From df76b4122cae263675fdf795f6c615a11005b784 Mon Sep 17 00:00:00 2001 From: 28krishnamurthysh-cloud <28krishnamurthysh@fpsct.org> Date: Wed, 11 Mar 2026 18:40:06 -0400 Subject: [PATCH] ADdded paths and elastic choosers from previous commit --- src/main/deploy/choreo/Auto1_Climb_Seg2.traj | 84 ++++ src/main/deploy/choreo/Auto1_NShoot.traj | 227 +++++++++ src/main/java/frc/robot/Robot.java | 1 + src/main/java/frc/robot/RobotContainer.java | 113 +++-- .../frc/robot/autos/Blue1_Climb_Auto.java | 172 ------- .../frc/robot/autos/MechanismTrigger.java | 13 + .../frc/robot/autos/Red1_NoClimb_Auto.java | 168 ------- .../java/frc/robot/autos/StrandRegistry.java | 456 +++++++++++++++++ .../java/frc/robot/autos/StrandRunner.java | 111 +++++ .../frc/robot/autos/Stranddefinition.java | 32 ++ .../robot/subsystems/ClimberSubsystem.java | 5 + .../frc/robot/subsystems/IntakeSubsystem.java | 5 + .../robot/subsystems/ShooterSubsystem.java | 5 + .../frc/robot/subsystems/auto/Auto1__1_2.traj | 104 ++++ .../frc/robot/subsystems/auto/Auto1__1_3.traj | 184 +++++++ .../frc/robot/subsystems/auto/Auto1__1_7.traj | 139 ++++++ .../subsystems/auto/Auto1__1_Preload.traj | 103 ++++ .../frc/robot/subsystems/auto/Auto1__2_3.traj | 261 ++++++++++ .../frc/robot/subsystems/auto/Auto1__2_4.traj | 196 ++++++++ .../frc/robot/subsystems/auto/Auto1__2_5.traj | 159 ++++++ .../frc/robot/subsystems/auto/Auto1__3_4.traj | 76 +++ .../frc/robot/subsystems/auto/Auto1__4_3.traj | 144 ++++++ .../frc/robot/subsystems/auto/Auto1__4_7.traj | 110 +++++ .../frc/robot/subsystems/auto/Auto1__5_6.traj | 156 ++++++ .../frc/robot/subsystems/auto/Auto1__6_8.traj | 88 ++++ .../frc/robot/subsystems/auto/Auto2__1_2.traj | 179 +++++++ .../frc/robot/subsystems/auto/Auto2__1_3.traj | 143 ++++++ .../frc/robot/subsystems/auto/Auto2__1_5.traj | 176 +++++++ .../frc/robot/subsystems/auto/Auto2__1_7.traj | 118 +++++ .../frc/robot/subsystems/auto/Auto2__1_8.traj | 105 ++++ .../subsystems/auto/Auto2__1_Preload.traj | 93 ++++ .../frc/robot/subsystems/auto/Auto2__2_3.traj | 261 ++++++++++ .../robot/subsystems/auto/Auto2__2_4a.traj | 196 ++++++++ .../robot/subsystems/auto/Auto2__2_4b.traj | 148 ++++++ .../frc/robot/subsystems/auto/Auto2__2_5.traj | 159 ++++++ .../frc/robot/subsystems/auto/Auto2__3_4.traj | 76 +++ .../frc/robot/subsystems/auto/Auto2__4_3.traj | 144 ++++++ .../frc/robot/subsystems/auto/Auto2__4_7.traj | 110 +++++ .../frc/robot/subsystems/auto/Auto2__5_2.traj | 153 ++++++ .../robot/subsystems/auto/Auto2__5_6a.traj | 195 ++++++++ .../robot/subsystems/auto/Auto2__5_6b.traj | 156 ++++++ .../frc/robot/subsystems/auto/Auto2__6_8.traj | 88 ++++ .../frc/robot/subsystems/auto/Auto3__1_5.traj | 104 ++++ .../frc/robot/subsystems/auto/Auto3__1_8.traj | 125 +++++ .../subsystems/auto/Auto3__1_Preload.traj | 96 ++++ .../frc/robot/subsystems/auto/Auto3__2_4.traj | 148 ++++++ .../frc/robot/subsystems/auto/Auto3__4_7.traj | 110 +++++ .../frc/robot/subsystems/auto/Auto3__5_2.traj | 153 ++++++ .../frc/robot/subsystems/auto/Auto3__5_6.traj | 195 ++++++++ .../frc/robot/subsystems/auto/Auto3__6_8.traj | 88 ++++ .../robot/subsystems/auto/Path_1768_1.traj | 464 ------------------ .../robot/subsystems/auto/Path_1768_2.traj | 331 ------------- .../frc/robot/subsystems/auto/Path_2877.traj | 311 ------------ 53 files changed, 6234 insertions(+), 1503 deletions(-) create mode 100644 src/main/deploy/choreo/Auto1_Climb_Seg2.traj create mode 100644 src/main/deploy/choreo/Auto1_NShoot.traj delete mode 100644 src/main/java/frc/robot/autos/Blue1_Climb_Auto.java create mode 100644 src/main/java/frc/robot/autos/MechanismTrigger.java delete mode 100644 src/main/java/frc/robot/autos/Red1_NoClimb_Auto.java create mode 100644 src/main/java/frc/robot/autos/StrandRegistry.java create mode 100644 src/main/java/frc/robot/autos/StrandRunner.java create mode 100644 src/main/java/frc/robot/autos/Stranddefinition.java create mode 100644 src/main/java/frc/robot/subsystems/ClimberSubsystem.java create mode 100644 src/main/java/frc/robot/subsystems/IntakeSubsystem.java create mode 100644 src/main/java/frc/robot/subsystems/ShooterSubsystem.java create mode 100644 src/main/java/frc/robot/subsystems/auto/Auto1__1_2.traj create mode 100644 src/main/java/frc/robot/subsystems/auto/Auto1__1_3.traj create mode 100644 src/main/java/frc/robot/subsystems/auto/Auto1__1_7.traj create mode 100644 src/main/java/frc/robot/subsystems/auto/Auto1__1_Preload.traj create mode 100644 src/main/java/frc/robot/subsystems/auto/Auto1__2_3.traj create mode 100644 src/main/java/frc/robot/subsystems/auto/Auto1__2_4.traj create mode 100644 src/main/java/frc/robot/subsystems/auto/Auto1__2_5.traj create mode 100644 src/main/java/frc/robot/subsystems/auto/Auto1__3_4.traj create mode 100644 src/main/java/frc/robot/subsystems/auto/Auto1__4_3.traj create mode 100644 src/main/java/frc/robot/subsystems/auto/Auto1__4_7.traj create mode 100644 src/main/java/frc/robot/subsystems/auto/Auto1__5_6.traj create mode 100644 src/main/java/frc/robot/subsystems/auto/Auto1__6_8.traj create mode 100644 src/main/java/frc/robot/subsystems/auto/Auto2__1_2.traj create mode 100644 src/main/java/frc/robot/subsystems/auto/Auto2__1_3.traj create mode 100644 src/main/java/frc/robot/subsystems/auto/Auto2__1_5.traj create mode 100644 src/main/java/frc/robot/subsystems/auto/Auto2__1_7.traj create mode 100644 src/main/java/frc/robot/subsystems/auto/Auto2__1_8.traj create mode 100644 src/main/java/frc/robot/subsystems/auto/Auto2__1_Preload.traj create mode 100644 src/main/java/frc/robot/subsystems/auto/Auto2__2_3.traj create mode 100644 src/main/java/frc/robot/subsystems/auto/Auto2__2_4a.traj create mode 100644 src/main/java/frc/robot/subsystems/auto/Auto2__2_4b.traj create mode 100644 src/main/java/frc/robot/subsystems/auto/Auto2__2_5.traj create mode 100644 src/main/java/frc/robot/subsystems/auto/Auto2__3_4.traj create mode 100644 src/main/java/frc/robot/subsystems/auto/Auto2__4_3.traj create mode 100644 src/main/java/frc/robot/subsystems/auto/Auto2__4_7.traj create mode 100644 src/main/java/frc/robot/subsystems/auto/Auto2__5_2.traj create mode 100644 src/main/java/frc/robot/subsystems/auto/Auto2__5_6a.traj create mode 100644 src/main/java/frc/robot/subsystems/auto/Auto2__5_6b.traj create mode 100644 src/main/java/frc/robot/subsystems/auto/Auto2__6_8.traj create mode 100644 src/main/java/frc/robot/subsystems/auto/Auto3__1_5.traj create mode 100644 src/main/java/frc/robot/subsystems/auto/Auto3__1_8.traj create mode 100644 src/main/java/frc/robot/subsystems/auto/Auto3__1_Preload.traj create mode 100644 src/main/java/frc/robot/subsystems/auto/Auto3__2_4.traj create mode 100644 src/main/java/frc/robot/subsystems/auto/Auto3__4_7.traj create mode 100644 src/main/java/frc/robot/subsystems/auto/Auto3__5_2.traj create mode 100644 src/main/java/frc/robot/subsystems/auto/Auto3__5_6.traj create mode 100644 src/main/java/frc/robot/subsystems/auto/Auto3__6_8.traj delete mode 100644 src/main/java/frc/robot/subsystems/auto/Path_1768_1.traj delete mode 100644 src/main/java/frc/robot/subsystems/auto/Path_1768_2.traj delete mode 100644 src/main/java/frc/robot/subsystems/auto/Path_2877.traj diff --git a/src/main/deploy/choreo/Auto1_Climb_Seg2.traj b/src/main/deploy/choreo/Auto1_Climb_Seg2.traj new file mode 100644 index 0000000..ed3dcb1 --- /dev/null +++ b/src/main/deploy/choreo/Auto1_Climb_Seg2.traj @@ -0,0 +1,84 @@ +{ + "name":"Auto1_Climb_Seg2", + "version":3, + "snapshot":{ + "waypoints":[ + {"x":2.25,"y":5.625,"heading":2.443460952792061,"intervals":22,"split":false,"fixTranslation":true,"fixHeading":true,"overrideIntervals":false}, + {"x":1.75,"y":5.4,"heading":0.0,"intervals":12,"split":false,"fixTranslation":true,"fixHeading":true,"overrideIntervals":false}, + {"x":1.075,"y":4.81,"heading":0.0,"intervals":6,"split":false,"fixTranslation":true,"fixHeading":true,"overrideIntervals":false}, + 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{"t":4.09619,"x":3.01205,"y":5.57217,"heading":-2.57378,"vx":-3.61103,"vy":0.04284,"omega":-3.33283,"ax":7.16592,"ay":1.42122,"alpha":-20.06956,"fx":[66.23754,103.62873,149.88467,119.05367],"fy":[115.02404,-106.31685,-12.27321,90.59429]}, + {"t":4.11841,"x":2.93356,"y":5.57347,"heading":-2.64785,"vx":-3.45178,"vy":0.07443,"omega":-3.77885,"ax":7.13246,"ay":1.58523,"alpha":-20.97106,"fx":[60.60361,104.76642,150.33421,121.0516],"fy":[127.4887,-106.06752,-13.74491,89.39537]}, + {"t":4.14064,"x":2.85861,"y":5.57552,"heading":-2.73183,"vx":-3.29327,"vy":0.10966,"omega":-4.2449,"ax":7.88751,"ay":1.49717,"alpha":-17.91755,"fx":[88.28026,117.01146,150.72054,126.97948],"fy":[116.42923,-93.02645,-13.53902,81.81535]}, + {"t":4.16286,"x":2.78737,"y":5.57832,"heading":-2.82616,"vx":-3.11798,"vy":0.14293,"omega":-4.6431,"ax":9.83126,"ay":0.71289,"alpha":-1.87732,"fx":[149.87274,151.11427,151.33997,149.68996],"fy":[18.70596,-1.60514,4.26423,22.28893]}, + {"t":4.18508,"x":2.72051,"y":5.58168,"heading":-2.92935,"vx":-2.89949,"vy":0.15877,"omega":-4.68482,"ax":9.79474,"ay":0.47486,"alpha":4.36085,"fx":[151.89235,149.07215,148.70386,150.11218],"fy":[-8.51638,30.09129,29.3003,-21.79716]}, + {"t":4.20731,"x":2.65849,"y":5.58532,"heading":-3.03346,"vx":-2.68182,"vy":0.16933,"omega":-4.5879,"ax":9.52636,"ay":0.34472,"alpha":8.4139,"fx":[150.70392,147.36958,141.58244,143.69033],"fy":[-23.69391,39.34608,54.83261,-49.37559]}, + {"t":4.22953,"x":2.60124,"y":5.58917,"heading":-3.13542,"vx":-2.47011,"vy":0.17699,"omega":-4.40091,"ax":9.22578,"ay":0.22506,"alpha":11.3901,"fx":[148.7033,147.20925,132.44225,136.58557],"fy":[-35.04337,40.88726,74.85137,-66.9137]}, + {"t":4.25175,"x":2.54863,"y":5.59316,"heading":3.04996,"vx":-2.26508,"vy":0.18199,"omega":-4.14778,"ax":8.96433,"ay":0.07069,"alpha":13.46879,"fx":[146.29558,147.83192,124.38004,130.42309],"fy":[-44.49257,39.1871,88.06337,-78.4292]}, + {"t":4.27398,"x":2.5005,"y":5.59722,"heading":2.95778,"vx":-2.06586,"vy":0.18356,"omega":-3.84846,"ax":8.76316,"ay":-0.10979,"alpha":14.81144,"fx":[143.64231,148.7478,118.63141,125.59029],"fy":[-52.69322,36.00119,96.00699,-86.03798]}, + {"t":4.2962,"x":2.45675,"y":5.60127,"heading":2.87225,"vx":-1.87111,"vy":0.18112,"omega":-3.51929,"ax":8.61832,"ay":-0.29585,"alpha":15.60568,"fx":[140.84875,149.70046,115.04596,122.1472],"fy":[-59.92651,32.16676,100.52297,-90.87948]}, + {"t":4.31843,"x":2.4173,"y":5.60523,"heading":2.79404,"vx":-1.67958,"vy":0.17455,"omega":-3.17248,"ax":8.51902,"ay":-0.47135,"alpha":16.01298,"fx":[137.99636,150.56691,113.04707,120.05153],"fy":[-66.34418,28.13645,102.94843,-93.6041]}, + {"t":4.34065,"x":2.38208,"y":5.60899,"heading":2.72353,"vx":-1.49025,"vy":0.16407,"omega":-2.81661,"ax":8.45487,"ay":-0.62619,"alpha":16.1561,"fx":[135.15074,151.29732,112.07881,119.20676],"fy":[-72.04583,24.17472,104.13946,-94.61299]}, + {"t":4.36287,"x":2.35105,"y":5.61248,"heading":2.66094,"vx":-1.30235,"vy":0.15015,"omega":-2.45756,"ax":8.41718,"ay":-0.75479,"alpha":16.12678,"fx":[132.36536,151.88118,111.71731,119.46173],"fy":[-77.10592,20.44349,104.63327,-94.19063]}, + {"t":4.3851,"x":2.32418,"y":5.61563,"heading":2.60632,"vx":-1.11529,"vy":0.13338,"omega":-2.09917,"ax":8.39837,"ay":-0.85512,"alpha":15.9963,"fx":[129.68451,152.3282,111.66494,120.5964],"fy":[-81.58361,17.04484,104.77251,-92.59718]}, + {"t":4.40732,"x":2.30147,"y":5.61838,"heading":2.55967,"vx":-0.92865,"vy":0.11438,"omega":-1.74367,"ax":8.39106,"ay":-0.92848,"alpha":15.82389,"fx":[127.14608,152.65742,111.71874,122.30395],"fy":[-85.52641,14.04445,104.78172,-90.15529]}, + {"t":4.42954,"x":2.2829,"y":5.6207,"heading":2.52092,"vx":-0.74217,"vy":0.09374,"omega":-1.392,"ax":8.38716,"ay":-0.98019,"alpha":15.66281,"fx":[124.78384,152.89093,111.74037,124.17239],"fy":[-88.97197,11.4858,104.81259,-87.34804]}, + {"t":4.45177,"x":2.26848,"y":5.6225,"heading":2.48999,"vx":-0.55578,"vy":0.07196,"omega":-1.04392,"ax":8.37709,"ay":-1.02089,"alpha":15.56537,"fx":[122.62882,153.05026,111.63262,125.65942],"fy":[-91.94949,9.39916,104.97151,-84.93526]}, + {"t":4.47399,"x":2.2582,"y":5.62389,"heading":2.46679,"vx":-0.36961,"vy":0.04927,"omega":-0.698,"ax":8.34845,"ay":-1.06832,"alpha":15.59015,"fx":[120.70976,153.15434,111.32184,126.03084],"fy":[-94.48149,7.80785,105.33752,-84.08221]}, + {"t":4.49622,"x":2.25205,"y":5.62472,"heading":2.45127,"vx":-0.18407,"vy":0.02553,"omega":-0.35153,"ax":8.28277,"ay":-1.14872,"alpha":15.81771,"fx":[119.05232,153.21823,110.74399,124.18063],"fy":[-96.586,6.73298,105.97519,-86.46425]}, + {"t":4.51844,"x":2.25,"y":5.625,"heading":2.44346,"vx":0.0,"vy":0.0,"omega":0.0,"ax":-2.45344,"ay":0.36759,"alpha":-37.78483,"fx":[-80.34627,-153.2116,-65.022,148.34348],"fy":[130.52795,-6.11794,-138.76366,36.86331]}], + "splits":[0] + }, + "events":[] +} diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index ba529e2..a1b1909 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -48,6 +48,7 @@ public Robot() { @Override public void robotPeriodic() { CommandScheduler.getInstance().run(); + m_robotContainer.initAutoChooser(); } @Override diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index bd940cd..4e0c67d 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -15,16 +15,16 @@ import choreo.auto.AutoChooser; // [NEW] import choreo.auto.AutoFactory; // [NEW] +import choreo.auto.AutoRoutine; import edu.wpi.first.wpilibj.Preferences; +import edu.wpi.first.wpilibj.smartdashboard.SendableChooser; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; // [NEW] import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Commands; import edu.wpi.first.wpilibj2.command.button.CommandXboxController; import edu.wpi.first.wpilibj2.command.button.RobotModeTriggers; // [NEW] import frc.robot.Constants.OperatorConstants; -import frc.robot.Constants; -import frc.robot.autos.Blue1_Climb_Auto; -import frc.robot.autos.Red1_NoClimb_Auto; // [NEW] +import frc.robot.Constants; // [NEW] // import frc.robot.subsystems.IntakeSubsystem; // [NEW] — adjust package if needed // import frc.robot.subsystems.ShooterSubsystem; // [NEW] — adjust package if needed import frc.robot.subsystems.swerve.GyroIO; @@ -35,6 +35,7 @@ import frc.robot.subsystems.swerve.SwerveDrive; public class RobotContainer { + // ------------------------------------------------------- // Existing fields — UNCHANGED @@ -42,22 +43,28 @@ public class RobotContainer { private final CommandXboxController driverController; private final CommandXboxController auxController; private final SwerveDrive swerve; - - // ------------------------------------------------------- - // [NEW] Subsystems required for autonomous - // ------------------------------------------------------- - // private final IntakeSubsystem intake; - // private final ShooterSubsystem shooter; - - // ------------------------------------------------------- - // [NEW] ChoreoLib auto infrastructure - // ------------------------------------------------------- private final AutoFactory autoFactory; - private final AutoChooser autoChooser; + + private SendableChooser autoChoose = new SendableChooser<>(); + private SendableChooser EP1 = new SendableChooser<>(); + private SendableChooser EP2 = new SendableChooser<>(); + private SendableChooser EP3 = new SendableChooser<>(); + private SendableChooser EP4 = new SendableChooser<>(); + private