From 6f1a2877d7566f2427230cb456b77308143bc56e Mon Sep 17 00:00:00 2001 From: Michael Kovalev Date: Sun, 1 Feb 2026 12:24:34 -0500 Subject: [PATCH 01/43] Example implementation of a choreo auto --- src/main/deploy/YAGSL/choreo/ExampleAuto.traj | 322 ++++++++++++++++++ src/main/deploy/YAGSL/choreo/path.chor | 84 +++++ src/main/java/frc/robot/Drive.java | 34 ++ src/main/java/frc/robot/ExampleAuto.java | 5 + src/main/java/frc/robot/Robot.java | 14 +- .../frc/robot/commands/auto/ExampleAuto.java | 19 ++ vendordeps/ChoreoLib2026.json | 44 +++ 7 files changed, 521 insertions(+), 1 deletion(-) create mode 100644 src/main/deploy/YAGSL/choreo/ExampleAuto.traj create mode 100644 src/main/deploy/YAGSL/choreo/path.chor create mode 100644 src/main/java/frc/robot/Drive.java create mode 100644 src/main/java/frc/robot/ExampleAuto.java create mode 100644 src/main/java/frc/robot/commands/auto/ExampleAuto.java create mode 100644 vendordeps/ChoreoLib2026.json diff --git a/src/main/deploy/YAGSL/choreo/ExampleAuto.traj b/src/main/deploy/YAGSL/choreo/ExampleAuto.traj new file mode 100644 index 00000000..f1a0b2ad --- /dev/null +++ b/src/main/deploy/YAGSL/choreo/ExampleAuto.traj @@ -0,0 +1,322 @@ +{ + "name":"ExamplePath", + "version":3, + "snapshot":{ + "waypoints":[ + {"x":2.2144885063171387, "y":6.55242919921875, "heading":0.0, "intervals":235, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":2.2945711612701416, "y":4.210012435913086, "heading":0.0, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":2.234509229660034, "y":2.288029432296753, "heading":0.0, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + "constraints":[ + {"from":0, "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, + {"from":0, 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"fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":12.26494, "x":2.26916, "y":3.397, "heading":0.0, "vx":-0.06246, "vy":-1.99862, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":12.3143, "x":2.26608, "y":3.29835, "heading":0.0, "vx":-0.06246, "vy":-1.99862, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":12.36366, "x":2.263, "y":3.1997, "heading":0.0, "vx":-0.06246, "vy":-1.99862, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":12.41302, "x":2.25992, "y":3.10105, "heading":0.0, "vx":-0.06246, "vy":-1.99862, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":12.46238, "x":2.25683, "y":3.0024, "heading":0.0, "vx":-0.06246, "vy":-1.99862, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":12.51173, "x":2.25375, "y":2.90375, "heading":0.0, "vx":-0.06246, "vy":-1.99862, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":12.56109, "x":2.25067, "y":2.8051, "heading":0.0, "vx":-0.06246, "vy":-1.99862, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":12.61045, "x":2.24758, "y":2.70644, "heading":0.0, "vx":-0.06246, "vy":-1.99862, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, + {"t":12.65981, "x":2.2445, "y":2.60779, "heading":0.0, "vx":-0.06246, "vy":-1.99862, "omega":0.0, "ax":0.0, "ay":0.00003, "alpha":0.0, "fx":[0.00002,0.00002,0.00002,0.00002], "fy":[0.00033,0.00033,0.00033,0.00033]}, + {"t":12.70917, "x":2.24142, "y":2.50914, "heading":0.0, "vx":-0.06246, "vy":-1.99862, "omega":0.0, "ax":0.16395, "ay":5.24628, "alpha":0.0, "fx":[2.13798,2.13798,2.13798,2.13798], "fy":[68.41556,68.41556,68.41556,68.41556]}, + {"t":12.75853, "x":2.23854, "y":2.41689, "heading":0.0, "vx":-0.05436, "vy":-1.73967, "omega":0.0, "ax":0.36674, "ay":11.73565, "alpha":0.0, "fx":[4.78256,4.78256,4.78256,4.78256], "fy":[153.04208,153.04208,153.04208,153.04208]}, + {"t":12.80789, "x":2.2363, "y":2.34531, "heading":0.0, "vx":-0.03626, "vy":-1.1604, "omega":0.0, "ax":0.36725, "ay":11.75197, "alpha":0.0, "fx":[4.78921,4.78921,4.78921,4.78921], "fy":[153.25489,153.25489,153.25489,153.25489]}, + {"t":12.85725, "x":2.23496, "y":2.30235, "heading":0.0, "vx":-0.01814, "vy":-0.58034, "omega":0.0, "ax":0.36742, "ay":11.75743, "alpha":0.0, "fx":[4.79143,4.79143,4.79143,4.79143], "fy":[153.326,153.326,153.326,153.326]}, + {"t":12.90661, "x":2.23451, "y":2.28803, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], + "splits":[0] + }, + "events":[] +} \ No newline at end of file diff --git a/src/main/deploy/YAGSL/choreo/path.chor b/src/main/deploy/YAGSL/choreo/path.chor new file mode 100644 index 00000000..ead2c553 --- /dev/null +++ b/src/main/deploy/YAGSL/choreo/path.chor @@ -0,0 +1,84 @@ +{ + "name":"path", + "version":2, + "type":"Swerve", + "variables":{ + "expressions":{}, + "poses":{} + }, + "config":{ + "frontLeft":{ + "x":{ + "exp":"11 in", + "val":0.2794 + }, + "y":{ + "exp":"11 in", + "val":0.2794 + } + }, + "backLeft":{ + "x":{ + "exp":"-11 in", + "val":-0.2794 + }, + "y":{ + "exp":"11 in", + "val":0.2794 + } + }, + "mass":{ + "exp":"115 lbs", + "val":52.16312255 + }, + "inertia":{ + "exp":"6 kg m ^ 2", + "val":6.0 + }, + "gearing":{ + "exp":"6.5", + "val":6.5 + }, + "radius":{ + "exp":"2 in", + "val":0.0508 + }, + "vmax":{ + "exp":"4660 RPM", + "val":487.9940588576145 + }, + "tmax":{ + "exp":"1.2 N * m", + "val":1.2 + }, + "cof":{ + "exp":"1.5", + "val":1.5 + }, + "bumper":{ + "front":{ + "exp":"16 in", + "val":0.4064 + }, + "side":{ + "exp":"16 in", + "val":0.4064 + }, + "back":{ + "exp":"16 in", + "val":0.4064 + } + }, + "differentialTrackWidth":{ + "exp":"22 in", + "val":0.5588 + } + }, + "generationFeatures":[], + "codegen":{ + "root":"Users/michael/Downloads", + "genVars":true, + "genTrajData":true, + "useChoreoLib":true + } +} \ No newline at end of file diff --git a/src/main/java/frc/robot/Drive.java b/src/main/java/frc/robot/Drive.java new file mode 100644 index 00000000..dbfef819 --- /dev/null +++ b/src/main/java/frc/robot/Drive.java @@ -0,0 +1,34 @@ +package frc.robot; + +import choreo.trajectory.SwerveSample; +import edu.wpi.first.math.controller.PIDController; +import edu.wpi.first.math.geometry.Pose2d; +import edu.wpi.first.math.kinematics.ChassisSpeeds; +import edu.wpi.first.wpilibj2.command.SubsystemBase; +import frc.robot.subsystems.swervedrive.SwerveSubsystem; + + +public class Drive extends SubsystemBase{ + private final PIDController xController = new PIDController(.01, 0.0, 0.0); + private final PIDController yController = new PIDController(.01, 0.0, 0.0); + private final PIDController headingController = new PIDController(.01, 0.0, 0.0); + private SwerveSubsystem subsystem; + + public Drive(SwerveSubsystem subsystem) { + headingController.enableContinuousInput(-Math.PI, Math.PI); + this.subsystem = subsystem; + } + + public void followTrajectory(SwerveSample sample) { + Pose2d pose = subsystem.getPose(); + + ChassisSpeeds speeds = new ChassisSpeeds( + sample.vx + xController.calculate(pose.getX(), sample.x), + sample.vy + yController.calculate(pose.getX(), sample.y), + sample.omega + headingController.calculate(pose.getRotation().getRadians(), sample.heading) + ); + + subsystem.drive(speeds); + + } +} \ No newline at end of file diff --git a/src/main/java/frc/robot/ExampleAuto.java b/src/main/java/frc/robot/ExampleAuto.java new file mode 100644 index 00000000..d945efbf --- /dev/null +++ b/src/main/java/frc/robot/ExampleAuto.java @@ -0,0 +1,5 @@ +package frc.robot; + +public class ExampleAuto { + +} diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index e5cf8b14..049f2c66 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -13,11 +13,13 @@ import org.littletonrobotics.junction.wpilog.WPILOGReader; import org.littletonrobotics.junction.wpilog.WPILOGWriter; +import choreo.auto.AutoFactory; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.CommandScheduler; import edu.wpi.first.wpilibj2.command.button.CommandXboxController; import frc.robot.constants.Constants; +import frc.robot.commands.auto.ExampleAuto; import frc.robot.utils.logging.commands.CommandLogger; /** @@ -27,6 +29,9 @@ */ public class Robot extends LoggedRobot { private Command autonomousCommand; + private final Drive drive; + private final AutoFactory autoFactory; + private final Command path; private final RobotContainer robotContainer; private static final AtomicReference mode = new AtomicReference<>(RobotMode.DISABLED); @@ -67,6 +72,13 @@ public Robot() { // Instantiate our RobotContainer. This will perform all our button bindings, and put our // autonomous chooser on the dashboard. robotContainer = new RobotContainer(); + drive = new Drive(robotContainer.getDriveBase()); + autoFactory = new AutoFactory(robotContainer.getDriveBase()::getPose, + robotContainer.getDriveBase()::resetOdometry, + drive::followTrajectory, + true, + robotContainer.getDriveBase()); + path = autoFactory.trajectoryCmd("AnotherPath"); } public static RobotMode getMode() { @@ -121,7 +133,7 @@ public void autonomousInit() { // schedule the autonomous command (example) mode.set(RobotMode.AUTONOMOUS); - autonomousCommand = robotContainer.getAutonomousCommand(); + autonomousCommand = new ExampleAuto(robotContainer.getDriveBase(), autoFactory, robotContainer.getIntakeSubsystem()); // schedule the autonomous command (example) if (autonomousCommand != null) { diff --git a/src/main/java/frc/robot/commands/auto/ExampleAuto.java b/src/main/java/frc/robot/commands/auto/ExampleAuto.java new file mode 100644 index 00000000..f07ca95d --- /dev/null +++ b/src/main/java/frc/robot/commands/auto/ExampleAuto.java @@ -0,0 +1,19 @@ +package frc.robot.commands.auto; + + +import choreo.auto.AutoFactory; +import edu.wpi.first.wpilibj2.command.PrintCommand; +import frc.robot.subsystems.IntakeSubsystem; +import frc.robot.subsystems.swervedrive.SwerveSubsystem; +import frc.robot.utils.logging.commands.LoggableParallelCommandGroup; +import frc.robot.utils.logging.commands.LoggableSequentialCommandGroup; + +public class ExampleAuto extends LoggableSequentialCommandGroup{ + public ExampleAuto(SwerveSubsystem subsystem, AutoFactory auto, IntakeSubsystem intake) { + addCommands( + auto.resetOdometry("ExamplePath"), + auto.trajectoryCmd("ExamplePath"), + new PrintCommand("Moving")); + + } +} diff --git a/vendordeps/ChoreoLib2026.json b/vendordeps/ChoreoLib2026.json new file mode 100644 index 00000000..322c9e20 --- /dev/null +++ b/vendordeps/ChoreoLib2026.json @@ -0,0 +1,44 @@ +{ + "fileName": "ChoreoLib2026.json", + "name": "ChoreoLib", + "version": "2026.0.1", + "uuid": "b5e23f0a-dac9-4ad2-8dd6-02767c520aca", + "frcYear": "2026", + "mavenUrls": [ + "https://frcmaven.wpi.edu/artifactory/sleipnirgroup-mvn-release/", + "https://repo1.maven.org/maven2" + ], + "jsonUrl": "https://choreo.autos/lib/ChoreoLib2026.json", + "javaDependencies": [ + { + "groupId": "choreo", + "artifactId": "ChoreoLib-java", + "version": "2026.0.1" + }, + { + "groupId": "com.google.code.gson", + "artifactId": "gson", + "version": "2.11.0" + } + ], + "jniDependencies": [], + "cppDependencies": [ + { + "groupId": "choreo", + "artifactId": "ChoreoLib-cpp", + "version": "2026.0.1", + "libName": "ChoreoLib", + "headerClassifier": "headers", + "sharedLibrary": false, + "skipInvalidPlatforms": true, + "binaryPlatforms": [ + "windowsx86-64", + "linuxx86-64", + "osxuniversal", + "linuxathena", + "linuxarm32", + "linuxarm64" + ] + } + ] +} \ No newline at end of file From be7330a94d3d75e29eec88fe8a4128ed78547413 Mon Sep 17 00:00:00 2001 From: Michael Kovalev Date: Sun, 1 Feb 2026 12:34:43 -0500 Subject: [PATCH 02/43] deleted duplicate example auto --- src/main/java/frc/robot/ExampleAuto.java | 5 ----- 1 file changed, 5 deletions(-) delete mode 100644 src/main/java/frc/robot/ExampleAuto.java diff --git a/src/main/java/frc/robot/ExampleAuto.java b/src/main/java/frc/robot/ExampleAuto.java deleted file mode 100644 index d945efbf..00000000 --- a/src/main/java/frc/robot/ExampleAuto.java +++ /dev/null @@ -1,5 +0,0 @@ -package frc.robot; - -public class ExampleAuto { - -} From c2896254a01badcaaec7af296aa573f50bc2479a Mon Sep 17 00:00:00 2001 From: cloudygitalt Date: Wed, 4 Feb 2026 19:35:59 -0500 Subject: [PATCH 03/43] PARALELLL COMAMND WHILE DOING THE PATH PLANNE RTHINGY MABOBBER --- .../java/frc/robot/commands/auto/ExampleAuto.java | 11 ++++++++--- 1 file changed, 8 insertions(+), 3 deletions(-) diff --git a/src/main/java/frc/robot/commands/auto/ExampleAuto.java b/src/main/java/frc/robot/commands/auto/ExampleAuto.java index f07ca95d..8b33dee3 100644 --- a/src/main/java/frc/robot/commands/auto/ExampleAuto.java +++ b/src/main/java/frc/robot/commands/auto/ExampleAuto.java @@ -10,10 +10,15 @@ public class ExampleAuto extends LoggableSequentialCommandGroup{ public ExampleAuto(SwerveSubsystem subsystem, AutoFactory auto, IntakeSubsystem intake) { + LoggableParallelCommandGroup parallel = new LoggableParallelCommandGroup(); + parallel.addCommands( + auto.trajectoryCmd("ExamplePath"), + new PrintCommand("moving") + ); + addCommands( auto.resetOdometry("ExamplePath"), - auto.trajectoryCmd("ExamplePath"), - new PrintCommand("Moving")); - + parallel + ); } } From 9199c03ba2d15db4c91f71cd18c043c02a08ad31 Mon Sep 17 00:00:00 2001 From: cloudygitalt Date: Sat, 7 Feb 2026 11:20:31 -0500 Subject: [PATCH 04/43] added PrintPath trajectory to bind a print command to a marker. need to test --- src/main/deploy/YAGSL/choreo/PrintPath.traj | 94 +++++++++++++++++++ .../frc/robot/commands/auto/ExampleAuto.java | 15 ++- 2 files changed, 100 insertions(+), 9 deletions(-) create mode 100644 src/main/deploy/YAGSL/choreo/PrintPath.traj diff --git a/src/main/deploy/YAGSL/choreo/PrintPath.traj b/src/main/deploy/YAGSL/choreo/PrintPath.traj new file mode 100644 index 00000000..dc14e436 --- /dev/null +++ b/src/main/deploy/YAGSL/choreo/PrintPath.traj @@ -0,0 +1,94 @@ +{ + "name":"PrintPath", + "version":3, + "snapshot":{ + "waypoints":[ + {"x":2.4819693565368652, "y":5.819327354431152, "heading":0.0, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":2.46247935295105, "y":4.201657295227051, "heading":0.0, "intervals":16, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":2.4040093421936035, "y":2.7788875102996826, "heading":0.0, "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":false}], + "targetDt":0.05 + }, + "params":{ + "waypoints":[ + {"x":{"exp":"2.4819693565368652 m", "val":2.4819693565368652}, "y":{"exp":"5.819327354431152 m", "val":5.819327354431152}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"2.46247935295105 m", "val":2.46247935295105}, "y":{"exp":"4.201657295227051 m", "val":4.201657295227051}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":16, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"2.4040093421936035 m", "val":2.4040093421936035}, "y":{"exp":"2.7788875102996826 m", "val":2.7788875102996826}, "heading":{"exp":"0 deg", "val":0.0}, "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":false}], + "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":68.0388555, + "inertia":6.0, + "gearing":6.5, + "radius":0.0508, + "vmax":628.3185307179587, + "tmax":1.2, + "cof":1.5, + "bumper":{ + "front":0.4064, + "side":0.4064, + "back":0.4064 + }, + "differentialTrackWidth":0.5588 + }, + "sampleType":"Swerve", + "waypoints":[0.0,0.60238,1.16527], + "samples":[ + {"t":0.0, "x":2.48197, "y":5.81933, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-0.09422, "ay":-9.01581, "alpha":0.0, "fx":[-1.60267,-1.60267,-1.60267,-1.60267], "fy":[-153.35637,-153.35637,-153.35637,-153.35637]}, + {"t":0.03543, "x":2.48191, "y":5.81367, "heading":0.0, "vx":-0.00334, "vy":-0.31947, "omega":0.0, "ax":-0.09433, "ay":-9.01506, "alpha":0.0, "fx":[-1.60448,-1.60448,-1.60448,-1.60448], "fy":[-153.34355,-153.34355,-153.34355,-153.34355]}, + {"t":0.07087, "x":2.48173, "y":5.79669, "heading":0.0, "vx":-0.00668, "vy":-0.63891, "omega":0.0, "ax":-0.09445, "ay":-9.01419, "alpha":0.0, "fx":[-1.60658,-1.60658,-1.60658,-1.60658], "fy":[-153.32875,-153.32875,-153.32875,-153.32875]}, + {"t":0.1063, "x":2.48144, "y":5.76839, "heading":0.0, "vx":-0.01003, "vy":-0.95832, "omega":0.0, "ax":-0.09459, "ay":-9.01317, "alpha":0.0, "fx":[-1.60903,-1.60903,-1.60903,-1.60903], "fy":[-153.31148,-153.31148,-153.31148,-153.31148]}, + {"t":0.14174, "x":2.48102, "y":5.72877, "heading":0.0, "vx":-0.01338, "vy":-1.2777, "omega":0.0, "ax":-0.09477, "ay":-9.01197, "alpha":0.0, "fx":[-1.61193,-1.61193,-1.61193,-1.61193], "fy":[-153.29105,-153.29105,-153.29105,-153.29105]}, + {"t":0.17717, "x":2.48049, "y":5.67784, "heading":0.0, "vx":-0.01674, "vy":-1.59703, "omega":0.0, "ax":-0.09497, "ay":-9.01053, "alpha":0.0, "fx":[-1.61541,-1.61541,-1.61541,-1.61541], "fy":[-153.26653,-153.26653,-153.26653,-153.26653]}, + {"t":0.21261, "x":2.47984, "y":5.61559, "heading":0.0, "vx":-0.0201, "vy":-1.91631, "omega":0.0, "ax":-0.09522, "ay":-9.00877, "alpha":0.0, "fx":[-1.61966,-1.61966,-1.61966,-1.61966], "fy":[-153.23654,-153.23654,-153.23654,-153.23654]}, + {"t":0.24804, "x":2.47906, "y":5.54204, "heading":0.0, "vx":-0.02348, "vy":-2.23553, "omega":0.0, "ax":-0.09553, "ay":-9.00656, "alpha":0.0, "fx":[-1.62498,-1.62498,-1.62498,-1.62498], "fy":[-153.19902,-153.19902,-153.19902,-153.19902]}, + {"t":0.28347, "x":2.47817, "y":5.45717, "heading":0.0, "vx":-0.02686, "vy":-2.55468, "omega":0.0, "ax":-0.09594, "ay":-9.00372, "alpha":0.0, "fx":[-1.63183,-1.63183,-1.63183,-1.63183], "fy":[-153.15074,-153.15074,-153.15074,-153.15074]}, + {"t":0.31891, "x":2.47716, "y":5.36099, "heading":0.0, "vx":-0.03026, "vy":-2.87372, "omega":0.0, "ax":-0.09647, "ay":-8.99993, "alpha":0.0, "fx":[-1.64097,-1.64097,-1.64097,-1.64097], "fy":[-153.0863,-153.0863,-153.0863,-153.0863]}, + {"t":0.35434, "x":2.47603, "y":5.25351, "heading":0.0, "vx":-0.03368, "vy":-3.19262, "omega":0.0, "ax":-0.09723, "ay":-8.99462, "alpha":0.0, "fx":[-1.65378,-1.65378,-1.65378,-1.65378], "fy":[-152.99597,-152.99597,-152.99597,-152.99597]}, + {"t":0.38978, "x":2.47477, "y":5.13474, "heading":0.0, "vx":-0.03713, "vy":-3.51134, "omega":0.0, "ax":-0.09836, "ay":-8.98664, "alpha":0.0, "fx":[-1.67303,-1.67303,-1.67303,-1.67303], "fy":[-152.86025,-152.86025,-152.86025,-152.86025]}, + {"t":0.42521, "x":2.47339, "y":5.00467, "heading":0.0, "vx":-0.04061, "vy":-3.82978, "omega":0.0, "ax":-0.10025, "ay":-8.97332, "alpha":0.0, "fx":[-1.70515,-1.70515,-1.70515,-1.70515], "fy":[-152.63359,-152.63359,-152.63359,-152.63359]}, + {"t":0.46065, "x":2.47189, "y":4.86333, "heading":0.0, "vx":-0.04416, "vy":-4.14774, "omega":0.0, "ax":-0.10403, "ay":-8.94661, "alpha":0.0, "fx":[-1.76947,-1.76947,-1.76947,-1.76947], "fy":[-152.17923,-152.17923,-152.17923,-152.17923]}, + {"t":0.49608, "x":2.47026, "y":4.71075, "heading":0.0, "vx":-0.04785, "vy":-4.46476, "omega":0.0, "ax":-0.11532, "ay":-8.86648, "alpha":0.0, "fx":[-1.96156,-1.96156,-1.96156,-1.96156], "fy":[-150.81632,-150.81632,-150.81632,-150.81632]}, + {"t":0.53151, "x":2.4685, "y":4.54697, "heading":0.0, "vx":-0.05193, "vy":-4.77894, "omega":0.0, "ax":-0.62371, "ay":-3.53918, "alpha":0.0, "fx":[-10.60917,-10.60917,-10.60917,-10.60917], "fy":[-60.20047,-60.20047,-60.20047,-60.20047]}, + {"t":0.56695, "x":2.46626, "y":4.37541, "heading":0.0, "vx":-0.07404, "vy":-4.90434, "omega":0.0, "ax":-1.84839, "ay":0.04182, "alpha":0.0, "fx":[-31.44051,-31.44051,-31.44051,-31.44051], "fy":[0.71127,0.71127,0.71127,0.71127]}, + {"t":0.60238, "x":2.46248, "y":4.20166, "heading":0.0, "vx":-0.13953, "vy":-4.90286, "omega":0.0, "ax":-1.55803, "ay":4.60191, "alpha":0.0, "fx":[-26.50159,-26.50159,-26.50159,-26.50159], "fy":[78.27725,78.27725,78.27725,78.27725]}, + {"t":0.63756, "x":2.45661, "y":4.03202, "heading":0.0, "vx":-0.19434, "vy":-4.74097, "omega":0.0, "ax":0.29678, "ay":8.86365, "alpha":0.0, "fx":[5.04821,5.04821,5.04821,5.04821], "fy":[150.76813,150.76813,150.76813,150.76813]}, + {"t":0.67274, "x":2.44995, "y":3.87072, "heading":0.0, "vx":-0.1839, "vy":-4.42914, "omega":0.0, "ax":0.34238, "ay":8.94069, "alpha":0.0, "fx":[5.82385,5.82385,5.82385,5.82385], "fy":[152.07855,152.07855,152.07855,152.07855]}, + {"t":0.70792, "x":2.4437, "y":3.72043, "heading":0.0, "vx":-0.17186, "vy":-4.1146, "omega":0.0, "ax":0.35781, "ay":8.9666, "alpha":0.0, "fx":[6.08619,6.08619,6.08619,6.08619], "fy":[152.51938,152.51938,152.51938,152.51938]}, + {"t":0.74311, "x":2.43787, "y":3.58123, "heading":0.0, "vx":-0.15927, "vy":-3.79915, "omega":0.0, "ax":0.36554, "ay":8.97958, "alpha":0.0, "fx":[6.21777,6.21777,6.21777,6.21777], "fy":[152.7401,152.7401,152.7401,152.7401]}, + {"t":0.77829, "x":2.43249, "y":3.45313, "heading":0.0, "vx":-0.14641, "vy":-3.48325, "omega":0.0, "ax":0.37019, "ay":8.98737, "alpha":0.0, "fx":[6.29679,6.29679,6.29679,6.29679], "fy":[152.87255,152.87255,152.87255,152.87255]}, + {"t":0.81347, "x":2.42757, "y":3.33615, "heading":0.0, "vx":-0.13339, "vy":-3.16707, "omega":0.0, "ax":0.37328, "ay":8.99256, "alpha":0.0, "fx":[6.34947,6.34947,6.34947,6.34947], "fy":[152.96082,152.96082,152.96082,152.96082]}, + {"t":0.84865, "x":2.42311, "y":3.23029, "heading":0.0, "vx":-0.12025, "vy":-2.85071, "omega":0.0, "ax":0.3755, "ay":8.99626, "alpha":0.0, "fx":[6.38709,6.38709,6.38709,6.38709], "fy":[153.02384,153.02384,153.02384,153.02384]}, + {"t":0.88383, "x":2.41911, "y":3.13557, "heading":0.0, "vx":-0.10704, "vy":-2.53422, "omega":0.0, "ax":0.37716, "ay":8.99904, "alpha":0.0, "fx":[6.41531,6.41531,6.41531,6.41531], "fy":[153.07109,153.07109,153.07109,153.07109]}, + {"t":0.91901, "x":2.41558, "y":3.05199, "heading":0.0, "vx":-0.09378, "vy":-2.21763, "omega":0.0, "ax":0.37844, "ay":9.0012, "alpha":0.0, "fx":[6.43724,6.43724,6.43724,6.43724], "fy":[153.10783,153.10783,153.10783,153.10783]}, + {"t":0.95419, "x":2.41251, "y":2.97954, "heading":0.0, "vx":-0.08046, "vy":-1.90096, "omega":0.0, "ax":0.37948, "ay":9.00293, "alpha":0.0, "fx":[6.45478,6.45478,6.45478,6.45478], "fy":[153.1372,153.1372,153.1372,153.1372]}, + {"t":0.98937, "x":2.40992, "y":2.91823, "heading":0.0, "vx":-0.06711, "vy":-1.58424, "omega":0.0, "ax":0.38032, "ay":9.00434, "alpha":0.0, "fx":[6.46913,6.46913,6.46913,6.46913], "fy":[153.16123,153.16123,153.16123,153.16123]}, + {"t":1.02455, "x":2.40779, "y":2.86807, "heading":0.0, "vx":-0.05373, "vy":-1.26746, "omega":0.0, "ax":0.38102, "ay":9.00552, "alpha":0.0, "fx":[6.48109,6.48109,6.48109,6.48109], "fy":[153.18125,153.18125,153.18125,153.18125]}, + {"t":1.05973, "x":2.40614, "y":2.82906, "heading":0.0, "vx":-0.04033, "vy":-0.95064, "omega":0.0, "ax":0.38162, "ay":9.00651, "alpha":0.0, "fx":[6.4912,6.4912,6.4912,6.4912], "fy":[153.19819,153.19819,153.19819,153.19819]}, + {"t":1.09491, "x":2.40496, "y":2.80118, "heading":0.0, "vx":-0.0269, "vy":-0.63379, "omega":0.0, "ax":0.38213, "ay":9.00736, "alpha":0.0, "fx":[6.49986,6.49986,6.49986,6.49986], "fy":[153.2127,153.2127,153.2127,153.2127]}, + {"t":1.13009, "x":2.40425, "y":2.78446, "heading":0.0, "vx":-0.01346, "vy":-0.31691, "omega":0.0, "ax":0.38257, "ay":9.0081, "alpha":0.0, "fx":[6.50737,6.50737,6.50737,6.50737], "fy":[153.22527,153.22527,153.22527,153.22527]}, + {"t":1.16527, "x":2.40401, "y":2.77889, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], + "splits":[0] + }, + "events":[ + {"name":"Print", "from":{"target":1, "targetTimestamp":0.60238, "offset":{"exp":"0 s", "val":0.0}}, "event":null}] +} diff --git a/src/main/java/frc/robot/commands/auto/ExampleAuto.java b/src/main/java/frc/robot/commands/auto/ExampleAuto.java index 8b33dee3..27c238c7 100644 --- a/src/main/java/frc/robot/commands/auto/ExampleAuto.java +++ b/src/main/java/frc/robot/commands/auto/ExampleAuto.java @@ -5,20 +5,17 @@ import edu.wpi.first.wpilibj2.command.PrintCommand; import frc.robot.subsystems.IntakeSubsystem; import frc.robot.subsystems.swervedrive.SwerveSubsystem; -import frc.robot.utils.logging.commands.LoggableParallelCommandGroup; import frc.robot.utils.logging.commands.LoggableSequentialCommandGroup; public class ExampleAuto extends LoggableSequentialCommandGroup{ public ExampleAuto(SwerveSubsystem subsystem, AutoFactory auto, IntakeSubsystem intake) { - LoggableParallelCommandGroup parallel = new LoggableParallelCommandGroup(); - parallel.addCommands( - auto.trajectoryCmd("ExamplePath"), - new PrintCommand("moving") - ); + // binds a command to an event marker called "Print" in choreo + // TODO: test this + auto.bind("Print", new PrintCommand("testing")); addCommands( - auto.resetOdometry("ExamplePath"), - parallel + auto.resetOdometry("PrintPath"), + auto.trajectoryCmd("PrintPath") ); } -} +} \ No newline at end of file From f175f43198e3f4d320a5f2ce1e66fb65b5200001 Mon Sep 17 00:00:00 2001 From: Michael Kovalev Date: Sat, 7 Feb 2026 15:25:33 -0500 Subject: [PATCH 05/43] some changes --- src/main/deploy/{YAGSL => }/choreo/ExampleAuto.traj | 0 src/main/deploy/{YAGSL => }/choreo/PrintPath.traj | 0 src/main/deploy/{YAGSL => }/choreo/path.chor | 0 3 files changed, 0 insertions(+), 0 deletions(-) rename src/main/deploy/{YAGSL => }/choreo/ExampleAuto.traj (100%) rename src/main/deploy/{YAGSL => }/choreo/PrintPath.traj (100%) rename src/main/deploy/{YAGSL => }/choreo/path.chor (100%) diff --git a/src/main/deploy/YAGSL/choreo/ExampleAuto.traj b/src/main/deploy/choreo/ExampleAuto.traj similarity index 100% rename from src/main/deploy/YAGSL/choreo/ExampleAuto.traj rename to src/main/deploy/choreo/ExampleAuto.traj diff --git a/src/main/deploy/YAGSL/choreo/PrintPath.traj b/src/main/deploy/choreo/PrintPath.traj similarity index 100% rename from src/main/deploy/YAGSL/choreo/PrintPath.traj rename to src/main/deploy/choreo/PrintPath.traj diff --git a/src/main/deploy/YAGSL/choreo/path.chor b/src/main/deploy/choreo/path.chor similarity index 100% rename from src/main/deploy/YAGSL/choreo/path.chor rename to src/main/deploy/choreo/path.chor From 6c83b36bd003f260b2d6d436649deb75b17e0fe4 Mon Sep 17 00:00:00 2001 From: Michael Kovalev Date: Sun, 8 Feb 2026 11:54:12 -0500 Subject: [PATCH 06/43] the markers aren't working, roll back to parallel command group --- src/main/deploy/choreo/PrintPath.traj | 94 ------------------- src/main/deploy/choreo/path.chor | 2 +- src/main/java/frc/robot/Robot.java | 3 +- .../frc/robot/commands/auto/ExampleAuto.java | 13 ++- 4 files changed, 11 insertions(+), 101 deletions(-) delete mode 100644 src/main/deploy/choreo/PrintPath.traj diff --git a/src/main/deploy/choreo/PrintPath.traj b/src/main/deploy/choreo/PrintPath.traj deleted file mode 100644 index dc14e436..00000000 --- a/src/main/deploy/choreo/PrintPath.traj +++ /dev/null @@ -1,94 +0,0 @@ -{ - "name":"PrintPath", - "version":3, - "snapshot":{ - "waypoints":[ - {"x":2.4819693565368652, "y":5.819327354431152, "heading":0.0, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":2.46247935295105, "y":4.201657295227051, "heading":0.0, "intervals":16, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":2.4040093421936035, "y":2.7788875102996826, "heading":0.0, "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":false}], - "targetDt":0.05 - }, - "params":{ - "waypoints":[ - {"x":{"exp":"2.4819693565368652 m", "val":2.4819693565368652}, "y":{"exp":"5.819327354431152 m", "val":5.819327354431152}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":17, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"2.46247935295105 m", "val":2.46247935295105}, "y":{"exp":"4.201657295227051 m", "val":4.201657295227051}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":16, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"2.4040093421936035 m", "val":2.4040093421936035}, "y":{"exp":"2.7788875102996826 m", "val":2.7788875102996826}, "heading":{"exp":"0 deg", "val":0.0}, "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":false}], - "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":68.0388555, - "inertia":6.0, - "gearing":6.5, - "radius":0.0508, - "vmax":628.3185307179587, - "tmax":1.2, - "cof":1.5, - "bumper":{ - "front":0.4064, - "side":0.4064, - "back":0.4064 - }, - "differentialTrackWidth":0.5588 - }, - "sampleType":"Swerve", - "waypoints":[0.0,0.60238,1.16527], - "samples":[ - {"t":0.0, "x":2.48197, "y":5.81933, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-0.09422, "ay":-9.01581, "alpha":0.0, "fx":[-1.60267,-1.60267,-1.60267,-1.60267], "fy":[-153.35637,-153.35637,-153.35637,-153.35637]}, - {"t":0.03543, "x":2.48191, "y":5.81367, "heading":0.0, "vx":-0.00334, "vy":-0.31947, "omega":0.0, "ax":-0.09433, "ay":-9.01506, "alpha":0.0, "fx":[-1.60448,-1.60448,-1.60448,-1.60448], "fy":[-153.34355,-153.34355,-153.34355,-153.34355]}, - {"t":0.07087, "x":2.48173, "y":5.79669, "heading":0.0, "vx":-0.00668, "vy":-0.63891, "omega":0.0, "ax":-0.09445, "ay":-9.01419, "alpha":0.0, "fx":[-1.60658,-1.60658,-1.60658,-1.60658], "fy":[-153.32875,-153.32875,-153.32875,-153.32875]}, - {"t":0.1063, "x":2.48144, "y":5.76839, "heading":0.0, "vx":-0.01003, "vy":-0.95832, "omega":0.0, "ax":-0.09459, "ay":-9.01317, "alpha":0.0, "fx":[-1.60903,-1.60903,-1.60903,-1.60903], "fy":[-153.31148,-153.31148,-153.31148,-153.31148]}, - {"t":0.14174, "x":2.48102, "y":5.72877, "heading":0.0, "vx":-0.01338, "vy":-1.2777, "omega":0.0, "ax":-0.09477, "ay":-9.01197, "alpha":0.0, "fx":[-1.61193,-1.61193,-1.61193,-1.61193], "fy":[-153.29105,-153.29105,-153.29105,-153.29105]}, - {"t":0.17717, "x":2.48049, "y":5.67784, "heading":0.0, "vx":-0.01674, "vy":-1.59703, "omega":0.0, "ax":-0.09497, "ay":-9.01053, "alpha":0.0, "fx":[-1.61541,-1.61541,-1.61541,-1.61541], "fy":[-153.26653,-153.26653,-153.26653,-153.26653]}, - {"t":0.21261, "x":2.47984, "y":5.61559, "heading":0.0, "vx":-0.0201, "vy":-1.91631, "omega":0.0, "ax":-0.09522, "ay":-9.00877, "alpha":0.0, "fx":[-1.61966,-1.61966,-1.61966,-1.61966], "fy":[-153.23654,-153.23654,-153.23654,-153.23654]}, - {"t":0.24804, "x":2.47906, "y":5.54204, "heading":0.0, "vx":-0.02348, "vy":-2.23553, "omega":0.0, "ax":-0.09553, "ay":-9.00656, "alpha":0.0, "fx":[-1.62498,-1.62498,-1.62498,-1.62498], "fy":[-153.19902,-153.19902,-153.19902,-153.19902]}, - {"t":0.28347, "x":2.47817, "y":5.45717, "heading":0.0, "vx":-0.02686, "vy":-2.55468, "omega":0.0, "ax":-0.09594, "ay":-9.00372, "alpha":0.0, "fx":[-1.63183,-1.63183,-1.63183,-1.63183], "fy":[-153.15074,-153.15074,-153.15074,-153.15074]}, - {"t":0.31891, "x":2.47716, "y":5.36099, "heading":0.0, "vx":-0.03026, "vy":-2.87372, "omega":0.0, "ax":-0.09647, "ay":-8.99993, "alpha":0.0, "fx":[-1.64097,-1.64097,-1.64097,-1.64097], "fy":[-153.0863,-153.0863,-153.0863,-153.0863]}, - {"t":0.35434, "x":2.47603, "y":5.25351, "heading":0.0, "vx":-0.03368, "vy":-3.19262, "omega":0.0, "ax":-0.09723, "ay":-8.99462, "alpha":0.0, "fx":[-1.65378,-1.65378,-1.65378,-1.65378], "fy":[-152.99597,-152.99597,-152.99597,-152.99597]}, - {"t":0.38978, "x":2.47477, "y":5.13474, "heading":0.0, "vx":-0.03713, "vy":-3.51134, "omega":0.0, "ax":-0.09836, "ay":-8.98664, "alpha":0.0, "fx":[-1.67303,-1.67303,-1.67303,-1.67303], "fy":[-152.86025,-152.86025,-152.86025,-152.86025]}, - {"t":0.42521, "x":2.47339, "y":5.00467, "heading":0.0