge4-1.path | 74 ------ .../pathplanner/2ScoreLoadCharge4-6.path | 74 ------ src/main/deploy/pathplanner/3Score1-1.path | 49 ---- src/main/deploy/pathplanner/3Score1-6.path | 49 ---- .../{3ScoreCube1-1.path => 3Score1.path} | 0 src/main/deploy/pathplanner/3Score2-1.path | 49 ---- src/main/deploy/pathplanner/3Score2-6.path | 49 ---- .../{3ScoreCube2-1.path => 3Score2.path} | 0 src/main/deploy/pathplanner/3Score3-1.path | 49 ---- src/main/deploy/pathplanner/3Score3-6.path | 49 ---- src/main/deploy/pathplanner/3Score4-1.path | 49 ---- src/main/deploy/pathplanner/3Score4-6.path | 49 ---- .../deploy/pathplanner/3ScoreCharge1-1.path | 49 ---- .../deploy/pathplanner/3ScoreCharge1-6.path | 49 ---- .../deploy/pathplanner/3ScoreCharge2-1.path | 49 ---- .../deploy/pathplanner/3ScoreCharge2-6.path | 49 ---- .../deploy/pathplanner/3ScoreCharge3-1.path | 49 ---- .../deploy/pathplanner/3ScoreCharge3-6.path | 49 ---- .../deploy/pathplanner/3ScoreCharge4-1.path | 49 ---- .../deploy/pathplanner/3ScoreCharge4-6.path | 49 ---- .../deploy/pathplanner/3ScoreCharge5-1.path | 74 ------ .../deploy/pathplanner/3ScoreCharge5-6.path | 74 ------ .../pathplanner/TestVelocityOveride.path | 74 ------ src/main/java/frc/robot/classes/Auton.java | 215 +++--------------- 51 files changed, 30 insertions(+), 3143 deletions(-) delete mode 100644 src/main/deploy/pathplanner/1ScoreCharge1-1.path delete mode 100644 src/main/deploy/pathplanner/1ScoreCharge2-1.path delete mode 100644 src/main/deploy/pathplanner/1ScoreCharge2-6.path rename src/main/deploy/pathplanner/{1ScoreCubeLoad1-1.path => 1ScoreChargeLoad.path} (100%) delete mode 100644 src/main/deploy/pathplanner/1ScoreConeLoad1-1.path delete mode 100644 src/main/deploy/pathplanner/1ScoreConeLoad1-6.path delete mode 100644 src/main/deploy/pathplanner/1ScoreCubeCharge-1.path delete mode 100644 src/main/deploy/pathplanner/1ScoreCubeCharge-6.path delete mode 100644 src/main/deploy/pathplanner/1ScoreCubeLoad1-6.path delete mode 100644 src/main/deploy/pathplanner/1ScoreCubeLoad2-1.path delete mode 100644 src/main/deploy/pathplanner/1ScoreCubeLoad2-6.path delete mode 100644 src/main/deploy/pathplanner/1ScoreLoad2-1.path delete mode 100644 src/main/deploy/pathplanner/1ScoreLoad2-6.path rename src/main/deploy/pathplanner/{2ScoreCube-1.path => 2Score.path} (100%) delete mode 100644 src/main/deploy/pathplanner/2Score1-6.path delete mode 100644 src/main/deploy/pathplanner/2Score2-6.path delete mode 100644 src/main/deploy/pathplanner/2Score3-1.path delete mode 100644 src/main/deploy/pathplanner/2Score3-6.path rename src/main/deploy/pathplanner/{2ScoreCubeCharge-1.path => 2ScoreCharge.path} (100%) delete mode 100644 src/main/deploy/pathplanner/2ScoreCone-1.path delete mode 100644 src/main/deploy/pathplanner/2ScoreCube3-1.path delete mode 100644 src/main/deploy/pathplanner/2ScoreLoadCharge1-1.path delete mode 100644 src/main/deploy/pathplanner/2ScoreLoadCharge1-6.path delete mode 100644 src/main/deploy/pathplanner/2ScoreLoadCharge2-1.path delete mode 100644 src/main/deploy/pathplanner/2ScoreLoadCharge2-6.path delete mode 100644 src/main/deploy/pathplanner/2ScoreLoadCharge3-1.path delete mode 100644 src/main/deploy/pathplanner/2ScoreLoadCharge3-6.path delete mode 100644 src/main/deploy/pathplanner/2ScoreLoadCharge4-1.path delete mode 100644 src/main/deploy/pathplanner/2ScoreLoadCharge4-6.path delete mode 100644 src/main/deploy/pathplanner/3Score1-1.path delete mode 100644 src/main/deploy/pathplanner/3Score1-6.path rename src/main/deploy/pathplanner/{3ScoreCube1-1.path => 3Score1.path} (100%) delete mode 100644 src/main/deploy/pathplanner/3Score2-1.path delete mode 100644 src/main/deploy/pathplanner/3Score2-6.path rename src/main/deploy/pathplanner/{3ScoreCube2-1.path => 3Score2.path} (100%) delete mode 100644 src/main/deploy/pathplanner/3Score3-1.path delete mode 100644 src/main/deploy/pathplanner/3Score3-6.path delete mode 100644 src/main/deploy/pathplanner/3Score4-1.path delete mode 100644 src/main/deploy/pathplanner/3Score4-6.path delete mode 100644 src/main/deploy/pathplanner/3ScoreCharge1-1.path delete mode 100644 src/main/deploy/pathplanner/3ScoreCharge1-6.path delete mode 100644 src/main/deploy/pathplanner/3ScoreCharge2-1.path delete mode 100644 src/main/deploy/pathplanner/3ScoreCharge2-6.path delete mode 100644 src/main/deploy/pathplanner/3ScoreCharge3-1.path delete mode 100644 src/main/deploy/pathplanner/3ScoreCharge3-6.path delete mode 100644 src/main/deploy/pathplanner/3ScoreCharge4-1.path delete mode 100644 src/main/deploy/pathplanner/3ScoreCharge4-6.path delete mode 100644 src/main/deploy/pathplanner/3ScoreCharge5-1.path delete mode 100644 src/main/deploy/pathplanner/3ScoreCharge5-6.path delete mode 100644 src/main/deploy/pathplanner/TestVelocityOveride.path diff --git a/src/main/deploy/pathplanner/1ScoreCharge1-1.path b/src/main/deploy/pathplanner/1ScoreCharge1-1.path deleted file mode 100644 index c898d34a..00000000 --- a/src/main/deploy/pathplanner/1ScoreCharge1-1.path +++ /dev/null @@ -1,49 +0,0 @@ -{ - "waypoints": [ - { - "anchorPoint": { - "x": 1.95, - "y": 4.98 - }, - "prevControl": null, - "nextControl": { - "x": 1.909760694613297, - "y": 4.98 - }, - "holonomicAngle": 180.0, - "isReversal": false, - "velOverride": null, - "isLocked": false, - "isStopPoint": false, - "stopEvent": { - "names": [], - "executionBehavior": "parallel", - "waitBehavior": "none", - "waitTime": 0 - } - }, - { - "anchorPoint": { - "x": 1.9, - "y": 4.978757307941967 - }, - "prevControl": { - "x": 1.921199056073326, - "y": 4.978757307941967 - }, - "nextControl": null, - "holonomicAngle": 180.0, - "isReversal": false, - "velOverride": null, - "isLocked": false, - "isStopPoint": false, - "stopEvent": { - "names": [], - "executionBehavior": "parallel", - "waitBehavior": "none", - "waitTime": 0 - } - } - ], - "markers": [] -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/1ScoreCharge2-1.path b/src/main/deploy/pathplanner/1ScoreCharge2-1.path deleted file mode 100644 index d632c720..00000000 --- a/src/main/deploy/pathplanner/1ScoreCharge2-1.path +++ /dev/null @@ -1,102 +0,0 @@ -{ - "waypoints": [ - { - "anchorPoint": { - "x": 1.9, - "y": 4.98 - }, - "prevControl": null, - "nextControl": { - "x": 2.9000000000000012, - "y": 4.98 - }, - "holonomicAngle": 180.0, - "isReversal": false, - "velOverride": null, - "isLocked": false, - "isStopPoint": false, - "stopEvent": { - "names": [], - "executionBehavior": "parallel", - "waitBehavior": "none", - "waitTime": 0 - } - }, - { - "anchorPoint": { - "x": 5.7, - "y": 4.0 - }, - "prevControl": { - "x": 5.7, - "y": 4.884729516971515 - }, - "nextControl": { - "x": 5.7, - "y": 3.288074509745959 - }, - "holonomicAngle": 180.0, - "isReversal": false, - "velOverride": null, - "isLocked": false, - "isStopPoint": false, - "stopEvent": { - "names": [], - "executionBehavior": "parallel", - "waitBehavior": "none", - "waitTime": 