SendableChooser EP5 = new SendableChooser<>(); + private String lastSelected = ""; + String[] EPs1a3 = {"2", "3", "4", "5", "6", "7", "8", "N/A"}; + String[] EPs2 = {"2", "3", "4a", "4b", "5", "6a", "6b", "7", "8", "N/A"}; public RobotContainer() { + SmartDashboard.putData("Auto Chooser", autoChoose); // [NEW] + autoChoose.setDefaultOption("Auto 1", "Auto1"); + autoChoose.addOption("Auto 2", "Auto2"); + autoChoose.addOption("Auto 3", "Auto3"); + Preferences.removeAll(); + // Temporary swerve construction to pass into AutoFactory — will be re-assigned properly below + driverController = new CommandXboxController(OperatorConstants.kDriverControllerPort); auxController = new CommandXboxController(OperatorConstants.kAuxControllerPort); @@ -94,25 +101,6 @@ public RobotContainer() { break; } - // ------------------------------------------------------- - // [NEW] Instantiate intake and shooter subsystems - // ------------------------------------------------------- - // intake = new IntakeSubsystem(); - // shooter = new ShooterSubsystem(); - - // ------------------------------------------------------- - // [NEW] Build the AutoFactory - // - swerve::getPose → supplies current robot Pose2d - // - swerve::resetOdometry → resets odometry to trajectory start - // - swerve::followTrajectory → your SwerveSample follower method - // - true → enable alliance (red/blue) flipping - // - swerve → drive subsystem requirement - // - // ACTION REQUIRED: Verify these method names match your SwerveDrive class. - // getPose() should return Pose2d - // resetOdometry() should accept Pose2d - // followTrajectory() should accept SwerveSample - // ------------------------------------------------------- autoFactory = new AutoFactory( swerve::getPose, swerve::resetOdometry, @@ -121,29 +109,6 @@ public RobotContainer() { swerve ); - // ------------------------------------------------------- - // [NEW] Build AutoChooser and register autonomous routines - // Additional autos can be added here with more addRoutine() calls - // ------------------------------------------------------- - autoChooser = new AutoChooser(); - // autoChooser.addRoutine( - // "Red 1 No Climb Auto", - // () -> new Red1_NoClimb_Auto(autoFactory, intake, shooter).buildRoutine() - // ); - - // autoChooser.addRoutine( - // "Blue 1 Climb Auto", - // () -> new Blue1_Climb_Auto(autoFactory, intake, shooter, climber).buildRoutine() - // ); - - SmartDashboard.putData("Auto Chooser", autoChooser); - - // ------------------------------------------------------- - // [NEW] Schedule the selected auto during autonomous period - // This replaces the need to call getAutonomousCommand() manually - // ------------------------------------------------------- - RobotModeTriggers.autonomous().whileTrue(autoChooser.selectedCommandScheduler()); - configureBindings(); } @@ -163,16 +128,50 @@ private void configureBindings() { driverController.b().onTrue(swerve.runReconfigure()); } + public void initAutoChooser() { + String auto = autoChoose.getSelected(); + if (!lastSelected.equals(auto)) { + lastSelected = autoChoose.getSelected(); + EP1 = new SendableChooser<>(); + EP2 = new SendableChooser<>(); + EP3 = new SendableChooser<>(); + EP4 = new SendableChooser<>(); + EP5 = new SendableChooser<>(); + + String[] actualEPs = auto.equals("Auto2") ? EPs2 : EPs1a3; + + for (String EP : actualEPs) { + EP1.addOption(EP, EP); + EP2.addOption(EP, EP); + EP3.addOption(EP, EP); + EP4.addOption(EP, EP); + EP5.addOption(EP, EP); + } + + SmartDashboard.putData("Endpoint 1", EP1); + SmartDashboard.putData("Endpoint 2", EP2); + SmartDashboard.putData("Endpoint 3", EP3); + SmartDashboard.putData("Endpoint 4", EP4); + SmartDashboard.putData("Endpoint 5", EP5); + } + } + public void testPeriodic() { swerve.periodic(); } + private AutoRoutine makeAuto() { + AutoRoutine routine = autoFactory.newRoutine("Auto"); + + return routine; + } + // ------------------------------------------------------- // getAutonomousCommand() is preserved for compatibility // but the auto is now also scheduled via RobotModeTriggers // above, so this is only needed if Robot.java calls it directly. // ------------------------------------------------------- public Command getAutonomousCommand() { - return autoChooser.selectedCommandScheduler(); + return Commands.none(); } } \ No newline at end of file diff --git a/src/main/java/frc/robot/autos/Blue1_Climb_Auto.java b/src/main/java/frc/robot/autos/Blue1_Climb_Auto.java deleted file mode 100644 index 4c86375..0000000 --- a/src/main/java/frc/robot/autos/Blue1_Climb_Auto.java +++ /dev/null @@ -1,172 +0,0 @@ -// ============================================================ -// Blue1_Climb_Auto.java -// Autonomous routine for FRC robot using ChoreoLib AutoRoutine -// Trajectory: Path_1768_2 (13 waypoints, ~9.25 seconds total) -// -// Waypoint Index Reference (0-based, from trajectory.waypoints array): -// Index 0 (t=0.000s) - Start: deploy intake, keep deployed all auto -// Index 2 (t=1.322s) - Intake rollers ON (PDF waypoint 3) -// Index 4 (t=5.004s) - Intake rollers OFF (PDF waypoint 5) -// Index 8 (t=6.855s) - StopPoint: shoot for 7 seconds (PDF waypoint 9) -// Index 10 (t=8.399s) - StopPoint: climber extends (PDF waypoint 11/12) -// Index 11 (t=8.997s) - StopPoint: climber climbs (PDF waypoint 12/13) -// Index 12 (t=9.250s) - Trajectory end (final StopPoint) -// -// StopPoints confirmed in .traj constraints: -// "first", "last", index 9, index 10, index 11, index 12 -// ============================================================ - -package frc.robot.autos; - -import choreo.auto.AutoFactory; -import choreo.auto.AutoRoutine; -import choreo.auto.AutoTrajectory; -import edu.wpi.first.wpilibj2.command.Commands; -import edu.wpi.first.wpilibj2.command.WaitCommand; -//import frc.robot.subsystems.IntakeSubsystem; -//import frc.robot.subsystems.ShooterSubsystem; -//import frc.robot.subsystems.ClimberSubsystem; - -public class Blue1_Climb_Auto { - - // ------------------------------------------------------- - // Dependencies — injected via constructor - // ------------------------------------------------------- - private final AutoFactory autoFactory; - //private final IntakeSubsystem intake; - // private final ShooterSubsystem shooter; - // private final ClimberSubsystem climber; - - // ------------------------------------------------------- - // Timestamps from Path_1768_2.traj — trajectory.waypoints array: - // [0.0, 0.65316, 1.32185, 3.13244, 5.00358, 5.56949, - // 6.04223, 6.42896, 6.85522, 7.45843, 8.39903, 8.99746, 9.2503] - // ------------------------------------------------------- - - // Index 0 (t=0.000s): Start — deploy intake, stays deployed all auto - private static final double T_WP0_START = 0.0; - - // Index 2 (t=1.322s): Intake rollers ON - // This is the start of the slow straight segment (MaxVel=0.75 m/s, - // MaxAngVel=0, KeepInLane active between index 2 and 4) - private static final double T_WP2_INTAKE_START = 1.32185; - - // Index 4 (t=5.004s): Intake rollers OFF - // End of the slow straight collection segment - private static final double T_WP4_INTAKE_END = 5.00358; - - // Index 8 (t=6.855s): STOP AND SHOOT FOR 7 SECONDS - // StopPoint constraint confirmed at index 9 in .traj constraints - // (Choreo constraint indices are 0-based, "from":9 = waypoint index 9 - // in the params array = the 9th waypoint = t=7.458s) - // NOTE: Check against your PDF — if shooter fires at PDF waypoint 9 - // (0-based index 8), use t=6.85522. If PDF waypoint 9 = 1-based index 9 - // (0-based index 8), t=6.85522 is correct. - private static final