Various adjustments during competition

- adjust speaker and amp positions
- speed up index
- make autos drive further, make another auto to drive event further

networktables.json

@@ -1,4 +1,116 @@
 [
+  {
+    "name": "/Preferences/kSwerveTestTurn",
+    "type": "double",
+    "value": 0.0,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/kSwerveTestDrive",
+    "type": "double",
+    "value": 0.0,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/0 Front LeftEnabled",
+    "type": "boolean",
+    "value": true,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/kSwerveModuleDriveP",
+    "type": "double",
+    "value": 0.01,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/kSwerveModuleDriveI",
+    "type": "double",
+    "value": 0.0,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/kSwerveModuleDriveD",
+    "type": "double",
+    "value": 0.0,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/kSwerveModuleDriveV",
+    "type": "double",
+    "value": 0.145,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/kSwerveModuleTurnP",
+    "type": "double",
+    "value": 0.3,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/kSwerveModuleTurnI",
+    "type": "double",
+    "value": 0.0,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/kSwerveModuleTurnD",
+    "type": "double",
+    "value": 0.0,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/kSwerveModuleTurnV",
+    "type": "double",
+    "value": 0.0,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/1 Front RightEnabled",
+    "type": "boolean",
+    "value": true,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/2 Back LeftEnabled",
+    "type": "boolean",
+    "value": true,
+    "properties": {
+      "persistent": true
+    }
+  },
+  {
+    "name": "/Preferences/3 Back RightEnabled",
+    "type": "boolean",
+    "value": true,
+    "properties": {
+      "persistent": true
+    }
+  },
   {
     "name": "/Preferences/testwrist",
     "type": "double",

networktables.json.bck

@@ -1,112 +1,40 @@
 [
   {
-    "name": "/Preferences/kSwerveModuleDriveI",
+    "name": "/Preferences/testwrist",
     "type": "double",
     "value": 0.0,
     "properties": {
       "persistent": true
     }
   },
   {
-    "name": "/Preferences/0 Front LeftEnabled",
-    "type": "boolean",
-    "value": true,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/kSwerveModuleTurnI",
-    "type": "double",
-    "value": 0.0,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/kSwerveModuleDriveV",
-    "type": "double",
-    "value": 0.145,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/kSwerveModuleDriveP",
-    "type": "double",
-    "value": 0.01,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/kSwerveModuleTurnP",
+    "name": "/Preferences/kShooterWristP",
     "type": "double",
-    "value": 0.3,
+    "value": 0.16,
     "properties": {
       "persistent": true
     }
   },
   {
-    "name": "/Preferences/kSwerveModuleDriveD",
+    "name": "/Preferences/kShooterWristI",
     "type": "double",
-    "value": 0.0,
+    "value": 0.007,
     "properties": {
       "persistent": true
     }
   },
   {
-    "name": "/Preferences/kSwerveTestTurn",
+    "name": "/Preferences/kShooterWristD",
     "type": "double",
     "value": 0.0,
     "properties": {
       "persistent": true
     }
   },
   {
-    "name": "/Preferences/kSwerveTestDrive",
+    "name": "/Preferences/kShooterWristV",
     "type": "double",
-    "value": 0.0,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/kSwerveModuleTurnD",
-    "type": "double",
-    "value": 0.0,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/kSwerveModuleTurnV",
-    "type": "double",
-    "value": 0.0,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/1 Front RightEnabled",
-    "type": "boolean",
-    "value": true,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/2 Back LeftEnabled",
-    "type": "boolean",
-    "value": true,
-    "properties": {
-      "persistent": true
-    }
-  },
-  {
-    "name": "/Preferences/3 Back RightEnabled",
-    "type": "boolean",
-    "value": true,
+    "value": 0.5,
     "properties": {
       "persistent": true
     }

simgui.json

@@ -18,6 +18,11 @@
       "/SmartDashboard/Trajectory Field": "Field2d"
     },
     "windows": {
+      "/Shuffleboard/Autos/Auto": {
+        "window": {
+          "visible": true
+        }
+      },
       "/SmartDashboard/Auto Visualization": {
         "bottom": 1476,
         "height": 8.210550308227539,

src/main/deploy/pathplanner/paths/Leave Side.path

@@ -0,0 +1,52 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 0.9861162090367046,
+        "y": 4.3330095219390365
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 2.2625973925268887,
+        "y": 3.536672636825895
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 4.311993788038652,
+        "y": 2.318745636064618
+      },
+      "prevControl": {
+        "x": 3.0940667872773764,
+        "y": 3.1033716846319783
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 0,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": null,
+  "previewStartingState": {
+    "rotation": 144.46232220802563,
+    "velocity": 0
+  },
+  "useDefaultConstraints": true
+}