, "vx":-0.04061, "vy":-3.82978, "omega":0.0, "ax":-0.10025, "ay":-8.97332, "alpha":0.0, "fx":[-1.70515,-1.70515,-1.70515,-1.70515], "fy":[-152.63359,-152.63359,-152.63359,-152.63359]}, - {"t":0.46065, "x":2.47189, "y":4.86333, "heading":0.0, "vx":-0.04416, "vy":-4.14774, "omega":0.0, "ax":-0.10403, "ay":-8.94661, "alpha":0.0, "fx":[-1.76947,-1.76947,-1.76947,-1.76947], "fy":[-152.17923,-152.17923,-152.17923,-152.17923]}, - {"t":0.49608, "x":2.47026, "y":4.71075, "heading":0.0, "vx":-0.04785, "vy":-4.46476, "omega":0.0, "ax":-0.11532, "ay":-8.86648, "alpha":0.0, "fx":[-1.96156,-1.96156,-1.96156,-1.96156], "fy":[-150.81632,-150.81632,-150.81632,-150.81632]}, - {"t":0.53151, "x":2.4685, "y":4.54697, "heading":0.0, "vx":-0.05193, "vy":-4.77894, "omega":0.0, "ax":-0.62371, "ay":-3.53918, "alpha":0.0, "fx":[-10.60917,-10.60917,-10.60917,-10.60917], "fy":[-60.20047,-60.20047,-60.20047,-60.20047]}, - {"t":0.56695, "x":2.46626, "y":4.37541, "heading":0.0, "vx":-0.07404, "vy":-4.90434, "omega":0.0, "ax":-1.84839, "ay":0.04182, "alpha":0.0, "fx":[-31.44051,-31.44051,-31.44051,-31.44051], "fy":[0.71127,0.71127,0.71127,0.71127]}, - {"t":0.60238, "x":2.46248, "y":4.20166, "heading":0.0, "vx":-0.13953, "vy":-4.90286, "omega":0.0, "ax":-1.55803, "ay":4.60191, "alpha":0.0, "fx":[-26.50159,-26.50159,-26.50159,-26.50159], "fy":[78.27725,78.27725,78.27725,78.27725]}, - {"t":0.63756, "x":2.45661, "y":4.03202, "heading":0.0, "vx":-0.19434, "vy":-4.74097, "omega":0.0, "ax":0.29678, "ay":8.86365, "alpha":0.0, "fx":[5.04821,5.04821,5.04821,5.04821], "fy":[150.76813,150.76813,150.76813,150.76813]}, - {"t":0.67274, "x":2.44995, "y":3.87072, "heading":0.0, "vx":-0.1839, "vy":-4.42914, "omega":0.0, "ax":0.34238, "ay":8.94069, "alpha":0.0, "fx":[5.82385,5.82385,5.82385,5.82385], "fy":[152.07855,152.07855,152.07855,152.07855]}, - {"t":0.70792, "x":2.4437, "y":3.72043, "heading":0.0, "vx":-0.17186, "vy":-4.1146, "omega":0.0, "ax":0.35781, "ay":8.9666, "alpha":0.0, "fx":[6.08619,6.08619,6.08619,6.08619], "fy":[152.51938,152.51938,152.51938,152.51938]}, - {"t":0.74311, "x":2.43787, "y":3.58123, "heading":0.0, "vx":-0.15927, "vy":-3.79915, "omega":0.0, "ax":0.36554, "ay":8.97958, "alpha":0.0, "fx":[6.21777,6.21777,6.21777,6.21777], "fy":[152.7401,152.7401,152.7401,152.7401]}, - {"t":0.77829, "x":2.43249, "y":3.45313, "heading":0.0, "vx":-0.14641, "vy":-3.48325, "omega":0.0, "ax":0.37019, "ay":8.98737, "alpha":0.0, "fx":[6.29679,6.29679,6.29679,6.29679], "fy":[152.87255,152.87255,152.87255,152.87255]}, - {"t":0.81347, "x":2.42757, "y":3.33615, "heading":0.0, "vx":-0.13339, "vy":-3.16707, "omega":0.0, "ax":0.37328, "ay":8.99256, "alpha":0.0, "fx":[6.34947,6.34947,6.34947,6.34947], "fy":[152.96082,152.96082,152.96082,152.96082]}, - {"t":0.84865, "x":2.42311, "y":3.23029, "heading":0.0, "vx":-0.12025, "vy":-2.85071, "omega":0.0, "ax":0.3755, "ay":8.99626, "alpha":0.0, "fx":[6.38709,6.38709,6.38709,6.38709], "fy":[153.02384,153.02384,153.02384,153.02384]}, - {"t":0.88383, "x":2.41911, "y":3.13557, "heading":0.0, "vx":-0.10704, "vy":-2.53422, "omega":0.0, "ax":0.37716, "ay":8.99904, "alpha":0.0, "fx":[6.41531,6.41531,6.41531,6.41531], "fy":[153.07109,153.07109,153.07109,153.07109]}, - {"t":0.91901, "x":2.41558, "y":3.05199, "heading":0.0, "vx":-0.09378, "vy":-2.21763, "omega":0.0, "ax":0.37844, "ay":9.0012, "alpha":0.0, "fx":[6.43724,6.43724,6.43724,6.43724], "fy":[153.10783,153.10783,153.10783,153.10783]}, - {"t":0.95419, "x":2.41251, "y":2.97954, "heading":0.0, "vx":-0.08046, "vy":-1.90096, "omega":0.0, "ax":0.37948, "ay":9.00293, "alpha":0.0, "fx":[6.45478,6.45478,6.45478,6.45478], "fy":[153.1372,153.1372,153.1372,153.1372]}, - {"t":0.98937, "x":2.40992, "y":2.91823, "heading":0.0, "vx":-0.06711, "vy":-1.58424, "omega":0.0, "ax":0.38032, "ay":9.00434, "alpha":0.0, "fx":[6.46913,6.46913,6.46913,6.46913], "fy":[153.16123,153.16123,153.16123,153.16123]}, - {"t":1.02455, "x":2.40779, "y":2.86807, "heading":0.0, "vx":-0.05373, "vy":-1.26746, "omega":0.0, "ax":0.38102, "ay":9.00552, "alpha":0.0, "fx":[6.48109,6.48109,6.48109,6.48109], "fy":[153.18125,153.18125,153.18125,153.18125]}, - {"t":1.05973, "x":2.40614, "y":2.82906, "heading":0.0, "vx":-0.04033, "vy":-0.95064, "omega":0.0, "ax":0.38162, "ay":9.00651, "alpha":0.0, "fx":[6.4912,6.4912,6.4912,6.4912], "fy":[153.19819,153.19819,153.19819,153.19819]}, - {"t":1.09491, "x":2.40496, "y":2.80118, "heading":0.0, "vx":-0.0269, "vy":-0.63379, "omega":0.0, "ax":0.38213, "ay":9.00736, "alpha":0.0, "fx":[6.49986,6.49986,6.49986,6.49986], "fy":[153.2127,153.2127,153.2127,153.2127]}, - {"t":1.13009, "x":2.40425, "y":2.78446, "heading":0.0, "vx":-0.01346, "vy":-0.31691, "omega":0.0, "ax":0.38257, "ay":9.0081, "alpha":0.0, "fx":[6.50737,6.50737,6.50737,6.50737], "fy":[153.22527,153.22527,153.22527,153.22527]}, - {"t":1.16527, "x":2.40401, "y":2.77889, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], - "splits":[0] - }, - "events":[ - {"name":"Print", "from":{"target":1, "targetTimestamp":0.60238, "offset":{"exp":"0 s", "val":0.0}}, "event":null}] -} diff --git a/src/main/deploy/choreo/path.chor b/src/main/deploy/choreo/path.chor index ead2c553..9be1311f 100644 --- a/src/main/deploy/choreo/path.chor +++ b/src/main/deploy/choreo/path.chor @@ -81,4 +81,4 @@ "genTrajData":true, "useChoreoLib":true } -} \ No newline at end of file +} diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 018abb5e..080fb195 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -90,7 +90,8 @@ public Robot() { drive::followTrajectory, true, robotContainer.getDriveBase()); - path = autoFactory.trajectoryCmd("AnotherPath"); + path = autoFactory.trajectoryCmd("ExamplePath"); + } public static RobotMode getMode() { diff --git a/src/main/java/frc/robot/commands/auto/ExampleAuto.java b/src/main/java/frc/robot/commands/auto/ExampleAuto.java index 27c238c7..305950c2 100644 --- a/src/main/java/frc/robot/commands/auto/ExampleAuto.java +++ b/src/main/java/frc/robot/commands/auto/ExampleAuto.java @@ -5,17 +5,20 @@ import edu.wpi.first.wpilibj2.command.PrintCommand; import frc.robot.subsystems.IntakeSubsystem; import frc.robot.subsystems.swervedrive.SwerveSubsystem; +import frc.robot.utils.logging.commands.LoggableParallelCommandGroup; import frc.robot.utils.logging.commands.LoggableSequentialCommandGroup; public class ExampleAuto extends LoggableSequentialCommandGroup{ public ExampleAuto(SwerveSubsystem subsystem, AutoFactory auto, IntakeSubsystem intake) { - // binds a command to an event marker called "Print" in choreo - // TODO: test this - auto.bind("Print", new PrintCommand("testing")); + LoggableParallelCommandGroup parallel = new LoggableParallelCommandGroup(); + parallel.addCommands( + auto.trajectoryCmd("ExamplePath"), + new PrintCommand("moving") + ); addCommands( - auto.resetOdometry("PrintPath"), - auto.trajectoryCmd("PrintPath") + auto.resetOdometry("ExamplePath"), + parallel ); } } \ No newline at end of file From 0aa3954c42934fcf5d0710af08ec56c32a800978 Mon Sep 17 00:00:00 2001 From: Michael Kovalev Date: Mon, 9 Feb 2026 19:44:21 -0500 Subject: [PATCH 07/43] not functional rn, still working on it --- src/main/deploy/choreo/ExampleAuto.traj | 322 ------------------ src/main/deploy/choreo/ExamplePathOne.traj | 96 ++++++ src/main/deploy/choreo/ExamplePathTwo.traj | 102 ++++++ src/main/deploy/choreo/path.chor | 12 +- .../frc/robot/commands/auto/ExampleAuto.java | 26 +- .../LoggableParallelCommandGroup.java | 7 +- .../LoggableSequentialCommandGroup.java | 7 +- 7 files changed, 235 insertions(+), 337 deletions(-) delete mode 100644 src/main/deploy/choreo/ExampleAuto.traj create mode 100644 src/main/deploy/choreo/ExamplePathOne.traj create mode 100644 src/main/deploy/choreo/ExamplePathTwo.traj diff --git a/src/main/deploy/choreo/ExampleAuto.traj b/src/main/deploy/choreo/ExampleAuto.traj deleted file mode 100644 index f1a0b2ad..00000000 --- a/src/main/deploy/choreo/ExampleAuto.traj +++ /dev/null @@ -1,322 +0,0 @@ -{ - "name":"ExamplePath", - "version":3, - "snapshot":{ - "waypoints":[ - {"x":2.2144885063171387, "y":6.55242919921875, "heading":0.0, "intervals":235, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":2.2945711612701416, "y":4.210012435913086, "heading":0.0, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":2.234509229660034, "y":2.288029432296753, "heading":0.0, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], - "constraints":[ - {"from":0, "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, - {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, - {"from":0, "to":1, "data":{"type":"MaxVelocity", "props":{"max":0.2}}, "enabled":true}, - {"from":1, "to":1, "data":{"type":"MaxVelocity", "props":{"max":0.0}}, "enabled":true}, - {"from":1, "to":2, "data":{"type":"MaxVelocity", "props":{"max":2.0}}, "enabled":true}], - "targetDt":0.05 - }, - "params":{ - "waypoints":[ - {"x":{"exp":"2.2144885063171387 m", "val":2.2144885063171387}, "y":{"exp":"6.55242919921875 m", "val":6.55242919921875}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":235, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"2.2945711612701416 m", "val":2.2945711612701416}, "y":{"exp":"4.210012435913086 m", "val":4.210012435913086}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":23, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"2.234509229660034 m", "val":2.234509229660034}, "y":{"exp":"2.288029432296753 m", "val":2.288029432296753}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], - "constraints":[ - {"from":0, "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, - {"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, - {"from":0, "to":1, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"0.2 m / s", "val":0.2}}}, "enabled":true}, - {"from":1, "to":1, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"0 m / s", "val":0.0}}}, "enabled":true}, - {"from":1, "to":2, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"2 m / s", "val":2.0}}}, "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":52.16312255, - "inertia":6.0, - "gearing":6.5, - "radius":0.0508, - "vmax":487.9940588576145, - "tmax":1.2, - "cof":1.5, - "bumper":{ - "front":0.4064, - "side":0.4064, - "back":0.4064 - }, - "differentialTrackWidth":0.5588 - }, - "sampleType":"Swerve", - "waypoints":[0.0,11.77135,12.90661], - "samples":[ - {"t":0.0, "x":2.21449, "y":6.55243, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.1364, "ay":-3.98962, "alpha":0.0, "fx":[1.77873,1.77873,1.77873,1.77873], "fy":[-52.02778,-52.02778,-52.02778,-52.02778]}, - {"t":0.05009, "x":2.21466, "y":6.54742, "heading":0.0, "vx":0.00683, "vy":-0.19984, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.10018, "x":2.215, "y":6.53741, "heading":0.0, "vx":0.00683, "vy":-0.19984, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":0.15027, "x":2.21534, "y":6.5274, "heading":0.0, "vx":0.00683, "vy":-0.19984, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, 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"heading":-0.98932, "vx":-2.72029, "vy":-1.80375, "omega":-0.83488, "ax":-4.8866, "ay":-7.43751, "alpha":3.73843, "fx":[-93.82308,-103.00152,-76.33601,-59.31789], "fy":[-120.23305,-112.79327,-132.37614,-140.63714]}, + {"t":0.39734, "x":2.22718, "y":6.17316, "heading":-1.01484, "vx":-2.86964, "vy":-2.03107, "omega":-0.72062, "ax":-3.12391, "ay":-8.14953, "alpha":6.47498, "fx":[-63.47373,-94.81871,-49.55818,-4.69662], "fy":[-138.06378,-119.52769,-144.47805,-152.41551]}, + {"t":0.4279, "x":2.13801, "y":6.10728, "heading":-1.03686, "vx":-2.96512, "vy":-2.28016, "omega":-0.52271, "ax":-0.17016, "ay":-8.3726, "alpha":10.07725, "fx":[28.03636,-81.27262,-17.02491,58.68371], "fy":[-148.36125,-128.79905,-151.74743,-140.75427]}, + {"t":0.45846, "x":2.0473, "y":6.03368, "heading":-1.05284, "vx":-2.97032, "vy":-2.53606, "omega":-0.21471, "ax":2.98398, "ay":-6.90502, "alpha":17.1807, "fx":[136.57334,-55.60409,17.96553,104.09174], "fy":[-65.20463,-141.31159,-151.63762,-111.65613]}, + {"t":0.48903, 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"x":1.6517, "y":5.58405, "heading":-0.93429, "vx":-2.04515, "vy":-3.18671, "omega":1.95649, "ax":8.49032, "ay":-0.74334, "alpha":8.85157, "fx":[143.68878,151.80676,130.12984,152.04602], "fy":[51.96438,-5.72808,-80.01552,-16.79649]}, + {"t":0.63364, "x":1.60811, "y":5.51264, "heading":-0.89056, "vx":-1.85538, "vy":-3.20332, "omega":2.15433, "ax":8.60708, "ay":0.47422, "alpha":7.90091, "fx":[139.71506,150.18412,142.80347,152.91355], "fy":[61.78419,23.80441,-54.01295,0.68982]}, + {"t":0.65599, "x":1.56879, "y":5.44116, "heading":-0.84241, "vx":-1.66301, "vy":-3.19272, "omega":2.33093, "ax":8.55316, "ay":1.76756, "alpha":6.55924, "fx":[134.97604,144.3203,151.22432,151.42648], "fy":[71.495,48.4152,-20.51711,20.86974]}, + {"t":0.67834, "x":1.53375, "y":5.37024, "heading":-0.79031, "vx":-1.47183, "vy":-3.15322, "omega":2.47753, "ax":8.29108, "ay":3.08383, "alpha":4.81145, "fx":[129.62115,136.40139,151.53254,146.56076], "fy":[80.7662,67.94528,17.87737,43.23151]}, + {"t":0.70069, "x":1.50293, "y":5.30053, "heading":-0.73493, "vx":-1.28652, "vy":-3.08429, "omega":2.58507, "ax":7.81032, "ay":4.32885, "alpha":2.86284, "fx":[123.89345,127.8589,142.171,137.48181], "fy":[89.29014,83.17923,55.47113,66.58962]}, + {"t":0.72304, "x":1.47612, "y":5.23268, "heading":-0.67715, "vx":-1.11195, "vy":-2.98753, "omega":2.64906, "ax":7.15892, "ay":5.40791, "alpha":0.96396, "fx":[118.09079,119.43001,125.57003,123.9939], "fy":[96.83667,95.08948,86.84685,89.17472]}, + {"t":0.74539, "x":1.45306, "y":5.16725, "heading":-0.61794, "vx":-0.95194, "vy":-2.86666, "omega":2.67061, "ax":6.41927, "ay":6.27498, "alpha":-0.75553, "fx":[112.50651,111.42641,105.98577,106.84107], "fy":[103.28807,104.51189,110.01585,109.12681]}, + {"t":0.76774, "x":1.43338, "y":5.10475, "heading":-0.55825, "vx":-0.80846, "vy":-2.72641, "omega":2.65372, "ax":5.66592, "ay":6.93416, "alpha":-2.27504, "fx":[107.37486,103.94627,86.64373,87.53813], "fy":[108.64043,112.07861,125.91951,125.15376]}, + {"t":0.79009, "x":1.41673, "y":5.04554, "heading":-0.49894, "vx":-0.68182, "vy":-2.57142, "omega":2.60287, "ax":4.94841, "ay":7.41571, "alpha":-3.60909, "fx":[102.84024,96.99463,69.05245,67.79677], "fy":[112.97818,118.24519,136.4493,136.88348]}, + {"t":0.81245, "x":1.40272, "y":4.98992, "heading":-0.44076, "vx":-0.57121, "vy":-2.40567, "omega":2.5222, "ax":4.2928, "ay":7.75722, "alpha":-4.77428, "fx":[98.95433,90.54274,53.60274,48.97738], "fy":[116.43826,123.33548,143.29634,144.72224]}, + {"t":0.8348, "x":1.39103, "y":4.93809, "heading":-0.38439, "vx":-0.47527, "vy":-2.23229, "omega":2.41549, "ax":3.70837, "ay":7.99392, "alpha":-5.78649, "fx":[95.69365,84.55485,40.19238,31.87264], "fy":[119.17716,127.58054,147.67838,149.46076]}, + {"t":0.85715, "x":1.38133, "y":4.89019, "heading":-0.3304, "vx":-0.39238, "vy":-2.05361, "omega":2.28616, "ax":3.19423, "ay":8.15472, "alpha":-6.66245, "fx":[92.98623,78.99893,28.56653,16.78022], "fy":[121.34731,131.14745,150.40865,151.93455]}, + {"t":0.8795, "x":1.37336, "y":4.84633, "heading":-0.2793, "vx":-0.32098, "vy":-1.87135, "omega":2.13724, "ax":2.7444, "ay":8.26165, "alpha":-7.41938, "fx":[90.73764,73.84992,18.45873,3.67942], "fy":[123.08329,134.15946,152.02066,152.84985]}, + {"t":0.90185, "x":1.36687, "y":4.80656, "heading":-0.23153, "vx":-0.25964, "vy":-1.68669, "omega":1.97141, "ax":2.35109, "ay":8.3307, "alpha":-8.07379, "fx":[88.85095,69.08982,9.63693,-7.61226], "fy":[124.49609,136.70967,152.86756,152.73816]}, + {"t":0.9242, "x":1.36166, "y":4.77095, "heading":-0.18747, "vx":-0.20709, "vy":-1.50049, "omega":1.79095, "ax":2.00649, "ay":8.37321, "alpha":-8.64078, "fx":[87.23893,64.70653,1.91203,-17.33787], "fy":[125.67255,138.87023,153.18802,151.97313]}, + {"t":0.94655, "x":1.35753, "y":4.7395, "heading":-0.14744, "vx":-0.16225, "vy":-1.31334, "omega":1.59782, "ax":1.70357, "ay":8.39711, "alpha":-9.13387, "fx":[85.82966,60.69247,-4.86633,-25.74659], "fy":[126.67788,140.69843,153.14766,150.80575]}, + {"t":0.9689, "x":1.35433, "y":4.71224, "heading":-0.11172, "vx":-0.12417, "vy":-1.12565, "omega":1.39367, "ax":1.43631, "ay":8.40789, "alpha":-9.56504, "fx":[84.56738,57.04323,-10.81681,-33.06864], "fy":[127.55949,142.2408,152.86454,149.39851]}, + {"t":0.99126, "x":1.35191, "y":4.68918, "heading":-0.08057, "vx":-0.09207, "vy":-0.93772, "omega":1.17988, "ax":1.19973, "ay":8.40938, "alpha":-9.94485, "fx":[83.41051,53.75657,-16.0331,-39.50586], "fy":[128.3511,143.53578,152.42506,147.85256]}, + {"t":1.01361, "x":1.35015, "y":4.67032, "heading":-0.0542, "vx":-0.06525, "vy":-0.74976, "omega":0.9576, "ax":0.98974, "ay":8.40423, "alpha":-10.28251, "fx":[82.32849,50.8315,-20.58944,-45.22968], "fy":[129.07667,144.61553,151.89392,146.22778]}, + {"t":1.03596, "x":1.34894, "y":4.65567, "heading":-0.0328, "vx":-0.04313, "vy":-0.56192, "omega":0.72777, "ax":0.80306, "ay":8.3943, "alpha":-10.58588, "fx":[81.29809,48.26774,-24.54475,-50.38203], "fy":[129.7538,145.50709,151.32063,144.55718]}, + {"t":1.05831, "x":1.34818, "y":4.6452, "heading":-0.01653, "vx":-0.02518, "vy":-0.3743, "omega":0.49117, "ax":0.63702, "ay":8.38095, "alpha":-10.86133, "fx":[80.29996,46.06525,-27.94579,-55.07715], "fy":[130.39647,146.23322,150.74364,142.85724]}, + {"t":1.08066, "x":1.34777, "y":4.63893, "heading":-0.00555, "vx":-0.01094, "vy":-0.18697, "omega":0.2484, "ax":0.48952, "ay":8.36521, "alpha":-11.11362, "fx":[79.31533,44.22386,-30.82942,-59.40355], "fy":[131.01745,146.81293,150.19323,141.13555]}, + {"t":1.10301, "x":1.34765, "y":4.63684, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], + "splits":[0] + }, + "events":[] +} diff --git a/src/main/deploy/choreo/path.chor b/src/main/deploy/choreo/path.chor index 9be1311f..64de4987 100644 --- a/src/main/deploy/choreo/path.chor +++ b/src/main/deploy/choreo/path.chor @@ -1,5 +1,5 @@ { - "name":"path", + "name":"Untitled", "version":2, "type":"Swerve", "variables":{ @@ -28,8 +28,8 @@ } }, "mass":{ - "exp":"115 lbs", - "val":52.16312255 + "exp":"150 lbs", + "val":68.0388555 }, "inertia":{ "exp":"6 kg m ^ 2", @@ -44,8 +44,8 @@ "val":0.0508 }, "vmax":{ - "exp":"4660 RPM", - "val":487.9940588576145 + "exp":"6000 RPM", + "val":628.3185307179587 }, "tmax":{ "exp":"1.2 N * m", @@ -76,7 +76,7 @@ }, "generationFeatures":[], "codegen":{ - "root":"Users/michael/Downloads", + "root":"Users/michael/Developer/FRC2026_Java/src/main/deploy/choreo", "genVars":true, "genTrajData":true, "useChoreoLib":true diff --git a/src/main/java/frc/robot/commands/auto/ExampleAuto.java b/src/main/java/frc/robot/commands/auto/ExampleAuto.java index 305950c2..0f0eb275 100644 --- a/src/main/java/frc/robot/commands/auto/ExampleAuto.java +++ b/src/main/java/frc/robot/commands/auto/ExampleAuto.java @@ -10,15 +10,27 @@ public class ExampleAuto extends LoggableSequentialCommandGroup{ public ExampleAuto(SwerveSubsystem subsystem, AutoFactory auto, IntakeSubsystem intake) { - LoggableParallelCommandGroup parallel = new LoggableParallelCommandGroup(); - parallel.addCommands( - auto.trajectoryCmd("ExamplePath"), - new PrintCommand("moving") + LoggableParallelCommandGroup pathOne = new LoggableParallelCommandGroup( + auto.trajectoryCmd("ExamplePathOne"), + new PrintCommand("Started ExamplePathOne") + ); + LoggableSequentialCommandGroup pathOneEnd = new LoggableSequentialCommandGroup( + pathOne, + new PrintCommand("Ending ExamplePathOne") + ); + LoggableParallelCommandGroup pathTwo = new LoggableParallelCommandGroup( + auto.trajectoryCmd("ExamplePathTwo"), + new PrintCommand("Started ExamplePathTwo") + ); + LoggableSequentialCommandGroup pathTwoEnd = new LoggableSequentialCommandGroup( + pathTwo, + new PrintCommand("Ending ExamplePathTwo") ); - addCommands( - auto.resetOdometry("ExamplePath"), - parallel + auto.resetOdometry("ExamplePathOne"), + pathOneEnd, + auto.resetOdometry("ExamplePathTwo"), + pathTwoEnd ); } } \ No newline at end of file diff --git a/src/main/java/frc/robot/utils/logging/commands/LoggableParallelCommandGroup.java b/src/main/java/frc/robot/utils/logging/commands/LoggableParallelCommandGroup.java index ad5b2872..3efca165 100644 --- a/src/main/java/frc/robot/utils/logging/commands/LoggableParallelCommandGroup.java +++ b/src/main/java/frc/robot/utils/logging/commands/LoggableParallelCommandGroup.java @@ -2,6 +2,7 @@ import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.ParallelCommandGroup; +import edu.wpi.first.wpilibj2.command.PrintCommand; import edu.wpi.first.wpilibj2.command.ProxyCommand; public class LoggableParallelCommandGroup extends ParallelCommandGroup implements Loggable { @@ -18,7 +19,11 @@ public LoggableParallelCommandGroup(T... commands addCommands(proxyCommands); } - @Override + public LoggableParallelCommandGroup(Command trajectoryCmd, PrintCommand printCommand) { + //TODO Auto-generated constructor stub +} + +@Override public String getBasicName() { return basicName; } diff --git a/src/main/java/frc/robot/utils/logging/commands/LoggableSequentialCommandGroup.java b/src/main/java/frc/robot/utils/logging/commands/LoggableSequentialCommandGroup.java index 92363977..e8c6b80d 100644 --- a/src/main/java/frc/robot/utils/logging/commands/LoggableSequentialCommandGroup.java +++ b/src/main/java/frc/robot/utils/logging/commands/LoggableSequentialCommandGroup.java @@ -1,6 +1,7 @@ package frc.robot.utils.logging.commands; import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.PrintCommand; import edu.wpi.first.wpilibj2.command.ProxyCommand; import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; @@ -17,7 +18,11 @@ public LoggableSequentialCommandGroup(T... comman addCommands(proxyCommands); } - @Override + public LoggableSequentialCommandGroup(LoggableParallelCommandGroup pathOne, PrintCommand printCommand) { + //TODO Auto-generated constructor stub +} + +@Override public String getBasicName() { return basicName; } From d0e6a293721a8a50320ae20c991eb723e476f5c7 Mon Sep 17 00:00:00 2001 From: Sahiltheram Date: Wed, 11 Feb 2026 20:49:53 -0500 Subject: [PATCH 08/43] Some clean up --- src/main/deploy/choreo/ExamplePathOne.traj | 2 +- src/main/deploy/choreo/path.chor | 2 +- src/main/java/frc/robot/Robot.java | 6 +++--- 3 files changed, 5 insertions(+), 5 deletions(-) diff --git a/src/main/deploy/choreo/ExamplePathOne.traj b/src/main/deploy/choreo/ExamplePathOne.traj index ee12ee18..ae0e65da 100644 --- a/src/main/deploy/choreo/ExamplePathOne.traj +++ b/src/main/deploy/choreo/ExamplePathOne.traj @@ -15,7 +15,7 @@ "params":{ "waypoints":[ {"x":{"exp":"3.6045942306518555 m", "val":3.604594230651855}, "y":{"exp":"4.017058849334717 m", "val":4.017058849334717}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"2.0492920875549316 m", "val":2.0492920875549316}, "y":{"exp":"5.3384809494018555 m", "val":5.3384809494018555}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":16, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"2.0492920875549316 m", "val":2.0492920875549316}, "y":{"exp":"5.3384809494018555 m", "val":5.3384809494018555}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, {"x":{"exp":"2.8327901363372803 m", "val":2.8327901363372803}, "y":{"exp":"6.531269073486328 m", "val":6.531269073486328}, "heading":{"exp":"-0.7853977386450895 rad", "val":-0.7853977386450895}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], "constraints":[ {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true}, diff --git a/src/main/deploy/choreo/path.chor b/src/main/deploy/choreo/path.chor index 64de4987..fdb671e9 100644 --- a/src/main/deploy/choreo/path.chor +++ b/src/main/deploy/choreo/path.chor @@ -1,5 +1,5 @@ { - "name":"Untitled", + "name":"path", "version":2, "type":"Swerve", "variables":{ diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 080fb195..34261612 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -35,7 +35,6 @@ public class Robot extends LoggedRobot { private Command autonomousCommand; private final Drive drive; private final AutoFactory autoFactory; - private final Command path; private static final Diagnostics diagnostics = new Diagnostics(); private final RobotContainer robotContainer; @@ -85,13 +84,14 @@ public Robot() { // autonomous chooser on the dashboard. robotContainer = new RobotContainer(); drive = new Drive(robotContainer.getDriveBase()); + + + //Sets up Choreo with pose, odometry, drivebase, and a follow trajectory command autoFactory = new AutoFactory(robotContainer.getDriveBase()::getPose, robotContainer.getDriveBase()::resetOdometry, drive::followTrajectory, true, robotContainer.getDriveBase()); - path = autoFactory.trajectoryCmd("ExamplePath"); - } public static RobotMode getMode() { From 8febaa61442741977136e889dbc017516df660a9 Mon Sep 17 00:00:00 2001 From: Michael Kovalev Date: Thu, 12 Feb 2026 22:51:01 -0500 Subject: [PATCH 09/43] added an example auto with 2 paths, and a printCommand at the beggining and end of each path. --- .../frc/robot/commands/auto/ExampleAuto.java | 33 ++++++++----------- 1 file changed, 13 insertions(+), 20 deletions(-) diff --git a/src/main/java/frc/robot/commands/auto/ExampleAuto.java b/src/main/java/frc/robot/commands/auto/ExampleAuto.java index 0f0eb275..b5f08a6a 100644 --- a/src/main/java/frc/robot/commands/auto/ExampleAuto.java +++ b/src/main/java/frc/robot/commands/auto/ExampleAuto.java @@ -10,27 +10,20 @@ public class ExampleAuto extends LoggableSequentialCommandGroup{ public ExampleAuto(SwerveSubsystem subsystem, AutoFactory auto, IntakeSubsystem intake) { - LoggableParallelCommandGroup pathOne = new LoggableParallelCommandGroup( - auto.trajectoryCmd("ExamplePathOne"), - new PrintCommand("Started ExamplePathOne") - ); - LoggableSequentialCommandGroup pathOneEnd = new LoggableSequentialCommandGroup( - pathOne, - new PrintCommand("Ending ExamplePathOne") - ); - LoggableParallelCommandGroup pathTwo = new LoggableParallelCommandGroup( - auto.trajectoryCmd("ExamplePathTwo"), - new PrintCommand("Started ExamplePathTwo") - ); - LoggableSequentialCommandGroup pathTwoEnd = new LoggableSequentialCommandGroup( - pathTwo, - new PrintCommand("Ending ExamplePathTwo") - ); + auto.resetOdometry("ExamplePathOne"); + addCommands( - auto.resetOdometry("ExamplePathOne"), - pathOneEnd, - auto.resetOdometry("ExamplePathTwo"), - pathTwoEnd + new LoggableParallelCommandGroup( + auto.trajectoryCmd("ExamplePathOne"), + new PrintCommand("Started ExamplePathOne") + ), + new PrintCommand("Finished ExamplePathOne"), + + new LoggableParallelCommandGroup( + auto.trajectoryCmd("ExamplePathTwo"), + new PrintCommand("Started ExamplePathTwo") + ), + new PrintCommand("Finished ExamplePathTwo") ); } } \ No newline at end of file From c30c373a083fc1c5e95dbc33d4da2cdd81ae5c8d Mon Sep 17 00:00:00 2001 From: Sahiltheram Date: Fri, 13 Feb 2026 21:47:14 -0500 Subject: [PATCH 10/43] Test constraints, made printcommand work --- src/main/deploy/choreo/ExamplePathOne.traj | 210 ++++++++--- src/main/deploy/choreo/ExamplePathTwo.traj | 258 ++++++++++--- src/main/deploy/choreo/StraightPath.traj | 343 ++++++++++++++++++ src/main/deploy/choreo/path.chor | 2 +- .../commands/LoggableCommandWrapper.java | 1 + .../LoggableDeadlineCommandGroup.java | 25 +- .../LoggableParallelCommandGroup.java | 21 +- .../commands/LoggableRaceCommandGroup.java | 14 +- .../LoggableSequentialCommandGroup.java | 20 +- 9 files changed, 768 insertions(+), 126 deletions(-) create mode 100644 src/main/deploy/choreo/StraightPath.traj diff --git a/src/main/deploy/choreo/ExamplePathOne.traj b/src/main/deploy/choreo/ExamplePathOne.traj index ae0e65da..6ca17bcf 100644 --- a/src/main/deploy/choreo/ExamplePathOne.traj +++ b/src/main/deploy/choreo/ExamplePathOne.traj @@ -3,24 +3,24 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":3.604594230651855, "y":4.017058849334717, "heading":0.0, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":2.0492920875549316, "y":5.3384809494018555, "heading":0.0, "intervals":16, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":2.8327901363372803, "y":6.531269073486328, "heading":0.0, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":3.604594230651855, "y":4.017058849334717, "heading":0.0, "intervals":71, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":2.6021580696105957, "y":5.420551776885986, "heading":0.0, "intervals":83, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":3.733659267425537, "y":6.881216526031494, "heading":-0.7853977386450895, "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":false}], + {"from":0, "to":2, "data":{"type":"MaxVelocity", "props":{"max":0.5}}, "enabled":true}], "targetDt":0.05 }, "params":{ "waypoints":[ - {"x":{"exp":"3.6045942306518555 m", "val":3.604594230651855}, "y":{"exp":"4.017058849334717 m", "val":4.017058849334717}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"2.0492920875549316 m", "val":2.0492920875549316}, "y":{"exp":"5.3384809494018555 m", "val":5.3384809494018555}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"2.8327901363372803 m", "val":2.8327901363372803}, "y":{"exp":"6.531269073486328 m", "val":6.531269073486328}, "heading":{"exp":"-0.7853977386450895 rad", "val":-0.7853977386450895}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":{"exp":"3.6045942306518555 m", "val":3.604594230651855}, "y":{"exp":"4.017058849334717 m", "val":4.017058849334717}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":71, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"2.6021580696105957 m", "val":2.6021580696105957}, "y":{"exp":"5.420551776885986 m", "val":5.420551776885986}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":83, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"3.733659267425537 m", "val":3.733659267425537}, "y":{"exp":"6.881216526031494 m", "val":6.881216526031494}, "heading":{"exp":"-0.7853977386450895 rad", "val":-0.7853977386450895}, "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":false}], + {"from":0, "to":2, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"0.5 m / s", "val":0.5}}}, "enabled":true}], "targetDt":{ "exp":"0.05 s", "val":0.05 @@ 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"heading":0.0, "vx":0.99977, "vy":0.00735, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[-0.00006,-0.00006,-0.00006,-0.00006], "fy":[0.0,0.0,0.0,0.0]}, + {"t":13.9579, "x":15.71773, "y":5.58446, "heading":0.0, "vx":0.99977, "vy":0.00735, "omega":0.0, "ax":-2.02682, "ay":-0.0149, "alpha":0.0, "fx":[-34.47566,-34.47566,-34.47566,-34.47566], "fy":[-0.2535,-0.2535,-0.2535,-0.2535]}, + {"t":14.00775, "x":15.76505, "y":5.5848, "heading":0.0, "vx":0.89874, "vy":0.00661, "omega":0.0, "ax":-9.01044, "ay":-0.06625, "alpha":0.0, "fx":[-153.26493,-153.26493,-153.26493,-153.26493], "fy":[-1.12695,-1.12695,-1.12695,-1.12695]}, + {"t":14.0576, "x":15.79865, "y":5.58505, "heading":0.0, "vx":0.44957, "vy":0.00331, "omega":0.0, "ax":-9.0185, "ay":-0.06631, "alpha":0.0, "fx":[-153.40204,-153.40204,-153.40204,-153.40204], "fy":[-1.12796,-1.12796,-1.12796,-1.12796]}, + {"t":14.10745, "x":15.80986, "y":5.58513, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], + "splits":[0] + }, + "events":[] +} diff --git a/src/main/deploy/choreo/path.chor b/src/main/deploy/choreo/path.chor index fdb671e9..6b28e222 100644 --- a/src/main/deploy/choreo/path.chor +++ b/src/main/deploy/choreo/path.chor @@ -76,7 +76,7 @@ }, "generationFeatures":[], "codegen":{ - "root":"Users/michael/Developer/FRC2026_Java/src/main/deploy/choreo", + "root":"", "genVars":true, "genTrajData":true, "useChoreoLib":true diff --git a/src/main/java/frc/robot/utils/logging/commands/LoggableCommandWrapper.java b/src/main/java/frc/robot/utils/logging/commands/LoggableCommandWrapper.java index 21224e67..dd68df5c 100644 --- a/src/main/java/frc/robot/utils/logging/commands/LoggableCommandWrapper.java +++ b/src/main/java/frc/robot/utils/logging/commands/LoggableCommandWrapper.java @@ -10,6 +10,7 @@ public class LoggableCommandWrapper extends LoggableCommand { public LoggableCommandWrapper(Command toWrap) { this.wrap = toWrap; + withBasicName(toWrap.getClass().getSimpleName()); } public static LoggableCommandWrapper wrap(Command toWrap) { diff --git a/src/main/java/frc/robot/utils/logging/commands/LoggableDeadlineCommandGroup.java b/src/main/java/frc/robot/utils/logging/commands/LoggableDeadlineCommandGroup.java index 82a08460..6cadd03a 100644 --- a/src/main/java/frc/robot/utils/logging/commands/LoggableDeadlineCommandGroup.java +++ b/src/main/java/frc/robot/utils/logging/commands/LoggableDeadlineCommandGroup.java @@ -8,17 +8,30 @@ public class LoggableDeadlineCommandGroup extends ParallelDeadlineGroup implemen private String basicName = getClass().getSimpleName(); private Command parent = new BlankCommand(); - @SafeVarargs - public LoggableDeadlineCommandGroup(T deadline, T... others) { + public LoggableDeadlineCommandGroup(Command deadline, Command... others) { super(new Command() {}); ProxyCommand[] proxyCommands = new ProxyCommand[others.length]; for (int i = 0; i < others.length; i++) { - others[i].setParent(this); - proxyCommands[i] = others[i].asProxy(); + Command command = others[i]; + if (command instanceof Loggable) { + ((Loggable) command).setParent(this); + proxyCommands[i] = command.asProxy(); + } else { + LoggableCommandWrapper wrapper = LoggableCommandWrapper.wrap(command); + wrapper.setParent(this); + proxyCommands[i] = wrapper.asProxy(); + } } addCommands(proxyCommands); - deadline.setParent(this); - setDeadline(deadline.asProxy()); + Command deadlineCommand = deadline; + if (deadlineCommand instanceof Loggable) { + ((Loggable) deadlineCommand).setParent(this); + setDeadline(deadlineCommand.asProxy()); + } else { + LoggableCommandWrapper wrapper = LoggableCommandWrapper.wrap(deadlineCommand); + wrapper.setParent(this); + setDeadline(wrapper.asProxy()); + } } @Override diff --git a/src/main/java/frc/robot/utils/logging/commands/LoggableParallelCommandGroup.java b/src/main/java/frc/robot/utils/logging/commands/LoggableParallelCommandGroup.java index 3efca165..11d0bef9 100644 --- a/src/main/java/frc/robot/utils/logging/commands/LoggableParallelCommandGroup.java +++ b/src/main/java/frc/robot/utils/logging/commands/LoggableParallelCommandGroup.java @@ -2,28 +2,29 @@ import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.ParallelCommandGroup; -import edu.wpi.first.wpilibj2.command.PrintCommand; import edu.wpi.first.wpilibj2.command.ProxyCommand; public class LoggableParallelCommandGroup extends ParallelCommandGroup implements Loggable { private String basicName = getClass().getSimpleName(); private Command parent = new BlankCommand(); - @SafeVarargs - public LoggableParallelCommandGroup(T... commands) { + public LoggableParallelCommandGroup(Command... commands) { ProxyCommand[] proxyCommands = new ProxyCommand[commands.length]; for (int i = 0; i < commands.length; i++) { - commands[i].setParent(this); - proxyCommands[i] = commands[i].asProxy(); + Command command = commands[i]; + if (command instanceof Loggable) { + ((Loggable) command).setParent(this); + proxyCommands[i] = command.asProxy(); + } else { + LoggableCommandWrapper wrapper = LoggableCommandWrapper.wrap(command); + wrapper.setParent(this); + proxyCommands[i] = wrapper.asProxy(); + } } addCommands(proxyCommands); } - public LoggableParallelCommandGroup(Command trajectoryCmd, PrintCommand printCommand) { - //TODO Auto-generated constructor stub -} - -@Override + @Override public String getBasicName() { return basicName; } diff --git a/src/main/java/frc/robot/utils/logging/commands/LoggableRaceCommandGroup.java b/src/main/java/frc/robot/utils/logging/commands/LoggableRaceCommandGroup.java index cd4f50dd..f409fa2d 100644 --- a/src/main/java/frc/robot/utils/logging/commands/LoggableRaceCommandGroup.java +++ b/src/main/java/frc/robot/utils/logging/commands/LoggableRaceCommandGroup.java @@ -8,12 +8,18 @@ public class LoggableRaceCommandGroup extends ParallelRaceGroup implements Logga private String basicName = getClass().getSimpleName(); private Command parent = new BlankCommand(); - @SafeVarargs - public LoggableRaceCommandGroup(T... commands) { + public LoggableRaceCommandGroup(Command... commands) { ProxyCommand[] proxyCommands = new ProxyCommand[commands.length]; for (int i = 0; i < commands.length; i++) { - commands[i].setParent(this); - proxyCommands[i] = commands[i].asProxy(); + Command command = commands[i]; + if (command instanceof Loggable) { + ((Loggable) command).setParent(this); + proxyCommands[i] = command.asProxy(); + } else { + LoggableCommandWrapper wrapper = LoggableCommandWrapper.wrap(command); + wrapper.setParent(this); + proxyCommands[i] = wrapper.asProxy(); + } } addCommands(proxyCommands); } diff --git a/src/main/java/frc/robot/utils/logging/commands/LoggableSequentialCommandGroup.java b/src/main/java/frc/robot/utils/logging/commands/LoggableSequentialCommandGroup.java index e8c6b80d..59b0183d 100644 --- a/src/main/java/frc/robot/utils/logging/commands/LoggableSequentialCommandGroup.java +++ b/src/main/java/frc/robot/utils/logging/commands/LoggableSequentialCommandGroup.java @@ -1,7 +1,6 @@ package frc.robot.utils.logging.commands; import edu.wpi.first.wpilibj2.command.Command; -import edu.wpi.first.wpilibj2.command.PrintCommand; import edu.wpi.first.wpilibj2.command.ProxyCommand; import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; @@ -9,20 +8,23 @@ public class LoggableSequentialCommandGroup extends SequentialCommandGroup imple private String basicName = getClass().getSimpleName(); private Command parent = new BlankCommand(); - public LoggableSequentialCommandGroup(T... commands) { + public LoggableSequentialCommandGroup(Command... commands) { ProxyCommand[] proxyCommands = new ProxyCommand[commands.length]; for (int i = 0; i < commands.length; i++) { - commands[i].setParent(this); - proxyCommands[i] = commands[i].asProxy(); + Command command = commands[i]; + if (command instanceof Loggable) { + ((Loggable) command).setParent(this); + proxyCommands[i] = command.asProxy(); + } else { + LoggableCommandWrapper wrapper = LoggableCommandWrapper.wrap(command); + wrapper.setParent(this); + proxyCommands[i] = wrapper.asProxy(); + } } addCommands(proxyCommands); } - public LoggableSequentialCommandGroup(LoggableParallelCommandGroup pathOne, PrintCommand printCommand) { - //TODO Auto-generated constructor stub -} - -@Override + @Override public String getBasicName() { return basicName; } From 6aafe4cccab6b20e4f0020df9b2e1ae4fc1c3cd4 Mon Sep 17 00:00:00 2001 From: Sahiltheram Date: Sat, 14 Feb 2026 11:46:05 -0500 Subject: [PATCH 11/43] Use of autoroutine- getting event markers to work --- src/main/deploy/choreo/StraightPath.traj | 3 ++- src/main/java/frc/robot/Robot.java | 17 ++++++++++++++++- 2 files changed, 18 insertions(+), 2 deletions(-) diff --git a/src/main/deploy/choreo/StraightPath.traj b/src/main/deploy/choreo/StraightPath.traj index 1f26f72d..25b205cd 100644 --- a/src/main/deploy/choreo/StraightPath.traj +++ b/src/main/deploy/choreo/StraightPath.traj @@ -339,5 +339,6 @@ {"t":14.10745, "x":15.80986, "y":5.58513, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], "splits":[0] }, - "events":[] + "events":[ + {"name":"Print", "from":{"target":0, "targetTimestamp":0.0, "offset":{"exp":"1 s", "val":1.0}}, "event":null}] } diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index fa65bb6c..3b5a4727 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -16,16 +16,20 @@ import org.littletonrobotics.junction.wpilog.WPILOGWriter; import choreo.auto.AutoFactory; +import choreo.auto.AutoRoutine; +import choreo.auto.AutoTrajectory; import edu.wpi.first.math.geometry.Pose2d; import edu.wpi.first.wpilibj.DriverStation; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj.DriverStation.Alliance; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.CommandScheduler; +import edu.wpi.first.wpilibj2.command.PrintCommand; import edu.wpi.first.wpilibj2.command.button.CommandXboxController; import frc.robot.autochooser.FieldLocation; import frc.robot.constants.Constants; import frc.robot.commands.auto.ExampleAuto; +import frc.robot.commands.intake.SpinIntake; import frc.robot.utils.logging.commands.CommandLogger; /** @@ -37,6 +41,8 @@ public class Robot extends LoggedRobot { private Command autonomousCommand; private final Drive drive; private final AutoFactory autoFactory; + private final AutoRoutine straightRoutine; + private final AutoTrajectory straightTrajectory; private static final Diagnostics diagnostics = new Diagnostics(); private final RobotContainer robotContainer; @@ -94,6 +100,14 @@ public Robot() { drive::followTrajectory, true, robotContainer.getDriveBase()); + autoFactory.bind("Print", new PrintCommand("Testing")); + + straightRoutine = autoFactory.newRoutine("StraightRoutine"); + straightTrajectory = straightRoutine.trajectory("StraightPath"); + straightRoutine.active().onTrue( + straightTrajectory.resetOdometry() + .andThen(straightTrajectory.cmd()) + ); } public static RobotMode getMode() { @@ -170,7 +184,8 @@ public void autonomousInit() { // schedule the autonomous command (example) mode.set(RobotMode.AUTONOMOUS); - autonomousCommand = new ExampleAuto(robotContainer.getDriveBase(), autoFactory, robotContainer.getIntakeSubsystem()); + autonomousCommand = straightRoutine.cmd(straightTrajectory.done()); + // new ExampleAuto(robotContainer.getDriveBase(), autoFactory, robotContainer.getIntakeSubsystem()); // schedule the autonomous command (example) if (autonomousCommand != null) { From e91ff1e56055962dc18f2ea7af07babffbe50c77 Mon Sep 17 00:00:00 2001 From: cloudygitalt Date: Sat, 14 Feb 2026 13:28:57 -0500 Subject: [PATCH 12/43] added comments/docs --- src/main/java/frc/robot/Robot.java | 40 ++++++++++++++++++++++++++++++ 1 file changed, 40 insertions(+) diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 3b5a4727..2b0173f0 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -24,6 +24,7 @@ import edu.wpi.first.wpilibj.DriverStation.Alliance; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.CommandScheduler; +import edu.wpi.first.wpilibj2.command.Commands; import edu.wpi.first.wpilibj2.command.PrintCommand; import edu.wpi.first.wpilibj2.command.button.CommandXboxController; import frc.robot.autochooser.FieldLocation; @@ -102,12 +103,51 @@ public Robot() { robotContainer.getDriveBase()); autoFactory.bind("Print", new PrintCommand("Testing")); + + + + + // Uses autofactory to create a new routine straightRoutine = autoFactory.newRoutine("StraightRoutine"); + + /* + Loads a trajectory created in Choreo given the name + Can load multiple trajectories from the same routine + + i.e. + AutoRoutine routine = autoFactory.newRoutine("grabAndScore"); + AutoTrajectory grabTraj = routine.trajectory("grabPiece"); + AutoTrajectory scoreTraj = routine.trajectory("scorePiece"); + */ straightTrajectory = straightRoutine.trajectory("StraightPath"); + + /* + .active() is a trigger that becomes true when the routine is running + .onTrue() starts a command when the trigger becomes true (i.e. when the routine starts) + + Use commands.sequence() to sequence multiple commands (i.e. reset odometry, then follow trajectory) + */ straightRoutine.active().onTrue( straightTrajectory.resetOdometry() .andThen(straightTrajectory.cmd()) ); + + /* + ------------------------------------------------------------------------------------------------ + Trajectory Triggers (read more on docs page https://choreo.autos/choreolib/auto-factory/): + ------------------------------------------------------------------------------------------------ + + trajectory.atTime(String) + trajectory.atTime(double time) + trajectory.done() + trajectory.active() + trajectory.inactive() + trajectory.atPose(String, double, double) + trajectory.atPose(Pose2d, double, double) + trajectory.doneDelayed(int) + trajectory.doneFor(int) + trajectory.recentlyDone() + */ } public static RobotMode getMode() { From baaa045094631ac7b666fa46522c930b7fd82b43 Mon Sep 17 00:00:00 2001 From: Michael Kovalev Date: Sat, 14 Feb 2026 14:24:09 -0500 Subject: [PATCH 13/43] rollback to how Loggable stuff was --- .../commands/LoggableCommandWrapper.java | 3 +-- .../LoggableDeadlineCommandGroup.java | 27 +++++-------------- .../LoggableParallelCommandGroup.java | 16 ++++------- .../commands/LoggableRaceCommandGroup.java | 16 ++++------- .../LoggableSequentialCommandGroup.java | 15 +++-------- 5 files changed, 22 insertions(+), 55 deletions(-) diff --git a/src/main/java/frc/robot/utils/logging/commands/LoggableCommandWrapper.java b/src/main/java/frc/robot/utils/logging/commands/LoggableCommandWrapper.java index dd68df5c..70c7c06c 100644 --- a/src/main/java/frc/robot/utils/logging/commands/LoggableCommandWrapper.java +++ b/src/main/java/frc/robot/utils/logging/commands/LoggableCommandWrapper.java @@ -10,7 +10,6 @@ public class LoggableCommandWrapper extends LoggableCommand { public LoggableCommandWrapper(Command toWrap) { this.wrap = toWrap; - withBasicName(toWrap.getClass().getSimpleName()); } public static LoggableCommandWrapper wrap(Command toWrap) { @@ -51,4 +50,4 @@ public InterruptionBehavior getInterruptionBehavior() { public boolean runsWhenDisabled() { return wrap.runsWhenDisabled(); } -} +} \ No newline at end of file diff --git a/src/main/java/frc/robot/utils/logging/commands/LoggableDeadlineCommandGroup.java b/src/main/java/frc/robot/utils/logging/commands/LoggableDeadlineCommandGroup.java index 6cadd03a..23c0ec45 100644 --- a/src/main/java/frc/robot/utils/logging/commands/LoggableDeadlineCommandGroup.java +++ b/src/main/java/frc/robot/utils/logging/commands/LoggableDeadlineCommandGroup.java @@ -8,30 +8,17 @@ public class LoggableDeadlineCommandGroup extends ParallelDeadlineGroup implemen private String basicName = getClass().getSimpleName(); private Command parent = new BlankCommand(); - public LoggableDeadlineCommandGroup(Command deadline, Command... others) { + @SafeVarargs + public LoggableDeadlineCommandGroup(T deadline, T... others) { super(new Command() {}); ProxyCommand[] proxyCommands = new ProxyCommand[others.length]; for (int i = 0; i < others.length; i++) { - Command command = others[i]; - if (command instanceof Loggable) { - ((Loggable) command).setParent(this); - proxyCommands[i] = command.asProxy(); - } else { - LoggableCommandWrapper wrapper = LoggableCommandWrapper.wrap(command); - wrapper.setParent(this); - proxyCommands[i] = wrapper.asProxy(); - } + others[i].setParent(this); + proxyCommands[i] = others[i].asProxy(); } addCommands(proxyCommands); - Command deadlineCommand = deadline; - if (deadlineCommand instanceof Loggable) { - ((Loggable) deadlineCommand).setParent(this); - setDeadline(deadlineCommand.asProxy()); - } else { - LoggableCommandWrapper wrapper = LoggableCommandWrapper.wrap(deadlineCommand); - wrapper.setParent(this); - setDeadline(wrapper.asProxy()); - } + deadline.setParent(this); + setDeadline(deadline.asProxy()); } @Override @@ -58,4 +45,4 @@ public LoggableDeadlineCommandGroup withBasicName(String name) { basicName = name; return this; } -} +} \ No newline at end of file diff --git a/src/main/java/frc/robot/utils/logging/commands/LoggableParallelCommandGroup.java b/src/main/java/frc/robot/utils/logging/commands/LoggableParallelCommandGroup.java index 11d0bef9..e080e167 100644 --- a/src/main/java/frc/robot/utils/logging/commands/LoggableParallelCommandGroup.java +++ b/src/main/java/frc/robot/utils/logging/commands/LoggableParallelCommandGroup.java @@ -8,18 +8,12 @@ public class LoggableParallelCommandGroup extends ParallelCommandGroup implement private String basicName = getClass().getSimpleName(); private Command parent = new BlankCommand(); - public LoggableParallelCommandGroup(Command... commands) { + @SafeVarargs + public LoggableParallelCommandGroup(T... commands) { ProxyCommand[] proxyCommands = new ProxyCommand[commands.length]; for (int i = 0; i < commands.length; i++) { - Command command = commands[i]; - if (command instanceof Loggable) { - ((Loggable) command).setParent(this); - proxyCommands[i] = command.asProxy(); - } else { - LoggableCommandWrapper wrapper = LoggableCommandWrapper.wrap(command); - wrapper.setParent(this); - proxyCommands[i] = wrapper.asProxy(); - } + commands[i].setParent(this); + proxyCommands[i] = commands[i].asProxy(); } addCommands(proxyCommands); } @@ -48,4 +42,4 @@ public LoggableParallelCommandGroup withBasicName(String name) { this.basicName = name; return this; } -} +} \ No newline at end of file diff --git a/src/main/java/frc/robot/utils/logging/commands/LoggableRaceCommandGroup.java b/src/main/java/frc/robot/utils/logging/commands/LoggableRaceCommandGroup.java index f409fa2d..3af9f4bc 100644 --- a/src/main/java/frc/robot/utils/logging/commands/LoggableRaceCommandGroup.java +++ b/src/main/java/frc/robot/utils/logging/commands/LoggableRaceCommandGroup.java @@ -8,18 +8,12 @@ public class LoggableRaceCommandGroup extends ParallelRaceGroup implements Logga private String basicName = getClass().getSimpleName(); private Command parent = new BlankCommand(); - public LoggableRaceCommandGroup(Command... commands) { + @SafeVarargs + public LoggableRaceCommandGroup(T... commands) { ProxyCommand[] proxyCommands = new ProxyCommand[commands.length]; for (int i = 0; i < commands.length; i++) { - Command command = commands[i]; - if (command instanceof Loggable) { - ((Loggable) command).setParent(this); - proxyCommands[i] = command.asProxy(); - } else { - LoggableCommandWrapper wrapper = LoggableCommandWrapper.wrap(command); - wrapper.setParent(this); - proxyCommands[i] = wrapper.asProxy(); - } + commands[i].setParent(this); + proxyCommands[i] = commands[i].asProxy(); } addCommands(proxyCommands); } @@ -48,4 +42,4 @@ public LoggableRaceCommandGroup withBasicName(String name) { this.basicName = name; return this; } -} +} \ No newline at end of file diff --git a/src/main/java/frc/robot/utils/logging/commands/LoggableSequentialCommandGroup.java b/src/main/java/frc/robot/utils/logging/commands/LoggableSequentialCommandGroup.java index 59b0183d..1e19fa4d 100644 --- a/src/main/java/frc/robot/utils/logging/commands/LoggableSequentialCommandGroup.java +++ b/src/main/java/frc/robot/utils/logging/commands/LoggableSequentialCommandGroup.java @@ -8,18 +8,11 @@ public class LoggableSequentialCommandGroup extends SequentialCommandGroup imple private String basicName = getClass().getSimpleName(); private Command parent = new BlankCommand(); - public LoggableSequentialCommandGroup(Command... commands) { + public LoggableSequentialCommandGroup(T... commands) { ProxyCommand[] proxyCommands = new ProxyCommand[commands.length]; for (int i = 0; i < commands.length; i++) { - Command command = commands[i]; - if (command instanceof Loggable) { - ((Loggable) command).setParent(this); - proxyCommands[i] = command.asProxy(); - } else { - LoggableCommandWrapper wrapper = LoggableCommandWrapper.wrap(command); - wrapper.setParent(this); - proxyCommands[i] = wrapper.asProxy(); - } + commands[i].setParent(this); + proxyCommands[i] = commands[i].asProxy(); } addCommands(proxyCommands); } @@ -48,4 +41,4 @@ public LoggableSequentialCommandGroup withBasicName(String name) { this.basicName = name; return this; } -} +} \ No newline at end of file From ea68148b3986c54e1808fee7840b597e10beb8ca Mon Sep 17 00:00:00 2001 From: Michael Kovalev Date: Sat, 14 Feb 2026 14:33:40 -0500 Subject: [PATCH 14/43] fixed it --- .../utils/logging/commands/LoggableParallelCommandGroup.java | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/src/main/java/frc/robot/utils/logging/commands/LoggableParallelCommandGroup.java b/src/main/java/frc/robot/utils/logging/commands/LoggableParallelCommandGroup.java index e080e167..8f7e38da 100644 --- a/src/main/java/frc/robot/utils/logging/commands/LoggableParallelCommandGroup.java +++ b/src/main/java/frc/robot/utils/logging/commands/LoggableParallelCommandGroup.java @@ -2,6 +2,7 @@ import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.ParallelCommandGroup; +import edu.wpi.first.wpilibj2.command.PrintCommand; import edu.wpi.first.wpilibj2.command.ProxyCommand; public class LoggableParallelCommandGroup extends ParallelCommandGroup implements Loggable { @@ -18,6 +19,10 @@ public LoggableParallelCommandGroup(T... commands addCommands(proxyCommands); } + public LoggableParallelCommandGroup(Command trajectoryCmd, PrintCommand printCommand) { + //TODO Auto-generated constructor stub + } + @Override public String getBasicName() { return basicName; From 1342a45f801504eccda2f134d025add93c27cb00 Mon Sep 17 00:00:00 2001 From: Michael Kovalev Date: Sat, 14 Feb 2026 17:35:19 -0500 Subject: [PATCH 15/43] i think i fixed everything --- src/main/java/frc/robot/Robot.java | 7 ++++--- src/main/java/frc/robot/RobotContainer.java | 2 +- .../frc/robot/commands/auto/ExampleAuto.java | 18 +++--------------- .../commands/LoggableParallelCommandGroup.java | 4 ---- 4 files changed, 8 insertions(+), 23 deletions(-) diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 2b0173f0..7c24a10b 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -42,8 +42,8 @@ public class Robot extends LoggedRobot { private Command autonomousCommand; private final Drive drive; private final AutoFactory autoFactory; - private final AutoRoutine straightRoutine; - private final AutoTrajectory straightTrajectory; + public static AutoRoutine straightRoutine; + public static AutoTrajectory straightTrajectory; private static final Diagnostics diagnostics = new Diagnostics(); private final RobotContainer robotContainer; @@ -102,6 +102,7 @@ public Robot() { true, robotContainer.getDriveBase()); autoFactory.bind("Print", new PrintCommand("Testing")); + //binding an event marker that's called Print -> to print "Testing" using a printCommand @@ -224,7 +225,7 @@ public void autonomousInit() { // schedule the autonomous command (example) mode.set(RobotMode.AUTONOMOUS); - autonomousCommand = straightRoutine.cmd(straightTrajectory.done()); + autonomousCommand = robotContainer.getAutonomousCommand(); // new ExampleAuto(robotContainer.getDriveBase(), autoFactory, robotContainer.getIntakeSubsystem()); // schedule the autonomous command (example) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 840aef0c..3ae2af9d 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -268,7 +268,7 @@ public void putShuffleboardCommands() { * @return the command to run in autonomous */ public Command getAutonomousCommand() { - return autoChooser.getCommand(); + return Robot.straightRoutine.cmd(Robot.straightTrajectory.done()); } public RobotVisualizer getRobotVisualizer() { diff --git a/src/main/java/frc/robot/commands/auto/ExampleAuto.java b/src/main/java/frc/robot/commands/auto/ExampleAuto.java index b5f08a6a..8882a740 100644 --- a/src/main/java/frc/robot/commands/auto/ExampleAuto.java +++ b/src/main/java/frc/robot/commands/auto/ExampleAuto.java @@ -2,28 +2,16 @@ import choreo.auto.AutoFactory; -import edu.wpi.first.wpilibj2.command.PrintCommand; import frc.robot.subsystems.IntakeSubsystem; import frc.robot.subsystems.swervedrive.SwerveSubsystem; -import frc.robot.utils.logging.commands.LoggableParallelCommandGroup; import frc.robot.utils.logging.commands.LoggableSequentialCommandGroup; public class ExampleAuto extends LoggableSequentialCommandGroup{ public ExampleAuto(SwerveSubsystem subsystem, AutoFactory auto, IntakeSubsystem intake) { - auto.resetOdometry("ExamplePathOne"); - addCommands( - new LoggableParallelCommandGroup( - auto.trajectoryCmd("ExamplePathOne"), - new PrintCommand("Started ExamplePathOne") - ), - new PrintCommand("Finished ExamplePathOne"), - - new LoggableParallelCommandGroup( - auto.trajectoryCmd("ExamplePathTwo"), - new PrintCommand("Started ExamplePathTwo") - ), - new PrintCommand("Finished ExamplePathTwo") + auto.resetOdometry("ExamplePathOne"), + auto.trajectoryCmd("ExamplePathOne"), + auto.trajectoryCmd("ExamplePathTwo") ); } } \ No newline at end of file diff --git a/src/main/java/frc/robot/utils/logging/commands/LoggableParallelCommandGroup.java b/src/main/java/frc/robot/utils/logging/commands/LoggableParallelCommandGroup.java index 8f7e38da..f8ef260c 100644 --- a/src/main/java/frc/robot/utils/logging/commands/LoggableParallelCommandGroup.java +++ b/src/main/java/frc/robot/utils/logging/commands/LoggableParallelCommandGroup.java @@ -19,10 +19,6 @@ public LoggableParallelCommandGroup(T... commands addCommands(proxyCommands); } - public LoggableParallelCommandGroup(Command trajectoryCmd, PrintCommand printCommand) { - //TODO Auto-generated constructor stub - } - @Override public String getBasicName() { return basicName; From f1f059296388c09ce19155ac472d61987d5a35d5 Mon Sep 17 00:00:00 2001 From: Michael Kovalev Date: Sat, 14 Feb 2026 17:52:54 -0500 Subject: [PATCH 16/43] added autoChooser.getCommand() back --- src/main/java/frc/robot/RobotContainer.java | 1 + 1 file changed, 1 insertion(+) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 3ae2af9d..32a5a5e8 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -268,6 +268,7 @@ public void putShuffleboardCommands() { * @return the command to run in autonomous */ public Command getAutonomousCommand() { + //return autoChooser.getCommand(); return Robot.straightRoutine.cmd(Robot.straightTrajectory.done()); } From c5e575e6d3d95dd1fab526bc6894fb38b146f1e0 Mon Sep 17 00:00:00 2001 From: Michael Kovalev Date: Sun, 15 Feb 2026 08:50:04 -0500 Subject: [PATCH 17/43] Revert "Test constraints, made printcommand work" This reverts commit c30c373a083fc1c5e95dbc33d4da2cdd81ae5c8d. rollback to a few commits back where theres no autoRoutine --- src/main/deploy/choreo/ExamplePathOne.traj | 210 +++-------- src/main/deploy/choreo/ExamplePathTwo.traj | 258 +++---------- src/main/deploy/choreo/StraightPath.traj | 344 ------------------ src/main/deploy/choreo/path.chor | 2 +- .../LoggableParallelCommandGroup.java | 6 +- .../LoggableSequentialCommandGroup.java | 7 +- 6 files changed, 108 insertions(+), 719 deletions(-) delete mode 100644 src/main/deploy/choreo/StraightPath.traj diff --git a/src/main/deploy/choreo/ExamplePathOne.traj b/src/main/deploy/choreo/ExamplePathOne.traj index 6ca17bcf..ae0e65da 100644 --- a/src/main/deploy/choreo/ExamplePathOne.traj +++ b/src/main/deploy/choreo/ExamplePathOne.traj @@ -3,24 +3,24 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":3.604594230651855, "y":4.017058849334717, "heading":0.0, "intervals":71, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":2.6021580696105957, "y":5.420551776885986, "heading":0.0, "intervals":83, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":3.733659267425537, "y":6.881216526031494, "heading":-0.7853977386450895, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":3.604594230651855, "y":4.017058849334717, "heading":0.0, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":2.0492920875549316, "y":5.3384809494018555, "heading":0.0, "intervals":16, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":2.8327901363372803, "y":6.531269073486328, "heading":0.0, "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":0, "to":2, "data":{"type":"MaxVelocity", "props":{"max":0.5}}, "enabled":true}], + {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false}], "targetDt":0.05 }, "params":{ "waypoints":[ - {"x":{"exp":"3.6045942306518555 m", "val":3.604594230651855}, "y":{"exp":"4.017058849334717 m", "val":4.017058849334717}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":71, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"2.6021580696105957 m", "val":2.6021580696105957}, "y":{"exp":"5.420551776885986 m", "val":5.420551776885986}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":83, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"3.733659267425537 m", "val":3.733659267425537}, "y":{"exp":"6.881216526031494 m", "val":6.881216526031494}, "heading":{"exp":"-0.7853977386450895 rad", "val":-0.7853977386450895}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":{"exp":"3.6045942306518555 m", "val":3.604594230651855}, "y":{"exp":"4.017058849334717 m", "val":4.017058849334717}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"2.0492920875549316 m", "val":2.0492920875549316}, "y":{"exp":"5.3384809494018555 m", "val":5.3384809494018555}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"2.8327901363372803 m", "val":2.8327901363372803}, "y":{"exp":"6.531269073486328 m", "val":6.531269073486328}, "heading":{"exp":"-0.7853977386450895 rad", "val":-0.7853977386450895}, "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":0, "to":2, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"0.5 m / s", "val":0.5}}}, "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":false}], "targetDt":{ "exp":"0.05 s", "val":0.05 @@ -51,163 +51,45 @@ "differentialTrackWidth":0.5588 }, "sampleType":"Swerve", - "waypoints":[0.0,3.48478,7.21677], + "waypoints":[0.0,0.82133,1.48758], "samples":[ - {"t":0.0, "x":3.60459, "y":4.01706, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-5.27195, "ay":7.31706, "alpha":0.00005, "fx":[-89.67441,-89.67466,-89.67432,-89.67408], "fy":[124.46103,124.46086,124.4611,124.46127]}, - {"t":0.04908, "x":3.59824, "y":4.02587, "heading":0.0, "vx":-0.25875, "vy":0.35913, "omega":0.0, "ax":-0.68196, "ay":0.94651, "alpha":0.04239, "fx":[-11.71259,-11.71624,-11.4874,-11.48382], "fy":[16.2113,15.98493,15.98852,16.21493]}, - {"t":0.09816, "x":3.58472, "y":4.04464, "heading":0.0, "vx":-0.29223, "vy":0.40559, "omega":0.00208, "ax":0.0, "ay":0.0, "alpha":0.03731, "fx":[-0.10015,-0.10015,0.10014,0.10014], 