double T_WP8_SHOOT = 6.85522; - private static final double SHOOT_DURATION = 7.0; // seconds - - // Index 10 (t=8.399s): CLIMBER EXTENDS (pre-position above Rung 1) - // StopPoint confirmed at index 10 in .traj constraints - private static final double T_WP10_CLIMBER_EXTEND = 8.39903; - - // Index 11 (t=8.997s): CLIMBER CLIMBS (robot lifts off ground) - // StopPoint confirmed at index 11 in .traj constraints - private static final double T_WP11_CLIMBER_CLIMB = 8.99746; - - // ------------------------------------------------------- - // Constructor - // ------------------------------------------------------- - public Blue1_Climb_Auto( - AutoFactory autoFactory - // IntakeSubsystem intake, - // ShooterSubsystem shooter, - // ClimberSubsystem climber - ) { - this.autoFactory = autoFactory; - // this.intake = intake; - // this.shooter = shooter; - // this.climber = climber; - } - - // ------------------------------------------------------- - // buildRoutine() - // Register in RobotContainer via: - // autoChooser.addRoutine("Blue 1 Climb Auto", - // () -> new Blue1_Climb_Auto(autoFactory, intake, shooter, climber) - // .buildRoutine()); - // ------------------------------------------------------- - public AutoRoutine buildRoutine() { - - AutoRoutine routine = autoFactory.newRoutine("Blue1_Climb_Auto"); - - // Trajectory file must be deployed to: - // src/main/deploy/choreo/Blue1_Climb_Auto.traj - AutoTrajectory path = routine.trajectory("Blue1_Climb_Auto"); - - // =================================================== - // ENTRY POINT (index 0, t=0.0s) - // Reset odometry to trajectory start pose, deploy intake - // mechanism (stays open for entire auto), begin path. - // =================================================== - routine.active().onTrue( - Commands.sequence( - path.resetOdometry(), - // intake.deploy(), // deploy once — stays open all auto - path.cmd() - ) - ); - - // =================================================== - // INDEX 2 → 4 (t=1.322s → 5.004s) — INTAKE WINDOW - // Run intake rollers during the slow straight segment. - // MaxVelocity=0.75 m/s, MaxAngVel=0, KeepInLane are all - // active — robot moves slowly in a straight line while - // collecting game pieces between these waypoints. - // =================================================== - path.atTime(T_WP2_INTAKE_START).onTrue(null - // intake.intake() // start intake rollers - ); - - path.atTime(T_WP4_INTAKE_END).onTrue(null - //intake.stop() // stop rollers, mechanism stays deployed - ); - - // =================================================== - // INDEX 8 (t=6.855s) — STOP AND SHOOT FOR 7 SECONDS - // StopPoint constraint guarantees robot is stationary here. - // Shoot, hold for 7 seconds, then stop shooter before - // trajectory resumes toward the climb position. - // =================================================== - path.atTime(T_WP8_SHOOT).onTrue( - Commands.sequence( - // shooter.shoot(), - // new WaitCommand(SHOOT_DURATION), - // shooter.stop() - ) - ); - - // =================================================== - // INDEX 10 (t=8.399s) — CLIMBER EXTENDS - // StopPoint constraint guarantees robot is stationary. - // Climber arms extend upward to reach above Rung 1. - // Pre-positions the robot before the final climb pull. - // =================================================== - path.atTime(T_WP10_CLIMBER_EXTEND).onTrue(null - // climber.extend() // raise climber arms above Rung 1 - ); - - // =================================================== - // INDEX 11 (t=8.997s) — CLIMBER CLIMBS - // StopPoint constraint guarantees robot is stationary. - // Climber retracts/pulls down — robot lifts off ground. - // =================================================== - path.atTime(T_WP11_CLIMBER_CLIMB).onTrue(null - // climber.climb() // retract climber, robot lifts off floor - ); - - // Index 12 (t=9.250s) — trajectory ends, robot is hanging. - // No additional action needed at path.done(). - - return routine; - } -} \ No newline at end of file diff --git a/src/main/java/frc/robot/autos/MechanismTrigger.java b/src/main/java/frc/robot/autos/MechanismTrigger.java new file mode 100644 index 0000000..db64fd5 --- /dev/null +++ b/src/main/java/frc/robot/autos/MechanismTrigger.java @@ -0,0 +1,13 @@ +package frc.robot.autos; + +/** + * Represents a single mechanism action to be triggered at a specific waypoint + * during an autonomous trajectory. + * + * @param waypointIndex The 0-based index of the waypoint in the trajectory at + * which this action fires. The runner resolves this to an + * actual timestamp at runtime using splits() + samples(). + * @param action The action to execute (e.g. intake::deploy, shooter::shoot). + * Use a lambda or method reference. + */ +public record MechanismTrigger(int waypointIndex, Runnable action) {} \ No newline at end of file diff --git a/src/main/java/frc/robot/autos/Red1_NoClimb_Auto.java b/src/main/java/frc/robot/autos/Red1_NoClimb_Auto.java deleted file mode 100644 index e6ae299..0000000 --- a/src/main/java/frc/robot/autos/Red1_NoClimb_Auto.java +++ /dev/null @@ -1,168 +0,0 @@ -// ============================================================ -// Red1_NoClimb_Auto.java -// Autonomous routine for FRC robot using ChoreoLib AutoRoutine -// Red 1 path with 2 intake windows and 2 shooting positions -// Trajectory: Red1_NoClimb_Auto (13 waypoints, ~7.22 seconds) -// -// Waypoint Index Reference (0-based, matches Choreo file): -// WP0 (t=0.000s) - Start: deploy intake -// WP1 (t=0.705s) - Shoot for 4 seconds (stop & hold) -// WP3 (t=2.238s) - Begin intake (run through WP6) -// WP6 (t=3.428s) - End intake window 1 -// WP10 (t=5.916s) - Begin intake (run through WP11) -// WP11 (t=6.406s) - End intake window 2 -// WP12 (t=7.218s) - End: shoot for 8 seconds (stop & hold) -// ============================================================ - -package frc.robot.autos; - -import choreo.auto.AutoFactory; -import choreo.auto.AutoRoutine; -import choreo.auto.AutoTrajectory; -import edu.wpi.first.wpilibj2.command.Commands; -import edu.wpi.first.wpilibj2.command.WaitCommand; -// import frc.robot.subsystems.IntakeSubsystem; -// import frc.robot.subsystems.ShooterSubsystem; - -public class Red1_NoClimb_Auto { - - // ------------------------------------------------------- - // Dependencies — injected via constructor - // ------------------------------------------------------- - private final AutoFactory autoFactory; - // private final IntakeSubsystem intake; - // private final ShooterSubsystem shooter; - - // ------------------------------------------------------- - // Trajectory timestamps extracted from Red1_NoClimb_Auto.traj - // These correspond to the waypoint array in the .traj file - // ------------------------------------------------------- - - // Waypoint 1 (index 0): robot start — deploy intake immediately - private static final double T_WP0_START = 0.0; - - // Waypoint 2 (index 1): shooter fires, robot stops for 4 seconds - private static final double T_WP1_SHOOT = 0.70516; - private static final double SHOOT_DURATION_WP1 = 4.0; // seconds - - // Waypoint 4 (index 3): intake window begins - private static final double T_WP3_INTAKE_START = 2.23795; - - // Waypoint 7 (index 6): intake window ends - private static final double T_WP6_INTAKE_END = 3.42836; - - // Waypoint 11 (index 10): second intake window begins - private static final double T_WP10_INTAKE_START = 5.916; - - // Waypoint 12 (index 11): second intake window ends - private static final double T_WP11_INTAKE_END = 6.40557; - - // Waypoint 13 (index 12): final shooter fires, robot stops for 8 seconds - private