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swing arm forwards in auto #127

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swing arm forwards in auto #127

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a1714f6
make arm swing forward in auto
amzoeee Aug 22, 2025
49f8b0f
add optimized movement logic for L4 forward command
amzoeee Aug 22, 2025
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2 changes: 2 additions & 0 deletions src/main/java/frc/robot/Constants.java
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Original file line number Diff line number Diff line change
Expand Up @@ -294,6 +294,8 @@ public static class RobotStateConstants {

public static final double C4_ELEVATOR_POS = 0.7043; // from 3/1
public static final double C4_ARM_POS = -3.211; // from 3/1

public static final double C4_FORWARD_ARM_POS = 2*Math.PI + C4_ARM_POS; // swing arm forward

public static final double C4_ELEVATOR_POS_WITH_CORAL = 0.7026; // from 3/1
public static final double C4_ARM_POS_WITH_CORAL = -3.2239; // from 3/1
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4 changes: 2 additions & 2 deletions src/main/java/frc/robot/RobotContainer.java
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Expand Up @@ -383,11 +383,11 @@ public RobotContainer() {
NamedCommands.registerCommand("scoreL1Coral", createScoreCommand(m_lifter.moveToCommand(RobotState.L1_CORAL)));
NamedCommands.registerCommand("scoreL2Coral", createScoreCommand(m_lifter.moveToCommand(RobotState.L2_CORAL)));
NamedCommands.registerCommand("scoreL3Coral", createScoreCommand(m_lifter.moveToCommand(RobotState.L3_CORAL)));
NamedCommands.registerCommand("scoreL4Coral", createScoreCommand(m_lifter.moveToCommand(RobotState.L4_CORAL)));
NamedCommands.registerCommand("scoreL4Coral", createScoreCommand(m_lifter.moveToCommand(RobotState.L4_CORAL_FORWARD)));
NamedCommands.registerCommand("shootCoral", new ParallelRaceGroup(
new PIDToTargetCommand(drivetrain, () -> m_ppTargetPose),
Commands.sequence(
(new WaitCommand(1).until(m_lifter.isLifterAtGoal(RobotState.L4_CORAL.getArmPos(), RobotState.L4_CORAL.getElevatorPos()))),
(new WaitCommand(1).until(m_lifter.isLifterAtGoal(RobotState.L4_CORAL_FORWARD.getArmPos(), RobotState.L4_CORAL_FORWARD.getElevatorPos()))),
m_collarCommandFactory.runCollarOut().withTimeout(0.5).asProxy(),
m_collar.runCollarOffInstant().asProxy())));
NamedCommands.registerCommand("waitUntilCoralIntaken", new WaitCommand(2).until(m_rampSensor.coralSeenAfterRampTrigger()));
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1 change: 1 addition & 0 deletions src/main/java/frc/robot/RobotState.java
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Expand Up @@ -9,6 +9,7 @@ public enum RobotState {
L3_CORAL(RobotStateConstants.C3_ELEVATOR_POS, RobotStateConstants.C3_ARM_POS),
L3_CORAL_WITH_CORAL(RobotStateConstants.C3_ELEVATOR_POS_WITH_CORAL, RobotStateConstants.C3_ARM_POS_WITH_CORAL),
L4_CORAL(RobotStateConstants.C4_ELEVATOR_POS, RobotStateConstants.C4_ARM_POS),
L4_CORAL_FORWARD(RobotStateConstants.C4_ELEVATOR_POS, RobotStateConstants.C4_FORWARD_ARM_POS), // arm swinging forward :>
L4_CORAL_WITH_CORAL(RobotStateConstants.C4_ELEVATOR_POS_WITH_CORAL, RobotStateConstants.C4_ARM_POS_WITH_CORAL),
L2_ALGAE(RobotStateConstants.A2_ELEVATOR_POS, RobotStateConstants.A2_ARM_POS),
L3_ALGAE(RobotStateConstants.A3_ELEVATOR_POS, RobotStateConstants.A3_ARM_POS),
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19 changes: 19 additions & 0 deletions src/main/java/frc/robot/subsystems/lifter/LifterCommandFactory.java
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Expand Up @@ -45,6 +45,25 @@ public Command moveToCommand(RobotState targetRobotState) {
m_elevator.moveToCommand(targetRobotState.getElevatorPos())
)
).until(isLifterAtGoal(targetRobotState.getArmPos(), targetRobotState.getElevatorPos())).withName("moveToL4Command");
} else if (targetRobotState == RobotState.L4_CORAL_FORWARD) {
// moves arm and elevator in parallel for maximum speed

// keep elevator at intermediate pos to let arm clear ramp
double elevatorIntermediatePosition = Math.max(targetRobotState.getElevatorPos(),
ElevatorConstants.MIN_POS_ARM_CLEAR);

return Commands.parallel(
Commands.sequence(
m_arm.moveToCommand(targetRobotState.getArmPos())
),
Commands.sequence(
Commands.waitSeconds(3).until(m_arm.isArmInsideRobotTrigger()),
m_elevator.moveToCommand(elevatorIntermediatePosition)
.until(m_arm.okToMoveElevatorDownTrigger()),
m_elevator.moveToCommand(targetRobotState.getElevatorPos())
)
).until(isLifterAtGoal(targetRobotState.getArmPos(), targetRobotState.getElevatorPos())).withName("moveToL4ForwardCommand");

} else {
// move arm to intermediate pos inside the robot before moving elevator
double armIntermediatePosition = MathUtil.clamp(targetRobotState.getArmPos(),
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