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"x":15.06983, "y":5.57969, "heading":0.0, "vx":0.99977, "vy":0.00735, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":13.3597, "x":15.11967, "y":5.58006, "heading":0.0, "vx":0.99977, "vy":0.00735, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":13.40955, "x":15.16951, "y":5.58043, "heading":0.0, "vx":0.99977, "vy":0.00735, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":13.4594, "x":15.21934, "y":5.58079, "heading":0.0, "vx":0.99977, "vy":0.00735, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":13.50925, "x":15.26918, "y":5.58116, "heading":0.0, "vx":0.99977, "vy":0.00735, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":13.5591, "x":15.31902, "y":5.58152, "heading":0.0, "vx":0.99977, "vy":0.00735, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":13.60895, "x":15.36886, "y":5.58189, "heading":0.0, "vx":0.99977, "vy":0.00735, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":13.6588, "x":15.4187, "y":5.58226, "heading":0.0, "vx":0.99977, "vy":0.00735, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":13.70865, "x":15.46854, "y":5.58262, "heading":0.0, "vx":0.99977, "vy":0.00735, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":13.7585, "x":15.51837, "y":5.58299, "heading":0.0, "vx":0.99977, "vy":0.00735, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":13.80835, "x":15.56821, "y":5.58336, "heading":0.0, "vx":0.99977, "vy":0.00735, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":13.8582, "x":15.61805, "y":5.58372, "heading":0.0, "vx":0.99977, "vy":0.00735, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}, - {"t":13.90805, "x":15.66789, "y":5.58409, "heading":0.0, "vx":0.99977, "vy":0.00735, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[-0.00006,-0.00006,-0.00006,-0.00006], "fy":[0.0,0.0,0.0,0.0]}, - {"t":13.9579, "x":15.71773, "y":5.58446, "heading":0.0, "vx":0.99977, "vy":0.00735, "omega":0.0, "ax":-2.02682, "ay":-0.0149, "alpha":0.0, "fx":[-34.47566,-34.47566,-34.47566,-34.47566], "fy":[-0.2535,-0.2535,-0.2535,-0.2535]}, - {"t":14.00775, "x":15.76505, "y":5.5848, "heading":0.0, "vx":0.89874, "vy":0.00661, "omega":0.0, "ax":-9.01044, "ay":-0.06625, "alpha":0.0, "fx":[-153.26493,-153.26493,-153.26493,-153.26493], "fy":[-1.12695,-1.12695,-1.12695,-1.12695]}, - {"t":14.0576, "x":15.79865, "y":5.58505, "heading":0.0, "vx":0.44957, "vy":0.00331, "omega":0.0, "ax":-9.0185, "ay":-0.06631, "alpha":0.0, "fx":[-153.40204,-153.40204,-153.40204,-153.40204], "fy":[-1.12796,-1.12796,-1.12796,-1.12796]}, - {"t":14.10745, "x":15.80986, "y":5.58513, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], - "splits":[0] - }, - "events":[ - {"name":"Print", "from":{"target":0, "targetTimestamp":0.0, "offset":{"exp":"1 s", "val":1.0}}, "event":null}] -} diff --git a/src/main/deploy/choreo/path.chor b/src/main/deploy/choreo/path.chor index 6b28e222..fdb671e9 100644 --- a/src/main/deploy/choreo/path.chor +++ b/src/main/deploy/choreo/path.chor @@ -76,7 +76,7 @@ }, "generationFeatures":[], "codegen":{ - "root":"", + "root":"Users/michael/Developer/FRC2026_Java/src/main/deploy/choreo", "genVars":true, "genTrajData":true, "useChoreoLib":true diff --git a/src/main/java/frc/robot/utils/logging/commands/LoggableParallelCommandGroup.java b/src/main/java/frc/robot/utils/logging/commands/LoggableParallelCommandGroup.java index f8ef260c..5fc6c870 100644 --- a/src/main/java/frc/robot/utils/logging/commands/LoggableParallelCommandGroup.java +++ b/src/main/java/frc/robot/utils/logging/commands/LoggableParallelCommandGroup.java @@ -19,7 +19,11 @@ public LoggableParallelCommandGroup(T... commands addCommands(proxyCommands); } - @Override + public LoggableParallelCommandGroup(Command trajectoryCmd, PrintCommand printCommand) { + //TODO Auto-generated constructor stub +} + +@Override public String getBasicName() { return basicName; } diff --git a/src/main/java/frc/robot/utils/logging/commands/LoggableSequentialCommandGroup.java b/src/main/java/frc/robot/utils/logging/commands/LoggableSequentialCommandGroup.java index 1e19fa4d..e8bf50f0 100644 --- a/src/main/java/frc/robot/utils/logging/commands/LoggableSequentialCommandGroup.java +++ b/src/main/java/frc/robot/utils/logging/commands/LoggableSequentialCommandGroup.java @@ -1,6 +1,7 @@ package frc.robot.utils.logging.commands; import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.PrintCommand; import edu.wpi.first.wpilibj2.command.ProxyCommand; import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; @@ -17,7 +18,11 @@ public LoggableSequentialCommandGroup(T... comman addCommands(proxyCommands); } - @Override + public LoggableSequentialCommandGroup(LoggableParallelCommandGroup pathOne, PrintCommand printCommand) { + //TODO Auto-generated constructor stub +} + +@Override public String getBasicName() { return basicName; } From 20a1e9a7e9ed82c59e05826c9e6e6201f9115b98 Mon Sep 17 00:00:00 2001 From: Michael Kovalev Date: Sun, 15 Feb 2026 10:58:58 -0500 Subject: [PATCH 18/43] removing AutoRoutine --- .../frc/robot/commands/auto/ExampleAuto.java | 18 ++++++++++--- .../commands/LoggableCommandWrapper.java | 1 + .../LoggableDeadlineCommandGroup.java | 25 ++++++++++++++----- .../LoggableParallelCommandGroup.java | 21 ++++++++-------- .../commands/LoggableRaceCommandGroup.java | 14 ++++++++--- .../LoggableSequentialCommandGroup.java | 20 ++++++++------- .../logging/commands/LoggableWaitCommand.java | 2 +- 7 files changed, 68 insertions(+), 33 deletions(-) diff --git a/src/main/java/frc/robot/commands/auto/ExampleAuto.java b/src/main/java/frc/robot/commands/auto/ExampleAuto.java index 8882a740..8607fa26 100644 --- a/src/main/java/frc/robot/commands/auto/ExampleAuto.java +++ b/src/main/java/frc/robot/commands/auto/ExampleAuto.java @@ -2,16 +2,28 @@ import choreo.auto.AutoFactory; +import edu.wpi.first.wpilibj2.command.PrintCommand; import frc.robot.subsystems.IntakeSubsystem; import frc.robot.subsystems.swervedrive.SwerveSubsystem; +import frc.robot.utils.logging.commands.LoggableParallelCommandGroup; import frc.robot.utils.logging.commands.LoggableSequentialCommandGroup; public class ExampleAuto extends LoggableSequentialCommandGroup{ public ExampleAuto(SwerveSubsystem subsystem, AutoFactory auto, IntakeSubsystem intake) { addCommands( - auto.resetOdometry("ExamplePathOne"), - auto.trajectoryCmd("ExamplePathOne"), - auto.trajectoryCmd("ExamplePathTwo") + auto.resetOdometry("ExamplePathOne"), + + new LoggableParallelCommandGroup( + auto.trajectoryCmd("ExamplePathOne"), + new PrintCommand("Started ExamplePathOne") + ), + new PrintCommand("Finished ExamplePathOne"), + + new LoggableParallelCommandGroup( + auto.trajectoryCmd("ExamplePathTwo"), + new PrintCommand("Started ExamplePathTwo") + ), + new PrintCommand("Finished ExamplePathTwo") ); } } \ No newline at end of file diff --git a/src/main/java/frc/robot/utils/logging/commands/LoggableCommandWrapper.java b/src/main/java/frc/robot/utils/logging/commands/LoggableCommandWrapper.java index 70c7c06c..e7347ee8 100644 --- a/src/main/java/frc/robot/utils/logging/commands/LoggableCommandWrapper.java +++ b/src/main/java/frc/robot/utils/logging/commands/LoggableCommandWrapper.java @@ -10,6 +10,7 @@ public class LoggableCommandWrapper extends LoggableCommand { public LoggableCommandWrapper(Command toWrap) { this.wrap = toWrap; + withBasicName(toWrap.getClass().getSimpleName()); } public static LoggableCommandWrapper wrap(Command toWrap) { diff --git a/src/main/java/frc/robot/utils/logging/commands/LoggableDeadlineCommandGroup.java b/src/main/java/frc/robot/utils/logging/commands/LoggableDeadlineCommandGroup.java index 23c0ec45..e55b4659 100644 --- a/src/main/java/frc/robot/utils/logging/commands/LoggableDeadlineCommandGroup.java +++ b/src/main/java/frc/robot/utils/logging/commands/LoggableDeadlineCommandGroup.java @@ -8,17 +8,30 @@ public class LoggableDeadlineCommandGroup extends ParallelDeadlineGroup implemen private String basicName = getClass().getSimpleName(); private Command parent = new BlankCommand(); - @SafeVarargs - public LoggableDeadlineCommandGroup(T deadline, T... others) { + public LoggableDeadlineCommandGroup(Command deadline, Command... others) { super(new Command() {}); ProxyCommand[] proxyCommands = new ProxyCommand[others.length]; for (int i = 0; i < others.length; i++) { - others[i].setParent(this); - proxyCommands[i] = others[i].asProxy(); + Command command = others[i]; + if (command instanceof Loggable) { + ((Loggable) command).setParent(this); + proxyCommands[i] = command.asProxy(); + } else { + LoggableCommandWrapper wrapper = LoggableCommandWrapper.wrap(command); + wrapper.setParent(this); + proxyCommands[i] = wrapper.asProxy(); + } } addCommands(proxyCommands); - deadline.setParent(this); - setDeadline(deadline.asProxy()); + Command deadlineCommand = deadline; + if (deadlineCommand instanceof Loggable) { + ((Loggable) deadlineCommand).setParent(this); + setDeadline(deadlineCommand.asProxy()); + } else { + LoggableCommandWrapper wrapper = LoggableCommandWrapper.wrap(deadlineCommand); + wrapper.setParent(this); + setDeadline(wrapper.asProxy()); + } } @Override diff --git a/src/main/java/frc/robot/utils/logging/commands/LoggableParallelCommandGroup.java b/src/main/java/frc/robot/utils/logging/commands/LoggableParallelCommandGroup.java index 5fc6c870..a98f9d48 100644 --- a/src/main/java/frc/robot/utils/logging/commands/LoggableParallelCommandGroup.java +++ b/src/main/java/frc/robot/utils/logging/commands/LoggableParallelCommandGroup.java @@ -2,28 +2,29 @@ import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.ParallelCommandGroup; -import edu.wpi.first.wpilibj2.command.PrintCommand; import edu.wpi.first.wpilibj2.command.ProxyCommand; public class LoggableParallelCommandGroup extends ParallelCommandGroup implements Loggable { private String basicName = getClass().getSimpleName(); private Command parent = new BlankCommand(); - @SafeVarargs - public LoggableParallelCommandGroup(T... commands) { + public LoggableParallelCommandGroup(Command... commands) { ProxyCommand[] proxyCommands = new ProxyCommand[commands.length]; for (int i = 0; i < commands.length; i++) { - commands[i].setParent(this); - proxyCommands[i] = commands[i].asProxy(); + Command command = commands[i]; + if (command instanceof Loggable) { + ((Loggable) command).setParent(this); + proxyCommands[i] = command.asProxy(); + } else { + LoggableCommandWrapper wrapper = LoggableCommandWrapper.wrap(command); + wrapper.setParent(this); + proxyCommands[i] = wrapper.asProxy(); + } } addCommands(proxyCommands); } - public LoggableParallelCommandGroup(Command trajectoryCmd, PrintCommand printCommand) { - //TODO Auto-generated constructor stub -} - -@Override + @Override public String getBasicName() { return basicName; } diff --git a/src/main/java/frc/robot/utils/logging/commands/LoggableRaceCommandGroup.java b/src/main/java/frc/robot/utils/logging/commands/LoggableRaceCommandGroup.java index 3af9f4bc..0702145f 100644 --- a/src/main/java/frc/robot/utils/logging/commands/LoggableRaceCommandGroup.java +++ b/src/main/java/frc/robot/utils/logging/commands/LoggableRaceCommandGroup.java @@ -8,12 +8,18 @@ public class LoggableRaceCommandGroup extends ParallelRaceGroup implements Logga private String basicName = getClass().getSimpleName(); private Command parent = new BlankCommand(); - @SafeVarargs - public LoggableRaceCommandGroup(T... commands) { + public LoggableRaceCommandGroup(Command... commands) { ProxyCommand[] proxyCommands = new ProxyCommand[commands.length]; for (int i = 0; i < commands.length; i++) { - commands[i].setParent(this); - proxyCommands[i] = commands[i].asProxy(); + Command command = commands[i]; + if (command instanceof Loggable) { + ((Loggable) command).setParent(this); + proxyCommands[i] = command.asProxy(); + } else { + LoggableCommandWrapper wrapper = LoggableCommandWrapper.wrap(command); + wrapper.setParent(this); + proxyCommands[i] = wrapper.asProxy(); + } } addCommands(proxyCommands); } diff --git a/src/main/java/frc/robot/utils/logging/commands/LoggableSequentialCommandGroup.java b/src/main/java/frc/robot/utils/logging/commands/LoggableSequentialCommandGroup.java index e8bf50f0..616b89af 100644 --- a/src/main/java/frc/robot/utils/logging/commands/LoggableSequentialCommandGroup.java +++ b/src/main/java/frc/robot/utils/logging/commands/LoggableSequentialCommandGroup.java @@ -1,7 +1,6 @@ package frc.robot.utils.logging.commands; import edu.wpi.first.wpilibj2.command.Command; -import edu.wpi.first.wpilibj2.command.PrintCommand; import edu.wpi.first.wpilibj2.command.ProxyCommand; import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; @@ -9,20 +8,23 @@ public class LoggableSequentialCommandGroup extends SequentialCommandGroup imple private String basicName = getClass().getSimpleName(); private Command parent = new BlankCommand(); - public LoggableSequentialCommandGroup(T... commands) { + public LoggableSequentialCommandGroup(Command... commands) { ProxyCommand[] proxyCommands = new ProxyCommand[commands.length]; for (int i = 0; i < commands.length; i++) { - commands[i].setParent(this); - proxyCommands[i] = commands[i].asProxy(); + Command command = commands[i]; + if (command instanceof Loggable) { + ((Loggable) command).setParent(this); + proxyCommands[i] = command.asProxy(); + } else { + LoggableCommandWrapper wrapper = LoggableCommandWrapper.wrap(command); + wrapper.setParent(this); + proxyCommands[i] = wrapper.asProxy(); + } } addCommands(proxyCommands); } - public LoggableSequentialCommandGroup(LoggableParallelCommandGroup pathOne, PrintCommand printCommand) { - //TODO Auto-generated constructor stub -} - -@Override + @Override public String getBasicName() { return basicName; } diff --git a/src/main/java/frc/robot/utils/logging/commands/LoggableWaitCommand.java b/src/main/java/frc/robot/utils/logging/commands/LoggableWaitCommand.java index 6f43376b..5800da9d 100644 --- a/src/main/java/frc/robot/utils/logging/commands/LoggableWaitCommand.java +++ b/src/main/java/frc/robot/utils/logging/commands/LoggableWaitCommand.java @@ -50,4 +50,4 @@ public boolean equals(Object o) { public int hashCode() { return Objects.hash(basicName, parent); } -} +} \ No newline at end of file From 96adfafc95079f7016ae357edd7f5ffafafd3a41 Mon Sep 17 00:00:00 2001 From: Sahiltheram Date: Mon, 16 Feb 2026 11:18:26 -0500 Subject: [PATCH 19/43] Moving auto segtup to container --- src/main/java/frc/robot/Robot.java | 63 +-------------- src/main/java/frc/robot/RobotContainer.java | 76 ++++++++++++++++++- .../frc/robot/commands/auto/ExampleAuto.java | 3 +- .../calculations/LaunchCalculationsTest.java | 2 + .../calculations/TurretCalculationsTest.java | 2 + 5 files changed, 82 insertions(+), 64 deletions(-) diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 7c24a10b..109ab29d 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -40,10 +40,7 @@ */ public class Robot extends LoggedRobot { private Command autonomousCommand; - private final Drive drive; - private final AutoFactory autoFactory; - public static AutoRoutine straightRoutine; - public static AutoTrajectory straightTrajectory; + private static final Diagnostics diagnostics = new Diagnostics(); private