0 - } - }, - { - "anchorPoint": { - "x": 4.85, - "y": 3.25 - }, - "prevControl": { - "x": 4.918726097138878, - "y": 3.25 - }, - "nextControl": { - "x": 4.713677487262222, - "y": 3.25 - }, - "holonomicAngle": 180.0, - "isReversal": false, - "velOverride": 1.5, - "isLocked": false, - "isStopPoint": false, - "stopEvent": { - "names": [], - "executionBehavior": "parallel", - "waitBehavior": "none", - "waitTime": 0 - } - }, - { - "anchorPoint": { - "x": 3.6, - "y": 3.25 - }, - "prevControl": { - "x": 4.005938895246027, - "y": 3.25 - }, - "nextControl": null, - "holonomicAngle": 180.0, - "isReversal": false, - "velOverride": null, - "isLocked": false, - "isStopPoint": false, - "stopEvent": { - "names": [], - "executionBehavior": "parallel", - "waitBehavior": "none", - "waitTime": 0 - } - } - ], - "maxVelocity": 4.0, - "maxAcceleration": null, - "isReversed": null, - "markers": [] -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/1ScoreCharge2-6.path b/src/main/deploy/pathplanner/1ScoreCharge2-6.path deleted file mode 100644 index 7fbd6144..00000000 --- a/src/main/deploy/pathplanner/1ScoreCharge2-6.path +++ /dev/null @@ -1,102 +0,0 @@ -{ - "waypoints": [ - { - "anchorPoint": { - "x": 1.9, - "y": 0.5022716812350944 - }, - "prevControl": null, - "nextControl": { - "x": 2.5629986192303216, - "y": 0.4721353803609897 - }, - "holonomicAngle": 180.0, - "isReversal": false, - "velOverride": null, - "isLocked": false, - "isStopPoint": false, - "stopEvent": { - "names": [], - "executionBehavior": "parallel", - "waitBehavior": "none", - "waitTime": 0 - } - }, - { - "anchorPoint": { - "x": 5.7, - "y": 1.25 - }, - "prevControl": { - "x": 5.477625992845971, - "y": 0.4922262476103908 - }, - "nextControl": { - "x": 5.875397345853755, - "y": 1.8476935282490818 - }, - "holonomicAngle": 180.0, - "isReversal": false, - "velOverride": null, - "isLocked": false, - "isStopPoint": false, - "stopEvent": { - "names": [], - "executionBehavior": "parallel", - "waitBehavior": "none", - "waitTime": 0 - } - }, - { - "anchorPoint": { - "x": 5.0, - "y": 2.5 - }, - "prevControl": { - "x": 5.068726097138878, - "y": 2.5 - }, - "nextControl": { - "x": 4.863677487262223, - "y": 2.5 - }, - "holonomicAngle": 180.0, - "isReversal": false, - "velOverride": 1.5, - "isLocked": false, - "isStopPoint": false, - "stopEvent": { - "names": [], - "executionBehavior": "parallel", - "waitBehavior": "none", - "waitTime": 0 - } - }, - { - "anchorPoint": { - "x": 3.6, - "y": 2.5 - }, - "prevControl": { - "x": 4.005938895246029, - "y": 2.5 - }, - "nextControl": null, - "holonomicAngle": 180.0, - "isReversal": false, - "velOverride": null, - "isLocked": false, - "isStopPoint": false, - "stopEvent": { - "names": [], - "executionBehavior": "parallel", - "waitBehavior": "none", - "waitTime": 0 - } - } - ], - "maxVelocity": 4.0, - "maxAcceleration": null, - "isReversed": null, - "markers": [] -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/1ScoreCubeLoad1-1.path b/src/main/deploy/pathplanner/1ScoreChargeLoad.path similarity index 100% rename from src/main/deploy/pathplanner/1ScoreCubeLoad1-1.path rename to src/main/deploy/pathplanner/1ScoreChargeLoad.path diff --git a/src/main/deploy/pathplanner/1ScoreConeLoad1-1.path b/src/main/deploy/pathplanner/1ScoreConeLoad1-1.path deleted file mode 100644 index 65bcccb4..00000000 --- a/src/main/deploy/pathplanner/1ScoreConeLoad1-1.path +++ /dev/null @@ -1,49 +0,0 @@ -{ - "waypoints": [ - { - "anchorPoint": { - "x": 1.9, - "y": 4.98 - }, - "prevControl": null, - "nextControl": { - "x": 2.7361513871179426, - "y": 4.633654755258672 - }, - "holonomicAngle": 180.0, - "isReversal": false, - "velOverride": null, - "isLocked": false, - "isStopPoint": false, - "stopEvent": { - "names": [], - "executionBehavior": "parallel", - "waitBehavior": "none", - "waitTime": 0 - } - }, - { - "anchorPoint": { - "x": 5.9, - "y": 4.6 - }, - "prevControl": { - "x": 5.417159054571512, - "y": 4.878768349818911 - }, - "nextControl": null, - "holonomicAngle": 0.0, - "isReversal": false, - "velOverride": null, - "isLocked": false, - "isStopPoint": false, - "stopEvent": { - "names": [], - "executionBehavior": "parallel", - "waitBehavior": "none", - "waitTime": 0 - } - } - ], - "markers": [] -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/1ScoreConeLoad1-6.path b/src/main/deploy/pathplanner/1ScoreConeLoad1-6.path deleted file mode 100644 index 11144254..00000000 --- a/src/main/deploy/pathplanner/1ScoreConeLoad1-6.path +++ /dev/null @@ -1,49 +0,0 @@ -{ - "waypoints": [ - { - "anchorPoint": { - "x": 1.9, - "y": 0.5 - }, - "prevControl": null, - "nextControl": { - "x": 2.4231695347814592, - "y": 1.0231695347814593 - }, - "holonomicAngle": 180.0, - "isReversal": false, - "velOverride": null, - "isLocked": false, - "isStopPoint": false, - "stopEvent": { - "names": [], - "executionBehavior": "parallel", - "waitBehavior": "none", - "waitTime": 0 - } - }, - { - "anchorPoint": { - "x": 5.9, - "y": 0.92 - }, - "prevControl": { - "x": 5.263021516783395, - "y": 0.656154873311839 - }, - "nextControl": null, - "holonomicAngle": 0, - "isReversal": false, - "velOverride": null, - "isLocked": false, - "isStopPoint": false, - "stopEvent": { - "names": [], - "executionBehavior": "parallel", - "waitBehavior": "none", - "waitTime": 0 - } - } - ], - "markers": [] -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/1ScoreCubeCharge-1.path b/src/main/deploy/pathplanner/1ScoreCubeCharge-1.path deleted file mode 100644 index 69580617..00000000 --- a/src/main/deploy/pathplanner/1ScoreCubeCharge-1.path +++ /dev/null @@ -1,102 +0,0 @@ -{ - "waypoints": [ - { - "anchorPoint": { - "x": 1.9, - "y": 4.552 - }, - "prevControl": null, - "nextControl": { - "x": 2.311739557362483, - "y": 4.963739557362483 - }, - "holonomicAngle": 0.0, - "isReversal": false, - "velOverride": null, - "isLocked": false, - "isStopPoint": false, - "stopEvent": { - "names": [], - "executionBehavior": "parallel", - "waitBehavior": "none", - "waitTime": 0 - } - }, - { - "anchorPoint": { - "x": 5.7, - "y": 4.0 - }, - "prevControl": { - "x": 5.7, - "y": 5.229917548405949 - }, - "nextControl": { - "x": 5.7, - "y": 3.28807450974596 - }, - "holonomicAngle": 0.0, - "isReversal": false, - "velOverride": null, - "isLocked": false, - "isStopPoint": false, - "stopEvent": { - "names": [], - "executionBehavior": "parallel", - "waitBehavior": "none", - "waitTime": 0 - } - }, - { - "anchorPoint": { - "x": 4.85, - "y": 3.25 - }, - "prevControl": { - "x": 4.918726097138878, - "y": 3.25 - }, - "nextControl": { - "x": 4.713677487262222, - "y": 3.25 - }, - "holonomicAngle": 0.0, - "isReversal": false, - "velOverride": 0.5, - "isLocked": false, - "isStopPoint": false, - "stopEvent": { - "names": [], - "executionBehavior": "parallel", - "waitBehavior": "none", - "waitTime": 0 - } - }, - { - "anchorPoint": { - "x": 3.6, - "y": 3.25 - }, - "prevControl": { - "x": 