static final double T_WP12_SHOOT = 7.21794; - private static final double SHOOT_DURATION_WP12 = 8.0; // seconds - - // ------------------------------------------------------- - // Constructor - // ------------------------------------------------------- - public Red1_NoClimb_Auto( - AutoFactory autoFactory - // IntakeSubsystem intake, - // ShooterSubsystem shooter - ) { - - this.autoFactory = autoFactory; - // this.intake = intake; - // this.shooter = shooter; - } - - // ------------------------------------------------------- - // buildRoutine() - // Call this from RobotContainer.getAutonomousCommand() - // Returns the fully configured AutoRoutine - // ------------------------------------------------------- - public AutoRoutine buildRoutine() { - - // Create a new named routine - AutoRoutine routine = autoFactory.newRoutine("Red1_NoClimb_Auto"); - - // Load the single trajectory — must match the filename in - // src/main/deploy/choreo/Red1_NoClimb_Auto.traj (no extension needed) - AutoTrajectory path = routine.trajectory("Red1_NoClimb_Auto"); - - // =================================================== - // ENTRY POINT: When autonomous starts - // 1. Reset odometry to match the trajectory start pose - // 2. Deploy the intake (open it up) - // 3. Begin following the trajectory - // =================================================== - routine.active().onTrue( - Commands.sequence( - path.resetOdometry(), // sync robot pose to WP0 - // intake.deploy(), // open/deploy intake mechanism - path.cmd() // start trajectory following - ) - ); - - // =================================================== - // WAYPOINT 2 (index 1, t ≈ 0.705s) - // Robot reaches shooter position — stop and shoot for 4 seconds - // - // atTime() pauses the trigger until the trajectory clock - // reaches this timestamp. onTrue() fires once at that moment. - // The trajectory is NOT interrupted — the robot must be - // configured with StopPoint constraints at this waypoint - // (already set in the .traj file: "from":1 StopPoint). - // =================================================== - path.atTime(T_WP1_SHOOT).onTrue( - Commands.sequence( - // shooter.shoot(), // start shooter - // new WaitCommand(SHOOT_DURATION_WP1), // hold for 4 seconds - // shooter.stop() // stop shooter after duration - ) - ); - - // =================================================== - // WAYPOINT 4 → 7 (index 3 → 6, t ≈ 2.238s → 3.428s) - // Run intake continuously while travelling through this segment - // - // atTime(start) fires intake ON when trajectory reaches WP4 - // atTime(end) fires intake OFF when trajectory reaches WP7 - // =================================================== - path.atTime(T_WP3_INTAKE_START).onTrue(null - // intake.intake() // start intake rollers - ); - - path.atTime(T_WP6_INTAKE_END).onTrue(null - // intake.stop() // stop intake rollers - ); - - // =================================================== - // WAYPOINT 11 → 12 (index 10 → 11, t ≈ 5.916s → 6.406s) - // Second intake window — same pattern as above - // =================================================== - path.atTime(T_WP10_INTAKE_START).onTrue(null - // intake.intake() // start intake rollers - ); - - path.atTime(T_WP11_INTAKE_END).onTrue(null - // intake.stop() // stop intake rollers - ); - - // =================================================== - // WAYPOINT 13 (index 12, t ≈ 7.218s — trajectory end) - // Robot reaches final scoring position — stop and shoot for 8 seconds - // - // done() fires for exactly ONE scheduler cycle after the - // trajectory finishes. Use onTrue() (not whileTrue()). - // =================================================== - path.done().onTrue( - Commands.sequence( - // shooter.shoot(), // start shooter - // new WaitCommand(SHOOT_DURATION_WP12), // hold for 8 seconds - // shooter.stop() // stop shooter after duration - ) - ); - - return routine; - } -} \ No newline at end of file diff --git a/src/main/java/frc/robot/autos/StrandRegistry.java b/src/main/java/frc/robot/autos/StrandRegistry.java new file mode 100644 index 0000000..aaf738e --- /dev/null +++ b/src/main/java/frc/robot/autos/StrandRegistry.java @@ -0,0 +1,456 @@ +// package frc.robot.autos; + +// import frc.robot.subsystems.IntakeSubsystem; +// import frc.robot.subsystems.ShooterSubsystem; +// import frc.robot.subsystems.ClimberSubsystem; + +// import java.util.HashMap; +// import java.util.List; +// import java.util.Map; + +// /** +// * Central registry of all 37 autonomous strand definitions. +// * +// *

Each entry maps a trajectory name (matching the .traj filename exactly) to a +// * {@link Stranddefinition} containing: +// *

    +// *
  • The trajectory name
    • +// *
  • Whether this strand resets odometry (true only when it is the FIRST strand +// * selected, i.e. starts from a known Starting Position "1")
    • +// *
  • A list of {@link MechanismTrigger}s — each specifying a 0-based waypoint +// * index and the Runnable to execute at that waypoint
    • +// *
+// * +// *

Waypoint Index Convention: Indices match the PDF documentation exactly. +// * WP0 = first waypoint (index 0), WP1 = second waypoint (index 1), etc. +// * The StrandRunner resolves these to actual timestamps at runtime. +// * +// *

Odometry Reset Rule: {@code resetOdometry} is stored as {@code false} +// * for ALL strands here. The {@code StrandRunner} (or RobotContainer) sets it to +// * {@code true} only on the first strand in the sequence at runtime. This avoids +// * duplicating a boolean across all 37 definitions. +// * +// *

Intake Semantics: +// *

    +// *
  • {@code deploy()} — moves the intake arm DOWN only (no rollers)
    • +// *
  • {@code intake()} — runs intake rollers to collect game piece
    • +// *
  • {@code stop()} — stops intake rollers
    • +// *
+// * These are always called separately per the PDF instructions. +// * +// *

Shooter Duration: The PDF specifies durations (e.g. "6 seconds"). +// * These are implemented as timed commands using {@code Commands.waitSeconds()} chained +// * with a stop, scheduled via {@code Commands.sequence()} inside the trigger Runnable. +// * The indexer is integrated into {@link ShooterSubsystem} — {@code shoot()} and +// * {@code stop()} handle both mechanisms. The Runnable itself is fire-and-forget +// * (schedules a command); it does not block the trajectory follow command. +// */ +// public class StrandRegistry { + +// private final Map registry = new HashMap<>(); + +// // ------------------------------------------------------------------------- +// // Subsystem references (injected via constructor) +// // ------------------------------------------------------------------------- +// private final IntakeSubsystem intake; +// private final ShooterSubsystem shooter; +// private final ClimberSubsystem climber; + +// // Cached scheduler reference for timed stop commands +// private final edu.wpi.first.wpilibj2.command.CommandScheduler scheduler = +// edu.wpi.first.wpilibj2.command.CommandScheduler.getInstance(); + +// public StrandRegistry( +// IntakeSubsystem intake, +// ShooterSubsystem shooter, +// ClimberSubsystem climber) { +// this.intake = intake; +// this.shooter = shooter; +// this.climber = climber; +// registerAll(); +// } + +// /** +// * Returns the {@link Stranddefinition} for the given trajectory name. +// * +// * @param trajName Exact trajectory file name, e.g. "Auto1__2_3" +// * @return The definition, or null if not found (logs a warning). +// */ +// public Stranddefinition get(String trajName) { +// Stranddefinition def = registry.get(trajName); +// if (def == null) { +// System.err.println("[StrandRegistry] WARNING: No definition found for '" + trajName + "'"); +// } +// return def; +// } + +// /** +// * Returns a copy of the definition with {@code resetOdometry} forced to true. +// * Called by RobotContainer/getAutonomousCommand() on the FIRST strand only. +// */ +// public Stranddefinition getWithReset(String trajName) { +// Stranddefinition def = get(trajName); +// if (def == null) return null; +// return new Stranddefinition(def.trajName(), true, def.triggers()); +// } + +// // ========================================================================= +// // HELPER METHODS for common trigger patterns +// // ========================================================================= + +// /** deploy() only — arm moves down, no rollers */ +// private MechanismTrigger deployAt(int wp) { +// return new MechanismTrigger(wp, intake::deploy); +// } + +// /** intake() rollers on */ +// private MechanismTrigger intakeOnAt(int wp) { +// return new MechanismTrigger(wp, intake::intake); +// } + +// /** intake stop() */ +// private MechanismTrigger intakeOffAt(int wp) { +// return new MechanismTrigger(wp, intake::stop); +// } + +// /** +// * Shoots for {@code durationSeconds} then stops the shooter. +// * The indexer is integrated into ShooterSubsystem — shoot() and stop() +// * handle both mechanisms together. +// * Schedules a timed command sequence; does not block the trajectory. +// */ +// private MechanismTrigger shootAt(int wp, double durationSeconds) { +// return new MechanismTrigger(wp, () -> { +// scheduler.schedule( +// edu.wpi.first.wpilibj2.command.Commands.sequence( +// edu.wpi.first.wpilibj2.command.Commands.runOnce(shooter::shoot), +// edu.wpi.first.wpilibj2.command.Commands.waitSeconds(durationSeconds), +// edu.wpi.first.wpilibj2.command.Commands.runOnce(shooter::stop) +// ) +// ); +// }); +// } + +// /** Extend climber (raise arms above Rung 1) */ +// private MechanismTrigger extendAt(int wp) { +// return new MechanismTrigger(wp, climber::extend); +// } + +// /** Climb (retract — pulls robot off ground) */ +// private MechanismTrigger climbAt(int wp) { +// return new MechanismTrigger(wp, climber::climb); +// } + +// // ========================================================================= +// // REGISTRATION — all 37 strands +// // resetOdometry is false for all; it is overridden at runtime for strand 1. +// // ========================================================================= + +// private void register(Stranddefinition def) { +// registry.put(def.trajName(), def); +// } + +// private void registerAll() { + +// // ===================================================================== +// // AUTO 1 — 12 strands +// // ===================================================================== + +// // Auto1__1_2 +// // WP1: deploy intake arm +// register(new Stranddefinition("Auto1__1_2", false, List.of( +// deployAt(1) +// ))); + +// // Auto1__1_3 +// // WP1: deploy intake arm +// // WP4: rollers on (entering depot slow creep) +// // WP6: rollers off (at end / reversing out) +// register(new Stranddefinition("Auto1__1_3", false, List.of( +// deployAt(1), +// intakeOnAt(4), +// intakeOffAt(6) +// ))); + +// // Auto1__1_7 (straight to climb) +// // WP1: deploy intake arm +// // WP4: extend climber +// // WP5: climb +// register(new Stranddefinition("Auto1__1_7", false, List.of( +// deployAt(1), +// extendAt(4), +// climbAt(5) +// ))); + +// // Auto1__1_Preload +// // WP1: deploy intake arm +// // WP3: shoot + index for 6 seconds +// register(new Stranddefinition("Auto1__1_Preload", false, List.of( +// deployAt(1), +// shootAt(3, 6.0) +// ))); + +// // Auto1__2_3 +// // WP1: intake on | WP3: intake off +// // WP7: intake on | WP9: intake off (second pickup in depot) +// register(new Stranddefinition("Auto1__2_3", false, List.of( +// intakeOnAt(1), +// intakeOffAt(3), +// intakeOnAt(7), +// intakeOffAt(9) +// ))); + +// // Auto1__2_4 +// // WP1: intake on | WP3: intake off +// // WP7: shoot + index for 8 seconds +// register(new Stranddefinition("Auto1__2_4", false, List.of( +// intakeOnAt(1), +// intakeOffAt(3), +// shootAt(7, 8.0) +// ))); + +// // Auto1__2_5 +// // WP1: intake on | WP4: intake off +// register(new Stranddefinition("Auto1__2_5", false, List.of( +// intakeOnAt(1), +// intakeOffAt(4) +// ))); + +// // Auto1__3_4 +// // WP2: shoot + index for 8 seconds +// register(new Stranddefinition("Auto1__3_4", false, List.of( +// shootAt(2, 8.0) +// ))); + +// // Auto1__4_3 +// // WP2: intake on | WP4: intake off +// register(new Stranddefinition("Auto1__4_3", false, List.of( +// intakeOnAt(2), +// intakeOffAt(4) +// ))); + +// // Auto1__4_7 +// // WP3: extend climber +// // WP4: climb +// register(new Stranddefinition("Auto1__4_7", false, List.of( +// extendAt(3), +// climbAt(4) +// ))); + +// // Auto1__5_6 +// // WP5: shoot + index for 6 seconds +// register(new Stranddefinition("Auto1__5_6", false, List.of( +// shootAt(5, 6.0) +// ))); + +// // Auto1__6_8 +// // WP2: extend climber +// // WP3: climb +// register(new Stranddefinition("Auto1__6_8", false, List.of( +// extendAt(2), +// climbAt(3) +// ))); + +// // ===================================================================== +// // AUTO 2 — 17 strands +// // ===================================================================== + +// // Auto2__1_2 +// // WP1: deploy intake arm +// register(new Stranddefinition("Auto2__1_2", false, List.of( +// deployAt(1) +// ))); + +// // Auto2__1_3 +// // WP1: deploy intake arm +// // WP2–WP4: intake rollers on then off +// register(new Stranddefinition("Auto2__1_3", false, List.of( +// deployAt(1), +// intakeOnAt(2), +// intakeOffAt(4) +// ))); + +// // Auto2__1_5 +// // WP1: deploy intake arm only +// register(new Stranddefinition("Auto2__1_5", false, List.of( +// deployAt(1) +// ))); + +// // Auto2__1_7 +// // WP1: deploy intake arm +// // WP3: extend climber +// // WP4: climb +// register(new Stranddefinition("Auto2__1_7", false, List.of( +// deployAt(1), +// extendAt(3), +// climbAt(4) +// ))); + +// // Auto2__1_8 +// // WP1: deploy intake arm +// // WP3: extend climber +// // WP4: climb +// register(new Stranddefinition("Auto2__1_8", false, List.of( +// deployAt(1), +// extendAt(3), +// climbAt(4) +// ))); + +// // Auto2__1_Preload +// // WP1: deploy intake arm +// // WP2: shoot + index for 4 seconds +// register(new Stranddefinition("Auto2__1_Preload", false, List.of( +// deployAt(1), +// shootAt(2, 4.0) +// ))); + +// // Auto2__2_3 +// // WP1–WP3: intake on/off +// // WP7–WP9: intake on/off (second pickup) +// register(new Stranddefinition("Auto2__2_3", false, List.of( +// intakeOnAt(1), +// intakeOffAt(3), +// intakeOnAt(7), +// intakeOffAt(9) +// ))); + +// // Auto2__2_4a +// // WP1–WP3: intake on/off +// // WP7: shoot + index for 8 seconds +// register(new Stranddefinition("Auto2__2_4a", false, List.of( +// intakeOnAt(1), +// intakeOffAt(3), +// shootAt(7, 8.0) +// ))); + +// // Auto2__2_4b +// // WP5: shoot + index for 8 seconds +// register(new Stranddefinition("Auto2__2_4b", false, List.of( +// shootAt(5, 8.0) +// ))); + +// // Auto2__2_5 +// // WP1–WP4: intake on/off +// register(new Stranddefinition("Auto2__2_5", false, List.of( +// intakeOnAt(1), +// intakeOffAt(4) +// ))); + +// // Auto2__3_4 +// // WP2: shoot + index for 8 seconds +// register(new Stranddefinition("Auto2__3_4", false, List.of( +// shootAt(2, 8.0) +// ))); + +// // Auto2__4_3 +// // WP2–WP4: intake on/off +// register(new Stranddefinition("Auto2__4_3", false, List.of( +// intakeOnAt(2), +// intakeOffAt(4) +// ))); + +// // Auto2__4_7 +// // WP3: extend