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R26-539: Worlds comp #88

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Merged
impandimi merged 20 commits into from
May 21, 2026
Merged

R26-539: Worlds comp #88

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6aee283
Breaking: Added defense mode class to contain defense line information
MichaelLi1234 Apr 29, 2026
17856fe
Breaking: Added Defense Line and Alliance Based Line enums to represe…
MichaelLi1234 Apr 29, 2026
258edbd
Added method to clamp velocity based on defense line
MichaelLi1234 Apr 30, 2026
6bc5502
Added velocity clamp to defense drive command
MichaelLi1234 Apr 30, 2026
3ed027d
Applied competition bindings
MichaelLi1234 Apr 30, 2026
537a365
Added timer for drivers
MichaelLi1234 Apr 30, 2026
cf682d2
Applied tuning bindings
MichaelLi1234 Apr 30, 2026
c8fbb8f
Corrected pivot encoder ID
MichaelLi1234 Apr 30, 2026
f2958f8
Added pid
MichaelLi1234 Apr 30, 2026
c472ca2
Applied spotless
MichaelLi1234 Apr 30, 2026
28becea
Raised intake pivot max acceleration to 6 pi and max velocity to 4 pi
MichaelLi1234 Apr 30, 2026
07285b2
Applied spotless
MichaelLi1234 Apr 30, 2026
31e10c8
Merge branch 'chain-intake-pivot-tuning' of https://github.com/RoboLa…
MichaelLi1234 Apr 30, 2026
65c1b53
Applied spotless
MichaelLi1234 Apr 30, 2026
887d36c
Logged defense mode
MichaelLi1234 Apr 30, 2026
fdf3d63
Fixed case switch for defense mode
MichaelLi1234 Apr 30, 2026
f8d170c
Recalibrated front right swerve module cancoder
MichaelLi1234 May 1, 2026
6b1279e
Removed unused shift timer class
MichaelLi1234 May 1, 2026
cd09a86
New auto paths made for depot and neutral zone
MichaelLi1234 May 15, 2026
020201b
applied spotless
MichaelLi1234 May 21, 2026
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90 changes: 90 additions & 0 deletions simgui-ds.json
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Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,90 @@
{
"System Joysticks": {
"window": {
"enabled": false
}
},
"keyboardJoysticks": [
{
"axisConfig": [
{
"decKey": 65,
"incKey": 68
},
{
"decKey": 87,
"incKey": 83
},
{
"decKey": 69,
"decayRate": 0.0,
"incKey": 82,
"keyRate": 0.009999999776482582
}
],
"axisCount": 3,
"buttonCount": 4,
"buttonKeys": [
90,
88,
67,
86
],
"povConfig": [
{
"key0": 328,
"key135": 323,
"key180": 322,
"key225": 321,
"key270": 324,
"key315": 327,
"key45": 329,
"key90": 326
}
],
"povCount": 1
},
{
"axisConfig": [
{
"decKey": 74,
"incKey": 76
},
{
"decKey": 73,
"incKey": 75
}
],
"axisCount": 2,
"buttonCount": 4,
"buttonKeys": [
77,
44,
46,
47
]
},
{
"axisConfig": [
{
"decKey": 263,
"incKey": 262
},
{
"decKey": 265,
"incKey": 264
}
],
"axisCount": 2,
"buttonCount": 6,
"buttonKeys": [
260,
268,
266,
261,
269,
267
]
}
]
}
100 changes: 100 additions & 0 deletions src/main/deploy/pathplanner/autos/Center Depot Alt.auto
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Original file line number Diff line number Diff line change
@@ -0,0 +1,100 @@
{
"version": "2025.0",
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "IntakePivotOut"
}
},
{
"type": "deadline",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "Center Depot Path 1"
}
},
{
"type": "named",
"data": {
"name": "IntakeFuel"
}
}
]
}
},
{
"type": "deadline",
"data": {
"commands": [
{
"type": "wait",
"data": {
"waitTime": 2.0
}
},
{
"type": "named",
"data": {
"name": "RunRollers"
}
}
]
}
},
{
"type": "named",
"data": {
"name": "IntakePivotStow"
}
},
{
"type": "path",
"data": {
"pathName": "Center Depot Alt Path 2"
}
},
{
"type": "named",
"data": {
"name": "Align"
}
},
{
"type": "parallel",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "ShootFuel"
}
},
{
"type": "named",
"data": {
"name": "IntakeFuel"
}
},
{
"type": "named",
"data": {
"name": "RunRollers"
}
}
]
}
}
]
}
},
"resetOdom": true,
"folder": null,
"choreoAuto": false
}
33 changes: 29 additions & 4 deletions src/main/deploy/pathplanner/autos/Center Depot Auto.auto
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Original file line number Diff line number Diff line change
Expand Up @@ -4,6 +4,12 @@
"type": "sequential",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "IntakePivotOut"
}
},
{
"type": "deadline",
"data": {
Expand All @@ -17,7 +23,7 @@
{
"type": "named",
"data": {
"name": "IntakePivotTravel"
"name": "IntakeFuel"
}
}
]
Expand All @@ -36,7 +42,7 @@
{
"type": "named",
"data": {
"name": "IntakeFuel"
"name": "RunRollers"
}
}
]
Expand All @@ -61,9 +67,28 @@
}
},
{
"type": "named",
"type": "parallel",
"data": {
"name": "ShootFuel"
"commands": [
{
"type": "named",
"data": {
"name": "ShootFuel"
}
},
{
"type": "named",
"data": {
"name": "IntakeFuel"
}
},
{
"type": "named",
"data": {
"name": "RunRollers"
}
}
]
}
}
]
Expand Down
112 changes: 112 additions & 0 deletions src/main/deploy/pathplanner/autos/Center Depot to Center Auto.auto
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Original file line number Diff line number Diff line change
@@ -0,0 +1,112 @@
{
"version": "2025.0",
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "deadline",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "Center Depot Path 1"
}
},
{
"type": "named",
"data": {
"name": "IntakePivotTravel"
}
}
]
}
},
{
"type": "deadline",
"data": {
"commands": [
{
"type": "wait",
"data": {
"waitTime": 2.0
}
},
{
"type": "named",
"data": {
"name": "IntakeFuel"
}
}
]
}
},
{
"type": "named",
"data": {
"name": "IntakePivotStow"
}
},
{
"type": "path",
"data": {
"pathName": "Center Depot to Center Path 2"
}
},
{
"type": "named",
"data": {
"name": "Align"
}
},
{
"type": "named",
"data": {
"name": "ShootFuel"
}
},
{
"type": "path",
"data": {
"pathName": "Center Depot to Center Path 3"
}
},
{
"type": "named",
"data": {
"name": "IntakePivotTravel"
}
},
{
"type": "deadline",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "Center Depot to Center Path 4"
}
},
{
"type": "named",
"data": {
"name": "IntakeFuel"
}
}
]
}
},
{
"type": "named",
"data": {
"name": "IntakePivotStow"
}
}
]
}
},
"resetOdom": true,
"folder": null,
"choreoAuto": false
}
17 changes: 2 additions & 15 deletions src/main/deploy/pathplanner/autos/Top Neutral Auto.auto
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Original file line number Diff line number Diff line change
Expand Up @@ -11,22 +11,9 @@
}
},
{
"type": "deadline",
"type": "named",
"data": {
"commands": [
{
"type": "wait",
"data": {
"waitTime": 1.0
}
},
{
"type": "named",
"data": {
"name": "IntakeFuel"
}
}
]
"name": "IntakePivotOut"
}
},
{
Expand Down
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