4.005938895246027, - "y": 3.25 - }, - "nextControl": null, - "holonomicAngle": 0.0, - "isReversal": false, - "velOverride": null, - "isLocked": false, - "isStopPoint": false, - "stopEvent": { - "names": [], - "executionBehavior": "parallel", - "waitBehavior": "none", - "waitTime": 0 - } - } - ], - "maxVelocity": 4.0, - "maxAcceleration": null, - "isReversed": null, - "markers": [] -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/1ScoreCubeCharge-6.path b/src/main/deploy/pathplanner/1ScoreCubeCharge-6.path deleted file mode 100644 index ef860cf7..00000000 --- a/src/main/deploy/pathplanner/1ScoreCubeCharge-6.path +++ /dev/null @@ -1,102 +0,0 @@ -{ - "waypoints": [ - { - "anchorPoint": { - "x": 1.85, - "y": 1.08 - }, - "prevControl": null, - "nextControl": { - "x": 2.28584754392152, - "y": 0.6441524560784806 - }, - "holonomicAngle": 0.0, - "isReversal": false, - "velOverride": null, - "isLocked": false, - "isStopPoint": false, - "stopEvent": { - "names": [], - "executionBehavior": "parallel", - "waitBehavior": "none", - "waitTime": 0 - } - }, - { - "anchorPoint": { - "x": 5.7, - "y": 1.25 - }, - "prevControl": { - "x": 5.7, - "y": 0.27280127586803926 - }, - "nextControl": { - "x": 5.7, - "y": 2.315438782974917 - }, - "holonomicAngle": 0.0, - "isReversal": false, - "velOverride": null, - "isLocked": false, - 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"markers": [] -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/1ScoreCubeLoad1-6.path b/src/main/deploy/pathplanner/1ScoreCubeLoad1-6.path deleted file mode 100644 index 9a068de1..00000000 --- a/src/main/deploy/pathplanner/1ScoreCubeLoad1-6.path +++ /dev/null @@ -1,49 +0,0 @@ -{ - "waypoints": [ - { - "anchorPoint": { - "x": 1.9, - "y": 1.232 - }, - "prevControl": null, - "nextControl": { - "x": 2.56423996145099, - "y": 0.56776003854901 - }, - "holonomicAngle": 0.0, - "isReversal": false, - "velOverride": null, - "isLocked": false, - "isStopPoint": false, - "stopEvent": { - "names": [], - "executionBehavior": "parallel", - "waitBehavior": "none", - "waitTime": 0 - } - }, - { - "anchorPoint": { - "x": 5.9, - "y": 0.92 - }, - "prevControl": { - "x": 5.263021516783395, - "y": 0.656154873311839 - }, - "nextControl": null, - "holonomicAngle": 0, - "isReversal": false, - "velOverride": null, - "isLocked": false, - "isStopPoint": false, - "stopEvent": { - "names": [], - 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--git a/src/main/deploy/pathplanner/3Score1-1.path b/src/main/deploy/pathplanner/3Score1-1.path deleted file mode 100644 index a02e4e24..00000000 --- a/src/main/deploy/pathplanner/3Score1-1.path +++ /dev/null @@ -1,49 +0,0 @@ -{ - "waypoints": [ - { - "anchorPoint": { - "x": 1.85, - "y": 4.85 - }, - "prevControl": null, - "nextControl": { - "x": 2.85, - "y": 4.85 - }, - "holonomicAngle": 180.0, - "isReversal": false, - "velOverride": null, - "isLocked": false, - "isStopPoint": false, - "stopEvent": { - "names": [], - "executionBehavior": "parallel", - "waitBehavior": "none", - "waitTime": 0 - } - }, - { - "anchorPoint": { - "x": 6.5, - "y": 4.6 - }, - "prevControl": { - "x": 5.5, - "y": 4.6 - }, - "nextControl": null, - "holonomicAngle": 0, - "isReversal": false, - "velOverride": null, - "isLocked": false, - "isStopPoint": false, - "stopEvent": { - "names": [], - "executionBehavior": "parallel", - "waitBehavior": "none", - "waitTime": 0 - } - } - ], - "markers": [] -} \ No newline at 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e4178b44..00000000 --- a/src/main/deploy/pathplanner/3Score4-6.path +++ /dev/null @@ -1,49 +0,0 @@ -{ - "waypoints": [ - { - "anchorPoint": { - "x": 6.5, - "y": 2.15 - }, - "prevControl": null, - "nextControl": { - "x": 5.96985224045636, - "y": 0.532407982109199 - }, - "holonomicAngle": 0, - "isReversal": false, - "velOverride": null, - "isLocked": false, - "isStopPoint": false, - "stopEvent": { - "names": [], - "executionBehavior": "parallel", - "waitBehavior": "none", - "waitTime": 0 - } - }, - { - "anchorPoint": { - "x": 1.85, - "y": 2.2 - }, - "prevControl": { - "x": 1.9114970560768199, - "y": 0.4118627786127778 - }, - "nextControl": null, - "holonomicAngle": 180.0, - "isReversal": false, - "velOverride": null, - "isLocked": false, - "isStopPoint": false, - "stopEvent": { - "names": [], - "executionBehavior": "parallel", - "waitBehavior": "none", - "waitTime": 0 - } - } - ], - "markers": [] -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/3ScoreCharge1-1.path b/src/main/deploy/pathplanner/3ScoreCharge1-1.path deleted file mode 100644 index a02e4e24..00000000 --- a/src/main/deploy/pathplanner/3ScoreCharge1-1.path +++ /dev/null @@ -1,49 +0,0 @@ -{ - "waypoints": [ - { - "anchorPoint": { - "x": 1.85, - "y": 4.85 - }, - "prevControl": null, - "nextControl": { - "x": 2.85, - "y": 4.85 - }, - "holonomicAngle": 180.0, - "isReversal": false, - "velOverride": null, - "isLocked": false, - "isStopPoint": false, - "stopEvent": { - "names": [], - "executionBehavior": "parallel", - "waitBehavior": "none", - "waitTime": 0 - } - }, - { - "anchorPoint": { - "x": 6.5, - "y": 4.6 - }, - "prevControl": { - "x": 5.5, - "y": 4.6 - }, - "nextControl": null, - "holonomicAngle": 0, - "isReversal": false, - "velOverride": null, - "isLocked": false, - "isStopPoint": false, - "stopEvent": { - "names": [], - "executionBehavior": "parallel", - "waitBehavior": "none", - "waitTime": 0 - } - } - ], - "markers": [] -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/3ScoreCharge1-6.path b/src/main/deploy/pathplanner/3ScoreCharge1-6.path deleted file mode 100644 index f100ba6b..00000000 --- a/src/main/deploy/pathplanner/3ScoreCharge1-6.path +++ /dev/null @@ -1,49 +0,0 @@ -{ - "waypoints": [ - { - "anchorPoint": { - "x": 1.85, - "y": 0.5 - }, - "prevControl": null, - "nextControl": { - "x": 2.85, - "y": 0.5 - }, - "holonomicAngle": 180.0, - "isReversal": false, - "velOverride": null, - "isLocked": false, - "isStopPoint": false, - "stopEvent": { - "names": [], - "executionBehavior": "parallel", - "waitBehavior": "none", - "waitTime": 0 - } - }, - { - "anchorPoint": { - "x": 6.5, - "y": 0.95 - }, - "prevControl": { - "x": 5.5, - "y": 0.9500000000000002 - }, - "nextControl": null, - "holonomicAngle": 0, - "isReversal": false, - "velOverride": null, - "isLocked": false, - "isStopPoint": false, - "stopEvent": { - "names": [], - "executionBehavior": "parallel", - "waitBehavior": "none", - "waitTime": 0 - } - } - ], - "markers": [] -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/3ScoreCharge2-1.path b/src/main/deploy/pathplanner/3ScoreCharge2-1.path deleted file mode 100644 index 9d25124d..00000000 --- a/src/main/deploy/pathplanner/3ScoreCharge2-1.path +++ /dev/null @@ -1,49 +0,0 @@ -{ - "waypoints": [ - { - "anchorPoint": { - "x": 6.5, - "y": 4.6 - }, - "prevControl": null, - "nextControl": { - "x": 4.434637914198876, - "y": 4.6 - }, - "holonomicAngle": 0, - "isReversal": false, - "velOverride": null, - "isLocked": false, - "isStopPoint": false, - "stopEvent": { - "names": [], - "executionBehavior": "parallel", - "waitBehavior": "none", - "waitTime": 0 - } - }, - { - "anchorPoint": { - "x": 1.85, - "y": 3.85 - }, - "prevControl": { - "x": 1.85, - "y": 4.902265021245805 - }, - "nextControl": null, - "holonomicAngle": 180.0, - "isReversal": false, - "velOverride": null, - "isLocked": false, - "isStopPoint": false, - "stopEvent": { - "names": [], - "executionBehavior": "parallel", - "waitBehavior": "none", - "waitTime": 0 - } - } - ], - "markers": [] -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/3ScoreCharge2-6.path b/src/main/deploy/pathplanner/3ScoreCharge2-6.path deleted file mode 100644 index e1ed1a2c..00000000 --- a/src/main/deploy/pathplanner/3ScoreCharge2-6.path +++ /dev/null @@ -1,49 +0,0 @@ -{ - "waypoints": [ - { - "anchorPoint": { - "x": 6.5, - "y": 0.95 - }, - "prevControl": null, - "nextControl": { - "x": 4.434637914198876, - "y": 0.9500000000000002 - }, - "holonomicAngle": 0, - "isReversal": false, - "velOverride": null, - "isLocked": false, - "isStopPoint": false, - "stopEvent": { - "names": [], - "executionBehavior": "parallel", - "waitBehavior": "none", - "waitTime": 0 - } - }, - { - "anchorPoint": { - "x": 1.85, - "y": 1.6 - }, - "prevControl": { - "x": 1.901451622452118, - "y": 0.6730440528550239 - }, - "nextControl": null, - "holonomicAngle": 180.0, - "isReversal": false, - "velOverride": null, - "isLocked": false, - "isStopPoint": false, - "stopEvent": { - "names": [], - "executionBehavior": "parallel", - "waitBehavior": "none", - "waitTime": 0 - } - } - ], - "markers": [] -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/3ScoreCharge3-1.path b/src/main/deploy/pathplanner/3ScoreCharge3-1.path deleted file mode 100644 index 0c91c536..00000000 --- a/src/main/deploy/pathplanner/3ScoreCharge3-1.path +++ /dev/null @@ -1,49 +0,0 @@ -{ - "waypoints": [ - { - "anchorPoint": { - "x": 1.85, - "y": 3.85 - }, - "prevControl": null, - "nextControl": { - "x": 2.2229054984425765, - "y": 4.731399237234565 - }, - "holonomicAngle": 180.0, - "isReversal": false, - "velOverride": null, - "isLocked": false, - "isStopPoint": false, - "stopEvent": { - "names": [], - "executionBehavior": "parallel", - "waitBehavior": "none", - "waitTime": 0 - } - }, - { - "anchorPoint": { - "x": 6.5, - "y": 3.4 - }, - "prevControl": { - "x": 5.869397904209342, - "y": 5.364261555590781 - }, - "nextControl": null, - "holonomicAngle": 0, - "isReversal": false, - "velOverride": null, - "isLocked": false, - "isStopPoint": false, - "stopEvent": { - "names": [], - "executionBehavior": "parallel", - "waitBehavior": "none", - "waitTime": 0 - } - } - ], - "markers": [] -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/3ScoreCharge3-6.path b/src/main/deploy/pathplanner/3ScoreCharge3-6.path deleted file mode 100644 index 2b7c6809..00000000 --- a/src/main/deploy/pathplanner/3ScoreCharge3-6.path +++ /dev/null @@ -1,49 +0,0 @@ -{ - "waypoints": [ - { - "anchorPoint": { - "x": 1.85, - "y": 1.6 - }, - "prevControl": null, - "nextControl": { - "x": 1.8311335870792047, - "y": 0.5926805838574108 - }, - "holonomicAngle": 180.0, - "isReversal": false, - "velOverride": null, - "isLocked": false, - "isStopPoint": false, - "stopEvent": { - "names": [], - "executionBehavior": "parallel", - "waitBehavior": "none", - "waitTime": 0 - } - }, - { - "anchorPoint": { - "x": 6.5, - "y": 2.15 - }, - "prevControl": { - "x": 6.472123921691452, - "y": 0.3013630087410566 - }, - "nextControl": null, - "holonomicAngle": 0, - "isReversal": false, - "velOverride": null, - "isLocked": false, - "isStopPoint": false, - "stopEvent": { - "names": [], - "executionBehavior": "parallel", - "waitBehavior": "none", - "waitTime": 0 - } - } - ], - "markers": [] -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/3ScoreCharge4-1.path b/src/main/deploy/pathplanner/3ScoreCharge4-1.path deleted file mode 100644 index 76ec047a..00000000 --- a/src/main/deploy/pathplanner/3ScoreCharge4-1.path +++ /dev/null @@ -1,49 +0,0 @@ -{ - "waypoints": [ - { - "anchorPoint": { - "x": 6.5, - "y": 3.4 - }, - "prevControl": null, - "nextControl": { - "x": 6.462078488066751, - "y": 4.932307909728602 - }, - "holonomicAngle": 0, - "isReversal": false, - "velOverride": null, - "isLocked": false, - "isStopPoint": false, - "stopEvent": { - "names": [], - "executionBehavior": "parallel", - "waitBehavior": "none", - "waitTime": 0 - } - }, - { - "anchorPoint": { - "x": 1.85, - "y": 3.4 - }, - "prevControl": { - "x": 1.8411790207039072, - "y": 4.992580511476813 - }, - "nextControl": null, - "holonomicAngle": 180.0, - "isReversal": false, - "velOverride": null, - "isLocked": false, - "isStopPoint": false, - "stopEvent": { - "names": [], - "executionBehavior": "parallel", - "waitBehavior": "none", - "waitTime": 0 - } - } - ], - "markers": [] -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/3ScoreCharge4-6.path b/src/main/deploy/pathplanner/3ScoreCharge4-6.path deleted file mode 100644 index e4178b44..00000000 --- a/src/main/deploy/pathplanner/3ScoreCharge4-6.path +++ /dev/null @@ -1,49 +0,0 @@ -{ - "waypoints": [ - { - "anchorPoint": { - "x": 6.5, - "y": 2.15 - }, - "prevControl": null, - "nextControl": { - "x": 5.96985224045636, - "y": 0.532407982109199 - }, - "holonomicAngle": 0, - "isReversal": false, - "velOverride": null, - "isLocked": false, - "isStopPoint": false, - "stopEvent": { - "names": [], - "executionBehavior": "parallel", - "waitBehavior": "none", - "waitTime": 0 - } - }, - { - "anchorPoint": { - "x": 1.85, - "y": 2.2 - }, - "prevControl": { - "x": 1.9114970560768199, - "y": 0.4118627786127778 - }, - "nextControl": null, - "holonomicAngle": 180.0, - "isReversal": false, - "velOverride": null, - "isLocked": false, - "isStopPoint": false, - "stopEvent": { - "names": [], - "executionBehavior": "parallel", - "waitBehavior": "none", - "waitTime": 0 - } - } - ], - "markers": [] -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/3ScoreCharge5-1.path b/src/main/deploy/pathplanner/3ScoreCharge5-1.path deleted file mode 100644 index 6cdfabb5..00000000 --- a/src/main/deploy/pathplanner/3ScoreCharge5-1.path +++ /dev/null @@ -1,74 +0,0 @@ -{ - "waypoints": [ - { - "anchorPoint": { - "x": 1.8512244543286085, - "y": 3.3 - }, - "prevControl": null, - "nextControl": { - "x": 2.263087232941384, - "y": 3.2848567952775016 - }, - "holonomicAngle": 180.0, - "isReversal": false, - "velOverride": null, - "isLocked": false, - "isStopPoint": false, - "stopEvent": { - "names": [], - "executionBehavior": "parallel", - "waitBehavior": "none", - "waitTime": 0 - } - }, - { - "anchorPoint": { - "x": 2.85, - "y": 3.25 - }, - "prevControl": { - "x": 2.918726097138878, - "y": 3.25 - }, - "nextControl": { - "x": 2.7136774872622227, - "y": 3.25 - }, - "holonomicAngle": 