climber +// // WP4: climb +// register(new Stranddefinition("Auto2__4_7", false, List.of( +// extendAt(3), +// climbAt(4) +// ))); + +// // Auto2__5_2 +// // WP1–WP4: intake on/off +// register(new Stranddefinition("Auto2__5_2", false, List.of( +// intakeOnAt(1), +// intakeOffAt(4) +// ))); + +// // Auto2__5_6a +// // WP1–WP3: intake on/off +// // WP8: shoot + index for 8 seconds +// register(new Stranddefinition("Auto2__5_6a", false, List.of( +// intakeOnAt(1), +// intakeOffAt(3), +// shootAt(8, 8.0) +// ))); + +// // Auto2__5_6b +// // WP5: shoot + index for 6 seconds +// register(new Stranddefinition("Auto2__5_6b", false, List.of( +// shootAt(5, 6.0) +// ))); + +// // Auto2__6_8 +// // WP2: extend climber +// // WP3: climb +// register(new Stranddefinition("Auto2__6_8", false, List.of( +// extendAt(2), +// climbAt(3) +// ))); + +// // ===================================================================== +// // AUTO 3 — 8 strands +// // ===================================================================== + +// // Auto3__1_5 +// // WP1: deploy intake arm only +// register(new Stranddefinition("Auto3__1_5", false, List.of( +// deployAt(1) +// ))); + +// // Auto3__1_8 +// // WP1: deploy intake arm +// // WP3: extend climber +// // WP4: climb +// register(new Stranddefinition("Auto3__1_8", false, List.of( +// deployAt(1), +// extendAt(3), +// climbAt(4) +// ))); + +// // Auto3__1_Preload +// // WP1: deploy intake arm +// // WP3: shoot + index for 4 seconds +// register(new Stranddefinition("Auto3__1_Preload", false, List.of( +// deployAt(1), +// shootAt(3, 4.0) +// ))); + +// // Auto3__2_4 +// // WP5: shoot + index for 8 seconds +// register(new Stranddefinition("Auto3__2_4", false, List.of( +// shootAt(5, 8.0) +// ))); + +// // Auto3__4_7 +// // WP3: extend climber +// // WP4: climb +// register(new Stranddefinition("Auto3__4_7", false, List.of( +// extendAt(3), +// climbAt(4) +// ))); + +// // Auto3__5_2 +// // WP1–WP4: intake on/off +// register(new Stranddefinition("Auto3__5_2", false, List.of( +// intakeOnAt(1), +// intakeOffAt(4) +// ))); + +// // Auto3__5_6 +// // WP1–WP3: intake on/off +// // WP8: shoot + index for 8 seconds +// register(new Stranddefinition("Auto3__5_6", false, List.of( +// intakeOnAt(1), +// intakeOffAt(3), +// shootAt(8, 8.0) +// ))); + +// // Auto3__6_8 +// // WP2: extend climber +// // WP3: climb +// register(new Stranddefinition("Auto3__6_8", false, List.of( +// extendAt(2), +// climbAt(3) +// ))); +// } +// } \ No newline at end of file diff --git a/src/main/java/frc/robot/autos/StrandRunner.java b/src/main/java/frc/robot/autos/StrandRunner.java new file mode 100644 index 0000000..ceefcb3 --- /dev/null +++ b/src/main/java/frc/robot/autos/StrandRunner.java @@ -0,0 +1,111 @@ +package frc.robot.autos; + +import choreo.auto.AutoFactory; +import choreo.auto.AutoRoutine; +import choreo.auto.AutoTrajectory; +import choreo.trajectory.SwerveSample; +import choreo.trajectory.Trajectory; +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.Commands; + +import java.util.List; + +/** + * Converts a {@link StrandDefinition} into a runnable WPILib {@link Command}. + * + *

For each strand: + *

    + *
  1. A fresh {@link AutoRoutine} is created so its EventLoop is isolated.
    2. + *
  2. The named trajectory is loaded from the deploy directory.
    3. + *
  3. Waypoint timestamps are resolved at runtime via + * {@code getRawTrajectory().splits()} + {@code .samples().get(idx).getTimestamp()}. + * No timestamps are hardcoded anywhere.
    4. + *
  4. Each {@link MechanismTrigger} is registered with {@code atTime(seconds)} + * so it fires exactly once when the trajectory reaches that waypoint.
    5. + *
  5. If {@code resetOdometry} is true, an odometry-reset command is prepended.
    6. + *
+ * + *

The returned command is a self-contained {@link AutoRoutine#cmd()} that polls + * its own EventLoop for the duration of the trajectory. + */ +public class StrandRunner { + + private final AutoFactory autoFactory; + + /** + * @param autoFactory The shared AutoFactory from RobotContainer, already + * configured with pose supplier, odometry reset consumer, + * and follow-trajectory consumer. + */ + public StrandRunner(AutoFactory autoFactory) { + this.autoFactory = autoFactory; + } + + /** + * Builds a fully configured {@link Command} for a single strand. + * + * @param def The strand definition (trajectory name + odometry flag + triggers). + * @return A command that, when scheduled, follows the trajectory and fires all + * mechanism triggers at their respective waypoints. + */ + public Command buildStrand(Stranddefinition def) { + // Each strand gets its own routine so EventLoops don't bleed across strands. + AutoRoutine routine = autoFactory.newRoutine(def.trajName()); + AutoTrajectory traj = routine.trajectory(def.trajName()); + + // --------------------------------------------------------------- + // Resolve waypoint timestamps at runtime. + // splits() returns List where each element is the sample + // index of that waypoint. samples().get(idx).getTimestamp() gives + // the elapsed time in seconds. + // --------------------------------------------------------------- + Trajectory rawTraj = traj.getRawTrajectory(); + List splitIndices = rawTraj.splits(); + List samples = rawTraj.samples(); + + double[] waypointTimes = new double[splitIndices.size()]; + for (int i = 0; i < splitIndices.size(); i++) { + int sampleIdx = splitIndices.get(i); + // Guard: clamp to valid range in case of malformed trajectory + sampleIdx = Math.min(sampleIdx, samples.size() - 1); + waypointTimes[i] = samples.get(sampleIdx).getTimestamp(); + } + + // --------------------------------------------------------------- + // Register mechanism triggers. + // Each trigger fires ONCE (atTime produces a rising-edge trigger) + // at the resolved waypoint timestamp. + // --------------------------------------------------------------- + for (MechanismTrigger trigger : def.triggers()) { + int wpIdx = trigger.waypointIndex(); + if (wpIdx < 0 || wpIdx >= waypointTimes.length) { + System.err.println("[StrandRunner] WARNING: waypoint index " + wpIdx + + " out of range for trajectory " + def.trajName() + + " (has " + waypointTimes.length + " waypoints). Trigger skipped."); + continue; + } + double triggerTime = waypointTimes[wpIdx]; + traj.atTime(triggerTime).onTrue( + Commands.runOnce(trigger.action()) + ); + } + + // --------------------------------------------------------------- + // Wire the routine: start following the trajectory when the + // routine becomes active (standard Choreo pattern). + // --------------------------------------------------------------- + routine.active().onTrue(traj.cmd()); + + // --------------------------------------------------------------- + // Odometry reset: prepend a reset command only for the first strand. + // --------------------------------------------------------------- + Command routineCmd = routine.cmd(); + + if (def.resetOdometry()) { + Command resetCmd = autoFactory.resetOdometry(def.trajName()); + return Commands.sequence(resetCmd, routineCmd); + } + + return routineCmd; + } +} \ No newline at end of file diff --git a/src/main/java/frc/robot/autos/Stranddefinition.java b/src/main/java/frc/robot/autos/Stranddefinition.java new file mode 100644 index 0000000..4199b67 --- /dev/null +++ b/src/main/java/frc/robot/autos/Stranddefinition.java @@ -0,0 +1,32 @@ +package frc.robot.autos; + +import java.util.List; + +/** + * Immutable definition of a single autonomous strand. + * + *