src/main/java/frc/robot/RobotContainer.java

@@ -78,9 +78,9 @@ private void configureBindings() {
     altController.b().onTrue(shooter.runSetWristPosition(ShooterPosition.FLAT));
     altController.rightStick().onTrue(shooter.runShooter(20));
     altController.rightStick().onFalse(shooter.runShooter(0));
-    altController.leftBumper().onTrue(shooter.runIndex(-10));
+    altController.leftBumper().onTrue(shooter.runIndex(-12));
     altController.leftBumper().onFalse(shooter.runIndex(0));
-    altController.leftTrigger().onTrue(shooter.runIndex(10));
+    altController.leftTrigger().onTrue(shooter.runIndex(12));
     altController.leftTrigger().onFalse(shooter.runIndex(0));
   }
 

src/main/java/frc/robot/commands/Autos.java

@@ -22,6 +22,7 @@
 import frc.robot.commands.auto.NothingAuto;
 import frc.robot.commands.auto.ShootOnly;
 import frc.robot.commands.auto.SpeakerBack;
+import frc.robot.commands.auto.SpeakerBackFar;
 import frc.robot.subsystems.shooter.Shooter;
 import frc.robot.subsystems.shooter.ShooterPosition;
 import frc.robot.subsystems.swerve.SwerveDrive;
@@ -31,8 +32,9 @@ public class Autos {
     public static final Field2d autoField = new Field2d();
 
     public static final void initAutos(SwerveDrive swerve, Shooter shooter) {
-        autoChooser.addOption("Speaker Back", new SpeakerBack(swerve, shooter));
-        autoChooser.setDefaultOption("Shoot Only", new ShootOnly(swerve, shooter));
+        autoChooser.setDefaultOption("Speaker Back", new SpeakerBack(swerve, shooter));
+        autoChooser.addOption("Speaker Back Far", new SpeakerBackFar(swerve, shooter));
+        autoChooser.addOption("Shoot Only", new ShootOnly(swerve, shooter));
         // autoChooser.addOption("Shoot Only", new SpeakerOnly(shooter));
         autoChooser.addOption("Do Nothing", new NothingAuto(swerve));
         // autoChooser.addOption("Mid Double Auto", new MidDoubleAuto(swerveDrive));
@@ -73,10 +75,10 @@ public static Trajectory getPathPlannerTrajectory(String filename, Rotation2d st
     public static Command runSpeakerShot(Shooter shooter) {
         return Commands.sequence(
             shooter.runSetWristPosition(ShooterPosition.SPEAKER),
-            shooter.runShooter(20),
-            new WaitCommand(1.2),
-            shooter.runIndex(-10),
+            shooter.runShooter(23),
             new WaitCommand(1.5),
+            shooter.runIndex(-12),
+            new WaitCommand(1.7),
             shooter.runIndex(0),
             shooter.runShooter(0),
             shooter.runSetWristPosition(ShooterPosition.FLAT)

src/main/java/frc/robot/commands/auto/SpeakerBack.java

@@ -18,10 +18,10 @@ public SpeakerBack(SwerveDrive swerve, Shooter shooter) {
             Commands.runOnce(() -> {
                 swerve.rawDriveInputs(0, 2, 0, false, false);
             }, swerve),
-            new WaitCommand(0.7),
+            new WaitCommand(1.6),
             Commands.run(() -> {
                 swerve.rawDriveInputs(0, 0, -1.5, false, false);
-                System.out.println(Math.abs(swerve.getRotation2d().getDegrees() % 360));
+                // System.out.println(Math.abs(swerve.getRotation2d().getDegrees() % 360));
             }, swerve)
                 .until(() ->
                     (Math.abs(swerve.getRotation2d().getDegrees() % 360) < 5)
@@ -35,6 +35,6 @@ public SpeakerBack(SwerveDrive swerve, Shooter shooter) {
 
     @Override
     public Pose2d getStartPose() {
-        return Autos.getPathPlannerTrajectory("Get Mid Note", Rotation2d.fromDegrees(180)).getInitialPose();
+        return Autos.getPathPlannerTrajectory("Get Mid Note", Rotation2d.fromDegrees(0)).getInitialPose();
     }
 }