180.0, - "isReversal": false, - "velOverride": 0.5, - "isLocked": false, - "isStopPoint": false, - "stopEvent": { - "names": [], - "executionBehavior": "parallel", - "waitBehavior": "none", - "waitTime": 0 - } - }, - { - "anchorPoint": { - "x": 3.9, - "y": 3.25 - }, - "prevControl": { - "x": 4.305938895246027, - "y": 3.25 - }, - "nextControl": null, - "holonomicAngle": 180.0, - "isReversal": false, - "velOverride": null, - "isLocked": false, - "isStopPoint": false, - "stopEvent": { - "names": [], - "executionBehavior": "parallel", - "waitBehavior": "none", - "waitTime": 0 - } - } - ], - "markers": [] -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/3ScoreCharge5-6.path b/src/main/deploy/pathplanner/3ScoreCharge5-6.path deleted file mode 100644 index 4c1ff1bd..00000000 --- a/src/main/deploy/pathplanner/3ScoreCharge5-6.path +++ /dev/null @@ -1,74 +0,0 @@ -{ - "waypoints": [ - { - "anchorPoint": { - "x": 1.85, - "y": 2.2 - }, - "prevControl": null, - "nextControl": { - "x": 2.67495001155416, - "y": 2.149722795686194 - }, - "holonomicAngle": 180.0, - "isReversal": false, - "velOverride": null, - "isLocked": false, - "isStopPoint": false, - "stopEvent": { - "names": [], - "executionBehavior": "parallel", - "waitBehavior": "none", - "waitTime": 0 - } - }, - { - "anchorPoint": { - "x": 2.85, - "y": 2.15 - }, - "prevControl": { - "x": 2.918726097138878, - "y": 2.15 - }, - "nextControl": { - "x": 2.7136774872622227, - "y": 2.15 - }, - "holonomicAngle": 180.0, - "isReversal": false, - "velOverride": 0.5, - "isLocked": false, - "isStopPoint": false, - "stopEvent": { - "names": [], - "executionBehavior": "parallel", - "waitBehavior": "none", - "waitTime": 0 - } - }, - { - "anchorPoint": { - "x": 3.9, - "y": 2.15 - }, - "prevControl": { - "x": 4.305938895246028, - "y": 2.15 - }, - "nextControl": null, - "holonomicAngle": 180.0, - "isReversal": false, - "velOverride": null, - "isLocked": false, - "isStopPoint": false, - "stopEvent": { - "names": [], - "executionBehavior": "parallel", - "waitBehavior": "none", - "waitTime": 0 - } - } - ], - "markers": [] -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/TestVelocityOveride.path b/src/main/deploy/pathplanner/TestVelocityOveride.path deleted file mode 100644 index cd7fe81c..00000000 --- a/src/main/deploy/pathplanner/TestVelocityOveride.path +++ /dev/null @@ -1,74 +0,0 @@ -{ - "waypoints": [ - { - "anchorPoint": { - "x": 1.8298457109734734, - "y": 5.035853148629374 - }, - "prevControl": null, - "nextControl": { - "x": 2.82984571097347, - "y": 5.035853148629374 - }, - "holonomicAngle": 180.0, - "isReversal": false, - "velOverride": null, - "isLocked": false, - "isStopPoint": false, - "stopEvent": { - "names": [], - "executionBehavior": "parallel", - "waitBehavior": "none", - "waitTime": 0 - } - }, - { - "anchorPoint": { - "x": 3.69, - "y": 5.024433980491892 - }, - "prevControl": { - "x": 2.69, - "y": 5.024433980491892 - }, - "nextControl": { - "x": 4.6899999999999995, - "y": 5.024433980491892 - }, - "holonomicAngle": 180.0, - "isReversal": false, - "velOverride": 0.1, - "isLocked": false, - "isStopPoint": false, - "stopEvent": { - "names": [], - "executionBehavior": "parallel", - "waitBehavior": "none", - "waitTime": 0 - } - }, - { - "anchorPoint": { - "x": 5.69, - "y": 5.02 - }, - "prevControl": { - "x": 4.7167832645612435, - "y": 5.02 - }, - "nextControl": null, - "holonomicAngle": 180.0, - "isReversal": false, - "velOverride": null, - "isLocked": false, - "isStopPoint": false, - "stopEvent": { - "names": [], - "executionBehavior": "parallel", - "waitBehavior": "none", - "waitTime": 0 - } - } - ], - "markers": [] -} \ No newline at end of file diff --git a/src/main/java/frc/robot/classes/Auton.java b/src/main/java/frc/robot/classes/Auton.java index 7a00ed09..e003a452 100644 --- a/src/main/java/frc/robot/classes/Auton.java +++ b/src/main/java/frc/robot/classes/Auton.java @@ -24,7 +24,6 @@ import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.InstantCommand; import edu.wpi.first.wpilibj2.command.ParallelDeadlineGroup; -import edu.wpi.first.wpilibj2.command.RepeatCommand; import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; import edu.wpi.first.wpilibj2.command.StartEndCommand; import edu.wpi.first.wpilibj2.command.WaitCommand; @@ -41,7 +40,7 @@ public class Auton{ private enum AutonModes{ //Number after a path name corresponds to its starting position //Test routines - PLACETEST, LAUNCHTEST, TESTOVERIDE, + PLACETEST, LAUNCHTEST, //Skip scoring and balance CHARGE1, CHARGE6, //Score preload and drive out of the community @@ -49,17 +48,13 @@ private enum AutonModes{ //Score preload and balance ONESCORECHARGE1, ONESCORECHARGE2, ONESCORECHARGE3, ONESCORECHARGE4, ONESCORECHARGE5, ONESCORECHARGE6, //Score preload, intake another game piece, then balance - ONESCORELOADCHARGE1, ONESCORELOADCHARGE6, ONECUBELOAD1, ONECUBELOAD6, + ONESCORECHARGELOAD, //Score preload then score another game piece - TWOSCORE1, TWOSCORECUBE1, TWOSCORE6, + TWOSCORE, //Score preload, score another game piece, then balance - TWOSCORECUBECHARGE1, TWOSCORECHARGE1, TWOSCORECHARGE6, - //Score preload, score another game piece, intake another game piece, then balance - TWOSCORELOADCHARGE1, TWOSCORELOADCHARGE6, + TWOSCORECHARGE, //Score preload, then score two other game pieces - THREESCORE1, THREESCORE6, - //Score preload, score two other game pieces, then balance - THREESCORECHARGE1, THREESCORECHARGE6 + THREESCORE } private final AutonModes kDefaultAutonMode = AutonModes.ONESCORE; @@ -205,12 +200,6 @@ private Command getAutonSequence(){ new SequentialCommandGroup( cubeapultSubsystem.launch() ); - case TESTOVERIDE: - return - new SequentialCommandGroup( - resetOdometry("TestVelocityOveride"), - swerveSubsystem.followTrajectory("TestVelocityOveride", getTrajectory("TestVelocityOveride")) - ); case ONESCORE: return new SequentialCommandGroup( @@ -250,10 +239,13 @@ private Command getAutonSequence(){ case ONESCORECHARGE2: return new SequentialCommandGroup( + resetOdometry("1ScoreCharge-2"), + highTransitionSequenceCone(), + translateY(-0.1, 0.5), resetOdometry("1ScoreCharge-2"), highScoreSequenceCone(), swerveSubsystem.followTrajectory("1ScoreCharge-2", getTrajectory("1ScoreCharge-2")) - .alongWith(armSubsystem.goToStateDelay(ArmState.STOWED)), + .deadlineWith(armSubsystem.goToStateDelay(ArmState.STOWED)), swerveSubsystem.assistedBalance(true) ); case ONESCORECHARGE3: @@ -303,212 +295,65 @@ private Command getAutonSequence(){ swerveSubsystem.followTrajectory("1ScoreCharge-6", getTrajectory("1ScoreCharge-6")) .deadlineWith(armSubsystem.goToStateDelay(ArmState.STOWED)), swerveSubsystem.assistedBalance(true) - ); - case ONESCORELOADCHARGE1: + ); + case ONESCORECHARGELOAD: return new SequentialCommandGroup( - resetOdometry("1ScoreConeLoad1-1"), - highTransitionSequenceCone(), - translateY(-0.1, 