A strand is one segment of a full autonomous sequence: one Choreo trajectory + * file paired with the mechanism triggers that fire during it. + * + * @param trajName The exact name of the .traj file (without extension) as it + * appears in the deploy/choreo directory. E.g. "Auto1__1_2". + * @param resetOdometry True only for the very first strand in a sequence (i.e. the + * strand that starts from a known Starting Position). All + * subsequent strands must be false to maintain odometry + * continuity. + * @param triggers Ordered list of mechanism triggers to register on this + * trajectory. Each trigger fires once at the timestamp of its + * declared waypoint index. + */ +public record Stranddefinition( + String trajName, + boolean resetOdometry, + List triggers) { + + /** + * Convenience constructor for strands with no mechanism triggers. + */ + public Stranddefinition(String trajName, boolean resetOdometry) { + this(trajName, resetOdometry, List.of()); + } +} \ No newline at end of file diff --git a/src/main/java/frc/robot/subsystems/ClimberSubsystem.java b/src/main/java/frc/robot/subsystems/ClimberSubsystem.java new file mode 100644 index 0000000..8a66943 --- /dev/null +++ b/src/main/java/frc/robot/subsystems/ClimberSubsystem.java @@ -0,0 +1,5 @@ +package frc.robot.subsystems; + +public class ClimberSubsystem { + +} diff --git a/src/main/java/frc/robot/subsystems/IntakeSubsystem.java b/src/main/java/frc/robot/subsystems/IntakeSubsystem.java new file mode 100644 index 0000000..b5c8d37 --- /dev/null +++ b/src/main/java/frc/robot/subsystems/IntakeSubsystem.java @@ -0,0 +1,5 @@ +package frc.robot.subsystems; + +public class IntakeSubsystem { + +} diff --git a/src/main/java/frc/robot/subsystems/ShooterSubsystem.java b/src/main/java/frc/robot/subsystems/ShooterSubsystem.java new file mode 100644 index 0000000..69a42ce --- /dev/null +++ b/src/main/java/frc/robot/subsystems/ShooterSubsystem.java @@ -0,0 +1,5 @@ +package frc.robot.subsystems; + +public class ShooterSubsystem { + +} diff --git a/src/main/java/frc/robot/subsystems/auto/Auto1__1_2.traj b/src/main/java/frc/robot/subsystems/auto/Auto1__1_2.traj new file mode 100644 index 0000000..50bc84e --- /dev/null +++ b/src/main/java/frc/robot/subsystems/auto/Auto1__1_2.traj @@ -0,0 +1,104 @@ +{ + "name":"Auto1__1_2", + "version":3, + "snapshot":{ + "waypoints":[ + {"x":4.25, "y":7.3, "heading":0.0, "intervals":16, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":5.75, "y":7.3, "heading":0.0, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":7.641, "y":6.9692, "heading":4.71238898038469, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + "constraints":[ + {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":true}], + "targetDt":0.05 + }, + "params":{ + "waypoints":[ + {"x":{"exp":"4.25 m", "val":4.25}, "y":{"exp":"7.3 m", "val":7.3}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":16, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"5.75 m", "val":5.75}, "y":{"exp":"7.3 m", "val":7.3}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":28, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"7.641 m", "val":7.641}, "y":{"exp":"6.9692 m", "val":6.9692}, "heading":{"exp":"270 deg", "val":4.71238898038469}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + "constraints":[ + {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":true}], + "targetDt":{ + "exp":"0.05 s", + "val":0.05 + } + }, + "trajectory":{ + "config":{ + "frontLeft":{ + "x":0.2794, + "y":0.2794 + }, + "backLeft":{ + "x":-0.2794, + "y":0.2794 + }, + "mass":61.23496995, + "inertia":6.0, + "gearing":6.5, + "radius":0.0508, + "vmax":628.3185307179587, + "tmax":1.2, + "cof":1.5, + "bumper":{ + "front":0.5588, + "side":0.4445, + "back":0.4699 + }, + "differentialTrackWidth":0.5588 + }, + "sampleType":"Swerve", + "waypoints":[0.0,0.55124,1.22769], + "samples":[ + {"t":0.0, "x":4.25, "y":7.3, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":10.01701, "ay":0.12308, "alpha":-0.00267, "fx":[153.34802,153.34767,153.34763,153.34798], "fy":[1.86967,1.89825,1.8986,1.87002]}, + {"t":0.03445, "x":4.25595, "y":7.30007, "heading":0.0, "vx":0.34511, "vy":0.00424, "omega":-0.00009, "ax":10.01608, "ay":0.12325, "alpha":-0.00202, "fx":[153.33371,153.33344,153.33341,153.33367], "fy":[1.87589,1.89758,1.89784,1.87616]}, + {"t":0.06891, "x":4.27378, "y":7.30029, "heading":0.0, "vx":0.69019, "vy":0.00849, "omega":-0.00016, "ax":10.01499, "ay":0.12311, "alpha":-0.00138, "fx":[153.31707,153.31689,153.31686,153.31705], "fy":[1.87718,1.89198,1.89217,1.87736]}, + {"t":0.10336, "x":4.3035, "y":7.30066, "heading":-0.00001, "vx":1.03524, "vy":0.01273, "omega":-0.00021, "ax":10.01372, "ay":0.12256, "alpha":-0.00074, "fx":[153.29747,153.29737,153.29736,153.29746], "fy":[1.87217,1.88012,1.88022,1.87227]}, + {"t":0.13781, "x":4.34511, "y":7.30117, "heading":-0.00002, "vx":1.38024, "vy":0.01695, "omega":-0.00023, "ax":10.01219, "ay":0.12147, "alpha":-0.00011, "fx":[153.27402,153.27401,153.274,153.27402], "fy":[1.85895,1.86009,1.8601,1.85897]}, + {"t":0.17226, "x":4.39861, "y":7.30183, "heading":-0.00002, "vx":1.72519, "vy":0.02114, "omega":-0.00024, "ax":10.01032, "ay":0.11966, "alpha":0.00053, "fx":[153.24542,153.24549,153.2455,153.24543], "fy":[1.83476,1.82913,1.82906,1.8347]}, + {"t":0.20672, "x":4.46399, "y":7.30262, "heading":-0.00003, "vx":2.07007, "vy":0.02526, "omega":-0.00022, "ax":10.00799, "ay":0.11687, "alpha":0.00115, "fx":[153.20972,153.20986,153.20989,153.20975], "fy":[1.79544,1.78311,1.78297,1.79529]}, + {"t":0.24117, "x":4.54125, "y":7.30356, "heading":-0.00004, "vx":2.41487, "vy":0.02928, "omega":-0.00018, "ax":10.005, "ay":0.11267, "alpha":0.00176, "fx":[153.16385,153.16406,153.16411,153.1639], "fy":[1.73441,1.71551,1.7153,1.7342]}, + {"t":0.27562, "x":4.63038, "y":7.30464, "heading":-0.00005, "vx":2.75957, "vy":0.03317, "omega":-0.00012, "ax":10.00101, "ay":0.10634, "alpha":0.00236, "fx":[153.10265,153.10292,153.103,153.10273], "fy":[1.64073,1.61543,1.61517,1.64046]}, + {"t":0.31007, "x":4.73139, "y":7.30585, "heading":-0.00005, "vx":3.10413, "vy":0.03683, "omega":-0.00004, "ax":9.9954, "ay":0.09659, "alpha":0.00293, "fx":[153.01679,153.0171,153.01721,153.0169], "fy":[1.49457,1.46318,1.46288,1.49426]}, + {"t":0.34453, "x":4.84427, "y":7.30717, "heading":-0.00005, "vx":3.4485, "vy":0.04016, "omega":0.00006, "ax":9.98695, "ay":0.08084, "alpha":0.00345, "fx":[152.88743,152.88773,152.88789,152.88759], "fy":[1.25614,1.21921,1.21891,1.25584]}, + {"t":0.37898, "x":4.96901, "y":7.3086, "heading":-0.00005, "vx":3.79258, "vy":0.04294, "omega":0.00018, "ax":9.97275, "ay":0.05299, "alpha":0.00387, "fx":[152.67001,152.67023,152.67047,152.67025], "fy":[0.83206,0.7907,0.79049,0.83184]}, + {"t":0.41343, "x":5.10559, "y":7.31011, "heading":-0.00004, "vx":4.13617, "vy":0.04477, "omega":0.00032, "ax":9.94388, "ay":-0.00531, "alpha":0.00403, "fx":[152.22806,152.22804,152.22841,152.22843], "fy":[-0.05977,-0.10272,-0.10269,-0.05976]}, + {"t":0.44789, "x":5.25399, "y":7.31165, "heading":-0.00003, "vx":4.47876, "vy":0.04459, "omega":0.00045, "ax":9.85384, "ay":-0.18662, "alpha":0.00316, "fx":[150.84995,150.84933,150.84993,150.85055], "fy":[-2.84053,-2.87389,-2.87327,-2.83991]}, + {"t":0.48234, "x":5.41415, "y":7.31308, "heading":-0.00002, "vx":4.81825, "vy":0.03816, "omega":0.00056, "ax":2.42156, "ay":-6.07047, "alpha":-0.01875, "fx":[37.12209,37.15155,37.01987,36.99049], "fy":[-92.95136,-92.8817,-92.91113,-92.98075]}, + {"t":0.51679, "x":5.58159, "y":7.31079, "heading":0.0, "vx":4.90168, "vy":-0.17099, "omega":-0.00008, "ax":-0.78136, "ay":-8.25575, "alpha":-1.0789, 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