Teleop modes

.pathplanner/settings.json

@@ -1,9 +1,16 @@
 {
-  "robotWidth": 0.9,
-  "robotLength": 0.9,
+  "robotWidth": 0.558,
+  "robotLength": 0.558,
   "holonomicMode": true,
-  "pathFolders": [],
-  "autoFolders": [],
+  "pathFolders": [
+    "TEST",
+    "MID",
+    "BTM",
+    "TOP"
+  ],
+  "autoFolders": [
+    "TEST"
+  ],
   "defaultMaxVel": 3.0,
   "defaultMaxAccel": 3.0,
   "defaultMaxAngVel": 540.0,

README.md

@@ -7,3 +7,21 @@ our base code is derived from [this example swerve code](https://github.com/dirt
 
 ## Play Structure
 Our robot is designed to be a fast cycle, floor pickup, and speaker shooting bot. We are (planning) on using a 4 bar extension with 2 pairs of bars with 2 inch compliant wheels as our intake. The intake will directly feed to our launcher, which will have 2 pairs of wheels connected with a belt. The launcher itself will be variable angle, allowing us to be able to shoot from up close, and afar. We will have a camera on the front of the launcher to see the april tags on the speaker, and will use auto alignment to shoot.
+
+| Color | Code | Name | Function |
+| --- | --- | --- | --- |
+| 🟪 Purple | D | Default | Default Mode. Intake in, no note, normal operation. |
+| Intake Modes |
+| 🟥 Red Blink | IO | Intake Out | Intake out and running, waiting for note pickup, reduced movemnt and rotation speed.|
+| 🟥 Red | IL | Intake Loaded | Intake out with note in, ready to retract, slightly reduced movement speed.|
+| 🟧 Orange | R | Ready | Intake in with note, searching for speaker april tags |
+| Scoring Modes |
+| 🟧 Orange Blink | R | Ready | Intake in with note, speaker april tags found, ready to lock |
+| 🟨 Yellow | KP | Lock Pending| Locking on speaker, speed greatly reduced, no rotation control |
+| 🟩 Green | K | Locked | locked, preparing to shoot. |
+| 🟦 Blue | L | Launching | Cycling launcher |
+| Endgame Modes | 
+| 🟨🟥 Yellow Red | CE | Climber Extending | Extending climber decreased speed |
+| 🟨🟧 Yellow Orange | CR | Climber Ready | Climber ready to climb, greatly decreased speed |
+| 🟨🟦 Yellow Blue | C | Climbing | Climbing chain, movement disabled |
+| 🟨🟩 Yellow Green | C | Climber Locked | Climbing commplete, locked |

src/main/deploy/pathplanner/autos/Btm4.auto

@@ -0,0 +1,79 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 0.78,
+      "y": 4.65
+    },
+    "rotation": -61.189206257026925
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "LaunchASAP"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "BTM-TO-3"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "BTM-SHOOT"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "LaunchASAP"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "BTM-TO-M5"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "MB-TO-SHOOT"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "LaunchASAP"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "BTM-TO-M4"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "MB-TO-SHOOT"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "LaunchASAP"
+          }
+        }
+      ]
+    }
+  },
+  "folder": null,
+  "choreoAuto": false
+}

src/main/deploy/pathplanner/autos/BtmMain.auto

@@ -0,0 +1,67 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 0.78,
+      "y": 4.65
+    },
+    "rotation": -61.189206257026925
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "LaunchASAP"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "BTM-TO-3"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "BTM-SHOOT"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "LaunchASAP"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "BTM-TO-M5"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "MB-TO-SHOOT"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "LaunchASAP"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "BTM-TAXI"
+          }
+        }
+      ]
+    }
+  },
+  "folder": null,
+  "choreoAuto": false
+}

src/main/deploy/pathplanner/autos/Btmalt.auto

@@ -0,0 +1,61 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 0.7275269251393202,
+      "y": 4.630885159206216
+    },
+    "rotation": -60.10109816138542
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "BTM-SHOOT"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "LaunchASAP"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "BTM-TO-M4"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "MB-TO-SHOOT"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "LaunchASAP"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "BTM-TO-M5"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "MB-TO-SHOOT"
+          }
+        }
+      ]
+    }
+  },
+  "folder": null,
+  "choreoAuto": false
+}

src/main/deploy/pathplanner/autos/Mid4.auto

@@ -0,0 +1,85 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 1.171904793952038,
+      "y": 5.531335051274091
+    },
+    "rotation": 0
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "M-SHOOT"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "LaunchASAP"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "M-TO-2"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "M-SHOOT"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "LaunchASAP"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "M-TO-3"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "M-SHOOT"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "LaunchASAP"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "M-TO-1"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "M-SHOOT"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "LaunchASAP"
+          }
+        }
+      ]
+    }
+  },
+  "folder": null,
+  "choreoAuto": false
+}