0.5), - resetOdometry("1ScoreConeLoad1-1"), - highScoreSequenceCone(), - swerveSubsystem.followTrajectory("1ScoreConeLoad1-1", getTrajectory("1ScoreConeLoad1-1")).deadlineWith(armSubsystem.transitionToState(ArmState.CONEINTAKE)), - new ParallelDeadlineGroup( - swerveSubsystem.followTrajectory("1ScoreLoad2-1", getTrajectory("1ScoreLoad2-1")), - intakeSubsystem.pullTimed(3, true) - ).andThen(armSubsystem.goToStateDelay(ArmState.STOWED)), - swerveSubsystem.assistedBalance(false) - ); - case ONESCORELOADCHARGE6: - return - new SequentialCommandGroup( - resetOdometry("1ScoreConeLoad1-6"), - highTransitionSequenceCone(), - translateY(-0.1, 0.5), - resetOdometry("1ScoreConeLoad1-6"), - highScoreSequenceCone(), - swerveSubsystem.followTrajectory("1ScoreConeLoad1-6", getTrajectory("1ScoreConeLoad1-6")).deadlineWith(armSubsystem.goToStateDelay(ArmState.CONEINTAKE)), - new ParallelDeadlineGroup( - swerveSubsystem.followTrajectory("1ScoreLoad2-6", getTrajectory("1ScoreLoad2-6")), - intakeSubsystem.pullTimed(3, true) - ).andThen(armSubsystem.goToStateDelay(ArmState.STOWED)), - swerveSubsystem.assistedBalance(false) - ); - case ONECUBELOAD1: - return - new SequentialCommandGroup( - resetOdometry("1ScoreCubeLoad1-1"), + resetOdometry("1ScoreChargeLoad"), cubeapultSubsystem.launch(), new FollowPathWithEvents( - swerveSubsystem.followTrajectory("1ScoreCubeLoad1-1", getTrajectory("1ScoreCubeLoad1-1")), - getTrajectory("1ScoreCubeLoad1-1").getMarkers(), + swerveSubsystem.followTrajectory("1ScoreChargeLoad", getTrajectory("1ScoreChargeLoad")), + getTrajectory("1ScoreChargeLoad").getMarkers(), actions ), swerveSubsystem.assistedBalance(false) ); - case ONECUBELOAD6: - return - new SequentialCommandGroup( - resetOdometry("1ScoreCubeLoad1-6"), - cubeapultSubsystem.launch(), - swerveSubsystem.followTrajectory("1ScoreCubeLoad1-6", getTrajectory("1ScoreCubeLoad1-6")), - new ParallelDeadlineGroup( - swerveSubsystem.followTrajectory("1ScoreLoad2-6", getTrajectory("1ScoreLoad2-6")), - intakeSubsystem.pullTimed(3, true) - ).andThen(armSubsystem.goToStateDelay(ArmState.STOWED)), - swerveSubsystem.assistedBalance(false) - ); - case TWOSCORE1: - return - new SequentialCommandGroup( - resetOdometry("2Score-1"), - cubeapultSubsystem.launch(), - new FollowPathWithEvents( - swerveSubsystem.followTrajectory("2Score-1", getTrajectory("2Score-1")), - getTrajectory("2Score-1").getMarkers(), - actions - ), - translateY(-0.1,0.3), - highScoreSequenceCone() - ); - case TWOSCORECUBE1: + case TWOSCORE: return new SequentialCommandGroup( - resetOdometry("2ScoreCube-1"), + resetOdometry("2Score"), cubeapultSubsystem.launch(), new FollowPathWithEvents( - swerveSubsystem.followTrajectory("2ScoreCube-1", getTrajectory("2ScoreCube-1")), - getTrajectory("2ScoreCube-1").getMarkers(), + swerveSubsystem.followTrajectory("2Score", getTrajectory("2Score")), + getTrajectory("2Score").getMarkers(), actions ), scoreSequenceCube() ); - case TWOSCORE6: - return - new SequentialCommandGroup( - resetOdometry("2Score1-6"), - highScoreSequenceCone(), - swerveSubsystem.followTrajectory("2Score1-6", getTrajectory("2Score1-6")) - .alongWith(armSubsystem.goToStateDelay(ArmState.STOWED)), - swerveSubsystem.followTrajectory("2Score2-6", getTrajectory("2Score2-6")) - ); - case TWOSCORECUBECHARGE1: + case TWOSCORECHARGE: return new SequentialCommandGroup( - resetOdometry("2ScoreCube-1"), + resetOdometry("2Score"), cubeapultSubsystem.launch(), new FollowPathWithEvents( - swerveSubsystem.followTrajectory("2ScoreCube-1", getTrajectory("2ScoreCube-1")), - getTrajectory("2ScoreCube-1").getMarkers(), + swerveSubsystem.followTrajectory("2Score", getTrajectory("2Score")), + getTrajectory("2Score").getMarkers(), actions ), scoreSequenceCube(), - swerveSubsystem.followTrajectory("2ScoreCubeCharge-1", getTrajectory("2ScoreCubeCharge-1")) + swerveSubsystem.followTrajectory("2ScoreCharge", getTrajectory("2ScoreCharge")) .alongWith(armSubsystem.goToState(ArmState.STOWED)), swerveSubsystem.assistedBalance(true) ); - case TWOSCORECHARGE1: + case THREESCORE: return new SequentialCommandGroup( - resetOdometry("2ScoreCharge1-1"), - highScoreSequenceCone(), - swerveSubsystem.followTrajectory("2ScoreCharge1-1", getTrajectory("2ScoreCharge1-1")) - .alongWith(armSubsystem.goToStateDelay(ArmState.STOWED)), - swerveSubsystem.followTrajectory("2ScoreCharge2-1", getTrajectory("2ScoreCharge2-1")), - swerveSubsystem.followTrajectory("2ScoreCharge3-1", getTrajectory("2ScoreCharge3-1")), - swerveSubsystem.assistedBalance(true) - ); - case TWOSCORECHARGE6: - return - new SequentialCommandGroup( - resetOdometry("2ScoreCharge1-6"), - highScoreSequenceCone(), - swerveSubsystem.followTrajectory("2ScoreCharge1-6", getTrajectory("2ScoreCharge1-6")) - .alongWith(armSubsystem.goToStateDelay(ArmState.STOWED)), - swerveSubsystem.followTrajectory("2ScoreCharge2-6", getTrajectory("2ScoreCharge2-6")), - swerveSubsystem.followTrajectory("2ScoreCharge3-6", getTrajectory("2ScoreCharge3-6")), - swerveSubsystem.assistedBalance(true) - ); - case THREESCORE1: - return - new SequentialCommandGroup( - resetOdometry("3ScoreCube1-1"), + resetOdometry("3Score1"), cubeapultSubsystem.launch(), new FollowPathWithEvents( - swerveSubsystem.followTrajectory("3ScoreCube1-1", getTrajectory("3ScoreCube1-1")), - getTrajectory("3ScoreCube1-1").getMarkers(), + swerveSubsystem.followTrajectory("3Score1", getTrajectory("3Score1")), + getTrajectory("3Score1").getMarkers(), actions ), scoreSequenceCube(), - resetOdometry("3ScoreCube2-1"), + resetOdometry("3Score2"), new FollowPathWithEvents( - swerveSubsystem.followTrajectory("3ScoreCube2-1", getTrajectory("3ScoreCube2-1")), - getTrajectory("3ScoreCube2-1").getMarkers(), + swerveSubsystem.followTrajectory("3Score2", getTrajectory("3Score2")), + getTrajectory("3Score2").getMarkers(), actions ) ); - case THREESCORE6: - return - new SequentialCommandGroup( - resetOdometry("3Score1-6"), - highScoreSequenceCone(), - swerveSubsystem.followTrajectory("3Score1-6", getTrajectory("3Score1-6")) - .alongWith(armSubsystem.goToStateDelay(ArmState.STOWED)), - swerveSubsystem.followTrajectory("3Score2-6", getTrajectory("3Score2-6")), - swerveSubsystem.followTrajectory("3Score3-6", getTrajectory("3Score3-6")), - swerveSubsystem.followTrajectory("3Score4-6", getTrajectory("3Score4-6")) - ); - case TWOSCORELOADCHARGE1: - return - new SequentialCommandGroup( - resetOdometry("2ScoreLoadCharge1-1"), - highScoreSequenceCone(), - swerveSubsystem.followTrajectory("2ScoreLoadCharge1-1", getTrajectory("2ScoreLoadCharge1-1")) - .alongWith(armSubsystem.goToStateDelay(ArmState.STOWED)), - swerveSubsystem.followTrajectory("2ScoreLoadCharge2-1", getTrajectory("2ScoreLoadCharge2-1")), - swerveSubsystem.followTrajectory("2ScoreLoadCharge3-1", getTrajectory("2ScoreLoadCharge3-1")), - swerveSubsystem.followTrajectory("2ScoreLoadCharge4-1", getTrajectory("2ScoreLoadCharge4-1")), - swerveSubsystem.assistedBalance(true) - ); - case TWOSCORELOADCHARGE6: - return - new SequentialCommandGroup( - resetOdometry("2ScoreLoadCharge1-6"), - highScoreSequenceCone(), - swerveSubsystem.followTrajectory("2ScoreLoadCharge1-6", getTrajectory("2ScoreLoadCharge1-6")) - .alongWith(armSubsystem.goToStateDelay(ArmState.STOWED)), - swerveSubsystem.followTrajectory("2ScoreLoadCharge2-6", getTrajectory("2ScoreLoadCharge2-6")), - swerveSubsystem.followTrajectory("2ScoreLoadCharge3-6", getTrajectory("2ScoreLoadCharge3-6")), - swerveSubsystem.followTrajectory("2ScoreLoadCharge4-6", getTrajectory("2ScoreLoadCharge4-6")), - swerveSubsystem.assistedBalance(true) - ); - case THREESCORECHARGE1: - return - new SequentialCommandGroup( - resetOdometry("3ScoreCharge1-1"), - highScoreSequenceCone(), - swerveSubsystem.followTrajectory("3ScoreCharge1-1", getTrajectory("3ScoreCharge1-1")) - .alongWith(armSubsystem.goToStateDelay(ArmState.STOWED)), - swerveSubsystem.followTrajectory("3ScoreCharge2-1", getTrajectory("3ScoreCharge2-1")), - swerveSubsystem.followTrajectory("3ScoreCharge3-1", getTrajectory("3ScoreCharge3-1")), - swerveSubsystem.followTrajectory("3ScoreCharge4-1", getTrajectory("3ScoreCharge4-1")), - swerveSubsystem.followTrajectory("3ScoreCharge5-1", getTrajectory("3ScoreCharge5-1")), - swerveSubsystem.assistedBalance(true) - ); - case THREESCORECHARGE6: - return - new SequentialCommandGroup( - resetOdometry("3ScoreCharge1-6"), - highScoreSequenceCone(), - swerveSubsystem.followTrajectory("3ScoreCharge1-6", getTrajectory("3ScoreCharge1-6")) - .alongWith(armSubsystem.goToStateDelay(ArmState.STOWED)), - swerveSubsystem.followTrajectory("3ScoreCharge2-6", getTrajectory("3ScoreCharge2-6")), - swerveSubsystem.followTrajectory("3ScoreCharge3-6", getTrajectory("3ScoreCharge3-6")), - swerveSubsystem.followTrajectory("3ScoreCharge4-6", getTrajectory("3ScoreCharge4-6")), - swerveSubsystem.followTrajectory("3ScoreCharge5-6", getTrajectory("3ScoreCharge5-6")), - swerveSubsystem.assistedBalance(true) - ); default: return null; } From f9479203173c7aa043594d48ec725fca7bd629c3 Mon Sep 17 00:00:00 2001 From: azvanderpas Date: Wed, 5 Apr 2023 11:57:07 -0500 Subject: [PATCH 04/10] Fix auton mode trigger (no buttons) (#102) --- src/main/java/frc/robot/classes/Auton.java | 11 +++++++++-- 1 file changed, 9 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc/robot/classes/Auton.java b/src/main/java/frc/robot/classes/Auton.java index e003a452..e8d2d2bf 100644 --- a/src/main/java/frc/robot/classes/Auton.java +++ b/src/main/java/frc/robot/classes/Auton.java @@ -27,6 +27,7 @@ import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; import edu.wpi.first.wpilibj2.command.StartEndCommand; import edu.wpi.first.wpilibj2.command.WaitCommand; +import edu.wpi.first.wpilibj2.command.button.Trigger; import frc.robot.subsystems.ArmSubsystem; import frc.robot.subsystems.CubeapultSubsystem; import frc.robot.subsystems.ArmSubsystem.ArmState; @@ -75,6 +76,7 @@ private enum AutonModes{ private AutonModes autonMode; private Command autonCommand; + private Trigger autonSelectionTrig; private HashMap actions; @@ -89,6 +91,8 @@ public Auton(SwerveSubsystem swerveSubsystem, ArmSubsystem armSubsystem, IntakeS modeChooser.addOption(mode.toString(), mode); } modeChooser.setDefaultOption(kDefaultAutonMode.toString(), kDefaultAutonMode); + autonMode = kDefaultAutonMode; + configTab.add("Auton mode", modeChooser).withSize(2, 1); pathConstraints = new PathConstraints(kMaxSpeed, kMaxAcceleration); @@ -102,8 +106,11 @@ public Auton(SwerveSubsystem swerveSubsystem, ArmSubsystem armSubsystem, IntakeS actions.put("conePull", intakeSubsystem.pullTimed(1.5, true).andThen(armSubsystem.goToState(ArmState.STOWED))); actions.put("conePullTransition", intakeSubsystem.pullTimed(1.5, true).andThen(highTransitionSequenceCone())); - autonCommand = getAutonSequence(); - configTab.add(new InstantCommand(() -> {autonCommand = getAutonSequence(); loadEntry.setString(autonMode.toString());}).beforeStarting(new WaitCommand(1)).withName("Load Auton").ignoringDisable(true)); //wait command is to show if the load auton command ran + autonSelectionTrig = new Trigger(() -> {return autonMode != modeChooser.getSelected();}); + autonSelectionTrig.whileTrue(new InstantCommand(() -> { + autonCommand = getAutonSequence(); + loadEntry.setString(autonMode.toString()); + }).ignoringDisable(true)); } private PathPlannerTrajectory getTrajectory(String name) throws NullPointerException{ From 213f53880d87943dc27839e5f142e4a404e0d270 Mon Sep 17 00:00:00 2001 From: Spike Date: Wed, 5 Apr 2023 22:08:47 -0500 Subject: [PATCH 05/10] Make sure to initialize auton command --- src/main/java/frc/robot/classes/Auton.java | 1 + 1 file changed, 1 insertion(+) diff --git a/src/main/java/frc/robot/classes/Auton.java b/src/main/java/frc/robot/classes/Auton.java index e8d2d2bf..448aefbb 100644 --- a/src/main/java/frc/robot/classes/Auton.java +++ b/src/main/java/frc/robot/classes/Auton.java @@ -106,6 +106,7 @@ public Auton(SwerveSubsystem swerveSubsystem, ArmSubsystem armSubsystem, IntakeS actions.put("conePull", intakeSubsystem.pullTimed(1.5, true).andThen(armSubsystem.goToState(ArmState.STOWED))); actions.put("conePullTransition", intakeSubsystem.pullTimed(1.5, true).andThen(highTransitionSequenceCone())); + autonCommand = getAutonSequence(); autonSelectionTrig = new Trigger(() -> {return autonMode != modeChooser.getSelected();}); autonSelectionTrig.whileTrue(new InstantCommand(() -> { autonCommand = getAutonSequence(); From 45d7c26bb01fb54593ebc3fd4567a7bac5ef2131 Mon Sep 17 00:00:00 2001 From: Spike Date: Fri, 7 Apr 2023 08:14:20 -0500 Subject: [PATCH 06/10] Move 3Score up end 6 inches --- src/main/deploy/pathplanner/3Score1.path | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/src/main/deploy/pathplanner/3Score1.path b/src/main/deploy/pathplanner/3Score1.path index bc453247..b0e25cb7 100644 --- a/src/main/deploy/pathplanner/3Score1.path +++ b/src/main/deploy/pathplanner/3Score1.path @@ -100,15 +100,15 @@ { "anchorPoint": { "x": 2.2, - "y": 4.5 + "y": 4.65 }, "prevControl": { "x": 2.4017398516215898, - "y": 4.932632507945059 + "y": 5.08263250794506 }, "nextControl": { "x": 2.193162466250868, - "y": 4.485336861555769 + "y": 4.6353368615557695 }, "holonomicAngle": 180.0, "isReversal": false, @@ -125,11 +125,11 @@ { "anchorPoint": { "x": 2.0, - "y": 4.5 + "y": 4.65 }, "prevControl": { "x": 2.1924881663326365, - "y": 4.5 + "y": 4.65 }, "nextControl": null, "holonomicAngle": 180.0, From 12665c3d539428dbcb28ef0f1e199ed250bbe9ef Mon Sep 17 00:00:00 2001 From: Spike Date: Fri, 7 Apr 2023 09:34:54 -0500 Subject: [PATCH 07/10] Move twoscore up --- src/main/deploy/pathplanner/2Score.path | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/src/main/deploy/pathplanner/2Score.path b/src/main/deploy/pathplanner/2Score.path index 17364f0e..2310a050 100644 --- a/src/main/deploy/pathplanner/2Score.path +++ b/src/main/deploy/pathplanner/2Score.path @@ -100,15 +100,15 @@ { "anchorPoint": { "x": 2.2, - "y": 4.42 + "y": 4.65 }, "prevControl": { "x": 2.460080980620132, - "y": 4.977745462832786 + "y": 5.207745462832786 }, "nextControl": { "x": 2.186350154977473, - "y": 4.390727812885308 + "y": 4.620727812885308 }, "holonomicAngle": 180.0, "isReversal": false, @@ -125,11 +125,11 @@ { "anchorPoint": { "x": 2.0, - "y": 4.42 + "y": 4.65 }, "prevControl": { "x": 2.2283833627496312, - "y": 4.42 + "y": 4.65 }, "nextControl": null, "holonomicAngle": 180.0, From e3bf00d6edc61903b45d44e5d01f3d170449ac81 Mon Sep 17 00:00:00 2001 From: Spike Date: Fri, 7 Apr 2023 09:57:02 -0500 Subject: [PATCH 08/10] Remove 1st 3score phase --- .../pathplanner/{3Score2.path => 3Score.path} | 0 src/main/deploy/pathplanner/3Score1.path | 168 ------------------ src/main/java/frc/robot/classes/Auton.java | 12 +- 3 files changed, 6 insertions(+), 174 deletions(-) rename src/main/deploy/pathplanner/{3Score2.path => 3Score.path} (100%) delete mode 100644 src/main/deploy/pathplanner/3Score1.path diff --git a/src/main/deploy/pathplanner/3Score2.path b/src/main/deploy/pathplanner/3Score.path similarity index 100% rename from src/main/deploy/pathplanner/3Score2.path rename to src/main/deploy/pathplanner/3Score.path diff --git a/src/main/deploy/pathplanner/3Score1.path b/src/main/deploy/pathplanner/3Score1.path deleted file mode 100644 index b0e25cb7..00000000 --- a/src/main/deploy/pathplanner/3Score1.path +++ /dev/null @@ -1,168 +0,0 @@ -{ - "waypoints": [ - { - "anchorPoint": { - "x": 1.9, - "y": 4.55 - }, - "prevControl": null, - "nextControl": { - "x": 2.4163955437723894, - "y": 5.06639554377239 - }, - "holonomicAngle": 0, - "isReversal": false, - "velOverride": null, - "isLocked": false, - "isStopPoint": false, - "stopEvent": { - "names": [], - "executionBehavior": "parallel", - "waitBehavior": "none", - "waitTime": 0 - } - }, - { - "anchorPoint": { - "x": 5.8, - "y": 4.6 - }, - "prevControl": { - "x": 4.78720230876367, - "y": 5.019514539650253 - }, - "nextControl": { - "x": 5.865994912167611, - "y": 4.572664012332553 - }, - "holonomicAngle": 0, - "isReversal": false, - "velOverride": 2.0, - "isLocked": false, - "isStopPoint": false, - "stopEvent": { - "names": [], - "executionBehavior": "parallel", - "waitBehavior": "none", - "waitTime": 0 - } - }, - { - "anchorPoint": { - "x": 6.4, - "y": 4.6 - }, - "prevControl": { - "x": 6.435146941765512, - "y": 4.57538984643077 - }, - "nextControl": { - "x": 5.79867112780778, - "y": 5.0210550092521355 - }, - "holonomicAngle": 0.0, - "isReversal": false, - "velOverride": null, - "isLocked": false, - "isStopPoint": false, - "stopEvent": { - "names": [], - "executionBehavior": "parallel", - "waitBehavior": "none", - "waitTime": 0 - } - }, - { - "anchorPoint": { - "x": 4.1, - "y": 5.2 - }, - "prevControl": { - "x": 4.476345556591751, - "y": 5.2 - }, - "nextControl": { - "x": 3.0629956899484947, - "y": 5.2 - }, - "holonomicAngle": 180.0, - "isReversal": false, - "velOverride": null, - "isLocked": false, - "isStopPoint": false, - "stopEvent": { - "names": [], - "executionBehavior": "parallel", - "waitBehavior": "none", - "waitTime": 0 - } - }, - { - "anchorPoint": { - "x": 2.2, - "y": 4.65 - }, - "prevControl": { - "x": 2.4017398516215898, - "y": 5.08263250794506 - }, - "nextControl": { - "x": 2.193162466250868, - "y": 4.6353368615557695 - }, - "holonomicAngle": 180.0, - "isReversal": false, - "velOverride": 0.5, - "isLocked": false, - "isStopPoint": false, - "stopEvent": { - "names": [], - "executionBehavior": "parallel", - "waitBehavior": "none", - "waitTime": 0 - } - }, - { - "anchorPoint": { - "x": 2.0, - "y": 4.65 - }, - "prevControl": { - "x": 2.1924881663326365, - "y": 4.65 - }, - "nextControl": null, - "holonomicAngle": 180.0, - "isReversal": false, - "velOverride": null, - "isLocked": false, - "isStopPoint": false, - "stopEvent": { - "names": [], - "executionBehavior": "parallel", - "waitBehavior": "none", - "waitTime": 0 - } - } - ], - "markers": [ - { - "position": 0.0, - "names": [ - "armCubeIntake" - ] - }, - { - "position": 0.85, - "names": [ - "cubePullTransition" - ] - }, - { - "position": 0.0, - "names": [ - "event" - ] - } - ] -} \ No newline at end of file diff --git a/src/main/java/frc/robot/classes/Auton.java b/src/main/java/frc/robot/classes/Auton.java index 448aefbb..f78521e2 100644 --- a/src/main/java/frc/robot/classes/Auton.java +++ b/src/main/java/frc/robot/classes/Auton.java @@ -346,18 +346,18 @@ private Command getAutonSequence(){ case THREESCORE: return new SequentialCommandGroup( - resetOdometry("3Score1"), + resetOdometry("2Score"), cubeapultSubsystem.launch(), new FollowPathWithEvents( - swerveSubsystem.followTrajectory("3Score1", getTrajectory("3Score1")), - getTrajectory("3Score1").getMarkers(), + swerveSubsystem.followTrajectory("2Score", getTrajectory("2Score")), + getTrajectory("2Score").getMarkers(), actions ), scoreSequenceCube(), - resetOdometry("3Score2"), + resetOdometry("3Score"), new FollowPathWithEvents( - swerveSubsystem.followTrajectory("3Score2", getTrajectory("3Score2")), - getTrajectory("3Score2").getMarkers(), + swerveSubsystem.followTrajectory("3Score", getTrajectory("3Score")), + getTrajectory("3Score").getMarkers(), actions ) From fd0495fc67db27a773f88fc939b995bbd6c30bbb Mon Sep 17 00:00:00 2001 From: Spike Date: Fri, 7 Apr 2023 13:17:01 -0500 Subject: [PATCH 09/10] Move final cube closer --- src/main/deploy/pathplanner/3Score.path | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/main/deploy/pathplanner/3Score.path b/src/main/deploy/pathplanner/3Score.path index b40f2252..5399287b 100644 --- a/src/main/deploy/pathplanner/3Score.path +++ b/src/main/deploy/pathplanner/3Score.path @@ -149,11 +149,11 @@ }, { "anchorPoint": { - "x": 1.95, + "x": 1.85, "y": 4.32 }, "prevControl": { - "x": 2.0913049964466452, + "x": 1.9913049964466454, "y": 4.32 }, "nextControl": null, From 388d6e77ece2576594798db7f5ea55ea54af804e Mon Sep 17 00:00:00 2001 From: Spike Date: Fri, 7 Apr 2023 13:17:59 -0500 Subject: [PATCH 10/10] Change hasCube behavior --- src/main/java/frc/robot/subsystems/IntakeSubsystem.java | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/src/main/java/frc/robot/subsystems/IntakeSubsystem.java b/src/main/java/frc/robot/subsystems/IntakeSubsystem.java index 6b890c5d..e7e98989 100644 --- a/src/main/java/frc/robot/subsystems/IntakeSubsystem.java +++ b/src/main/java/frc/robot/subsystems/IntakeSubsystem.java @@ -105,9 +105,7 @@ public void setCubeOverride(boolean cubeOverride){ } public boolean hasCube() { - int cubeDistance = timeOfFlightSensor.getDistance1(); - boolean cubeSensorUp = cubeDistance != -1; - return cubeOverride || (cubeDistance <= mmCubeActivationThreshold && cubeSensorUp); + return cubeOverride || !isConeMode; } public double getSpeed(){