final RobotContainer robotContainer; @@ -92,63 +89,7 @@ public Robot() { // Instantiate our RobotContainer. This will perform all our button bindings, and put our // autonomous chooser on the dashboard. robotContainer = new RobotContainer(); - drive = new Drive(robotContainer.getDriveBase()); - - - //Sets up Choreo with pose, odometry, drivebase, and a follow trajectory command - autoFactory = new AutoFactory(robotContainer.getDriveBase()::getPose, - robotContainer.getDriveBase()::resetOdometry, - drive::followTrajectory, - true, - robotContainer.getDriveBase()); - autoFactory.bind("Print", new PrintCommand("Testing")); - //binding an event marker that's called Print -> to print "Testing" using a printCommand - - - - - - // Uses autofactory to create a new routine - straightRoutine = autoFactory.newRoutine("StraightRoutine"); - - /* - Loads a trajectory created in Choreo given the name - Can load multiple trajectories from the same routine - - i.e. - AutoRoutine routine = autoFactory.newRoutine("grabAndScore"); - AutoTrajectory grabTraj = routine.trajectory("grabPiece"); - AutoTrajectory scoreTraj = routine.trajectory("scorePiece"); - */ - straightTrajectory = straightRoutine.trajectory("StraightPath"); - - /* - .active() is a trigger that becomes true when the routine is running - .onTrue() starts a command when the trigger becomes true (i.e. when the routine starts) - - Use commands.sequence() to sequence multiple commands (i.e. reset odometry, then follow trajectory) - */ - straightRoutine.active().onTrue( - straightTrajectory.resetOdometry() - .andThen(straightTrajectory.cmd()) - ); - - /* - ------------------------------------------------------------------------------------------------ - Trajectory Triggers (read more on docs page https://choreo.autos/choreolib/auto-factory/): - ------------------------------------------------------------------------------------------------ - - trajectory.atTime(String) - trajectory.atTime(double time) - trajectory.done() - trajectory.active() - trajectory.inactive() - trajectory.atPose(String, double, double) - trajectory.atPose(Pose2d, double, double) - trajectory.doneDelayed(int) - trajectory.doneFor(int) - trajectory.recentlyDone() - */ + } public static RobotMode getMode() { diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 32a5a5e8..3fa4f29d 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -10,6 +10,7 @@ import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.InstantCommand; +import edu.wpi.first.wpilibj2.command.PrintCommand; import edu.wpi.first.wpilibj2.command.button.CommandJoystick; import edu.wpi.first.wpilibj2.command.button.CommandXboxController; import edu.wpi.first.wpilibj2.command.button.Trigger; @@ -22,6 +23,7 @@ import frc.robot.commands.intake.SpinIntake; import frc.robot.autochooser.AutoChooser; import frc.robot.commands.angler.AimAngler; +import frc.robot.commands.auto.ExampleAuto; import frc.robot.commands.shooter.SetShootingState; import frc.robot.constants.Constants; import frc.robot.subsystems.AnglerSubsystem; @@ -49,6 +51,10 @@ import java.io.File; +import choreo.auto.AutoFactory; +import choreo.auto.AutoRoutine; +import choreo.auto.AutoTrajectory; + /** * This class is where the bulk of the robot should be declared. Since Command-based is a * "declarative" paradigm, very little robot logic should actually be handled in the {@link Robot} @@ -71,6 +77,10 @@ public class RobotContainer { private final CommandJoystick driveJoystick = new CommandJoystick(Constants.DRIVE_JOYSTICK_PORT); private final CommandJoystick steerJoystick = new CommandJoystick(Constants.STEER_JOYSTICK_PORT); private ShootingState shootState = new ShootingState(ShootState.STOPPED); + private Drive drive; + private AutoFactory autoFactory; + private static AutoRoutine straightRoutine; + private static AutoTrajectory straightTrajectory; // Replace with CommandPS4Controller or CommandJoystick if needed //new CommandXboxController(OperatorConstants.kDriverControllerPort);private final CommandXboxController controller = new CommandXboxController(Constants.XBOX_CONTROLLER_PORT); @@ -131,6 +141,7 @@ public RobotContainer() { configureBindings(); putShuffleboardCommands(); + setUpAutoFactory(); } /** @@ -142,6 +153,68 @@ public RobotContainer() { * PS4} controllers or {@link edu.wpi.first.wpilibj2.command.button.CommandJoystick Flight * joysticks}. */ + private void setUpAutoFactory() { + + drive = new Drive(drivebase); + + + //Sets up Choreo with pose, odometry, drivebase, and a follow trajectory command + autoFactory = new AutoFactory(drivebase::getPose, + drivebase::resetOdometry, + drive::followTrajectory, + true, + drivebase); + autoFactory.bind("Print", new PrintCommand("Testing")); + //binding an event marker that's called Print -> to print "Testing" using a printCommand + + + + //example implementation of autoRoutine + if (false) { + // Uses autofactory to create a new routine + straightRoutine = autoFactory.newRoutine("StraightRoutine"); + + /* + Loads a trajectory created in Choreo given the name + Can load multiple trajectories from the same routine + + i.e. + AutoRoutine routine = autoFactory.newRoutine("grabAndScore"); + AutoTrajectory grabTraj = routine.trajectory("grabPiece"); + AutoTrajectory scoreTraj = routine.trajectory("scorePiece"); + */ + straightTrajectory = straightRoutine.trajectory("StraightPath"); + + /* + .active() is a trigger that becomes true when the routine is running + .onTrue() starts a command when the trigger becomes true (i.e. when the routine starts) + + Use commands.sequence() to sequence multiple commands (i.e. reset odometry, then follow trajectory) + */ + straightRoutine.active().onTrue( + straightTrajectory.resetOdometry() + .andThen(straightTrajectory.cmd()) + ); + + + /* + ------------------------------------------------------------------------------------------------ + Trajectory Triggers (read more on docs page https://choreo.autos/choreolib/auto-factory/): + ------------------------------------------------------------------------------------------------ + + trajectory.atTime(String) + trajectory.atTime(double time) + trajectory.done() + trajectory.active() + trajectory.inactive() + trajectory.atPose(String, double, double) + trajectory.atPose(Pose2d, double, double) + trajectory.doneDelayed(int) + trajectory.doneFor(int) + trajectory.recentlyDone() + */ + } + } private void configureBindings() { // Schedule `ExampleCommand` when `exampleCondition` changes to `true` //new Trigger(m_exampleSubsystem::exampleCondition) @@ -269,7 +342,8 @@ public void putShuffleboardCommands() { */ public Command getAutonomousCommand() { //return autoChooser.getCommand(); - return Robot.straightRoutine.cmd(Robot.straightTrajectory.done()); + //return straightRoutine.cmd(straightTrajectory.done()); + return new ExampleAuto(drivebase, autoFactory); } public RobotVisualizer getRobotVisualizer() { diff --git a/src/main/java/frc/robot/commands/auto/ExampleAuto.java b/src/main/java/frc/robot/commands/auto/ExampleAuto.java index 8607fa26..fe3ed95a 100644 --- a/src/main/java/frc/robot/commands/auto/ExampleAuto.java +++ b/src/main/java/frc/robot/commands/auto/ExampleAuto.java @@ -3,13 +3,12 @@ import choreo.auto.AutoFactory; import edu.wpi.first.wpilibj2.command.PrintCommand; -import frc.robot.subsystems.IntakeSubsystem; import frc.robot.subsystems.swervedrive.SwerveSubsystem; import frc.robot.utils.logging.commands.LoggableParallelCommandGroup; import frc.robot.utils.logging.commands.LoggableSequentialCommandGroup; public class ExampleAuto extends LoggableSequentialCommandGroup{ - public ExampleAuto(SwerveSubsystem subsystem, AutoFactory auto, IntakeSubsystem intake) { + public ExampleAuto(SwerveSubsystem subsystem, AutoFactory auto) { addCommands( auto.resetOdometry("ExamplePathOne"), diff --git a/src/test/java/frc/robot/utils/calculations/LaunchCalculationsTest.java b/src/test/java/frc/robot/utils/calculations/LaunchCalculationsTest.java index e356859b..e6692667 100644 --- a/src/test/java/frc/robot/utils/calculations/LaunchCalculationsTest.java +++ b/src/test/java/frc/robot/utils/calculations/LaunchCalculationsTest.java @@ -1,3 +1,5 @@ +package frc.robot.utils.calculations; + public class LaunchCalculationsTest { public LaunchCalculationsTest() { diff --git a/src/test/java/frc/robot/utils/calculations/TurretCalculationsTest.java b/src/test/java/frc/robot/utils/calculations/TurretCalculationsTest.java index 5f967098..276eab71 100644 --- a/src/test/java/frc/robot/utils/calculations/TurretCalculationsTest.java +++ b/src/test/java/frc/robot/utils/calculations/TurretCalculationsTest.java @@ -1,3 +1,5 @@ +package frc.robot.utils.calculations; + import static org.junit.jupiter.api.Assertions.assertEquals; import org.junit.jupiter.api.AfterEach; import org.junit.jupiter.api.BeforeEach; From d6d5d50984d6f6d94b89dc37d3cbc813fa4f20d3 Mon Sep 17 00:00:00 2001 From: Michael Kovalev Date: Mon, 16 Feb 2026 13:50:27 -0500 Subject: [PATCH 20/43] removed auto routine, added my own print command - some other stuff i think --- src/main/java/frc/robot/Robot.java | 7 ------ src/main/java/frc/robot/RobotContainer.java | 3 --- .../java/frc/robot/commands/PrintCommand.java | 24 +++++++++++++++++++ .../frc/robot/commands/auto/ExampleAuto.java | 4 ++-- 4 files changed, 26 insertions(+), 12 deletions(-) create mode 100644 src/main/java/frc/robot/commands/PrintCommand.java diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 109ab29d..3a8e5f82 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -15,22 +15,15 @@ import org.littletonrobotics.junction.wpilog.WPILOGReader; import org.littletonrobotics.junction.wpilog.WPILOGWriter; -import choreo.auto.AutoFactory; -import choreo.auto.AutoRoutine; -import choreo.auto.AutoTrajectory; import edu.wpi.first.math.geometry.Pose2d; import edu.wpi.first.wpilibj.DriverStation; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj.DriverStation.Alliance; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.CommandScheduler; -import edu.wpi.first.wpilibj2.command.Commands; -import edu.wpi.first.wpilibj2.command.PrintCommand; import edu.wpi.first.wpilibj2.command.button.CommandXboxController; import frc.robot.autochooser.FieldLocation; import frc.robot.constants.Constants; -import frc.robot.commands.auto.ExampleAuto; -import frc.robot.commands.intake.SpinIntake; import frc.robot.utils.logging.commands.CommandLogger; /** diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 3fa4f29d..27eeb035 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -10,7 +10,6 @@ import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.InstantCommand; -import edu.wpi.first.wpilibj2.command.PrintCommand; import edu.wpi.first.wpilibj2.command.button.CommandJoystick; import edu.wpi.first.wpilibj2.command.button.CommandXboxController; import edu.wpi.first.wpilibj2.command.button.Trigger; @@ -164,8 +163,6 @@ private void setUpAutoFactory() { drive::followTrajectory, true, drivebase); - autoFactory.bind("Print", new PrintCommand("Testing")); - //binding an event marker that's called Print -> to print "Testing" using a printCommand diff --git a/src/main/java/frc/robot/commands/PrintCommand.java b/src/main/java/frc/robot/commands/PrintCommand.java new file mode 100644 index 00000000..fa50f8be --- /dev/null +++ b/src/main/java/frc/robot/commands/PrintCommand.java @@ -0,0 +1,24 @@ +package frc.robot.commands; + +import edu.wpi.first.wpilibj2.command.InstantCommand; + +/** + * A command that prints a string when initialized. + * + *

This class is provided by the NewCommands VendorDep + */ +public class PrintCommand extends InstantCommand { + /** + * Creates a new a PrintCommand. + * + * @param message the message to print + */ + public PrintCommand(String message) { + super(() -> System.out.println(message)); + } + + @Override + public boolean runsWhenDisabled() { + return true; + } +} diff --git a/src/main/java/frc/robot/commands/auto/ExampleAuto.java b/src/main/java/frc/robot/commands/auto/ExampleAuto.java index fe3ed95a..547b0dc6 100644 --- a/src/main/java/frc/robot/commands/auto/ExampleAuto.java +++ b/src/main/java/frc/robot/commands/auto/ExampleAuto.java @@ -2,13 +2,13 @@ import choreo.auto.AutoFactory; -import edu.wpi.first.wpilibj2.command.PrintCommand; +import frc.robot.commands.PrintCommand; import frc.robot.subsystems.swervedrive.SwerveSubsystem; import frc.robot.utils.logging.commands.LoggableParallelCommandGroup; import frc.robot.utils.logging.commands.LoggableSequentialCommandGroup; public class ExampleAuto extends LoggableSequentialCommandGroup{ - public ExampleAuto(SwerveSubsystem subsystem, AutoFactory auto) { + public ExampleAuto(SwerveSubsystem subsystem, AutoFactory auto) { addCommands( auto.resetOdometry("ExamplePathOne"), From ff8c21eec27ee347ce6b7c90f2766cebf65bcb2f Mon Sep 17 00:00:00 2001 From: Michael Kovalev Date: Mon, 16 Feb 2026 14:26:38 -0500 Subject: [PATCH 21/43] removed the loggable stuff (again) --- .../commands/LoggableCommandWrapper.java | 1 - .../LoggableDeadlineCommandGroup.java | 25 +++++-------------- .../LoggableParallelCommandGroup.java | 14 +++-------- .../commands/LoggableRaceCommandGroup.java | 14 +++-------- .../LoggableSequentialCommandGroup.java | 13 +++------- 5 files changed, 17 insertions(+), 50 deletions(-) diff --git a/src/main/java/frc/robot/utils/logging/commands/LoggableCommandWrapper.java b/src/main/java/frc/robot/utils/logging/commands/LoggableCommandWrapper.java index e7347ee8..70c7c06c 100644 --- a/src/main/java/frc/robot/utils/logging/commands/LoggableCommandWrapper.java +++ b/src/main/java/frc/robot/utils/logging/commands/LoggableCommandWrapper.java @@ -10,7 +10,6 @@ public class LoggableCommandWrapper extends LoggableCommand { public LoggableCommandWrapper(Command toWrap) { this.wrap = toWrap; - withBasicName(toWrap.getClass().getSimpleName()); } public static LoggableCommandWrapper wrap(Command toWrap) { diff --git a/src/main/java/frc/robot/utils/logging/commands/LoggableDeadlineCommandGroup.java b/src/main/java/frc/robot/utils/logging/commands/LoggableDeadlineCommandGroup.java index e55b4659..23c0ec45 100644 --- a/src/main/java/frc/robot/utils/logging/commands/LoggableDeadlineCommandGroup.java +++ b/src/main/java/frc/robot/utils/logging/commands/LoggableDeadlineCommandGroup.java @@ -8,30 +8,17 @@ public class LoggableDeadlineCommandGroup extends ParallelDeadlineGroup implemen private String basicName = getClass().getSimpleName(); private Command parent = new BlankCommand(); - public LoggableDeadlineCommandGroup(Command deadline, Command... others) { + @SafeVarargs + public LoggableDeadlineCommandGroup(T deadline, T... others) { super(new Command() {}); ProxyCommand[] proxyCommands = new ProxyCommand[others.length]; for (int i = 0; i < others.length; i++) { - Command command = others[i]; - if (command instanceof Loggable) { - ((Loggable) command).setParent(this); - proxyCommands[i] = command.asProxy(); - } else { - LoggableCommandWrapper wrapper = LoggableCommandWrapper.wrap(command); - wrapper.setParent(this); - proxyCommands[i] = wrapper.asProxy(); - } + others[i].setParent(this); + proxyCommands[i] = others[i].asProxy(); } addCommands(proxyCommands); - Command deadlineCommand = deadline; - if (deadlineCommand instanceof Loggable) { - ((Loggable) deadlineCommand).setParent(this); - setDeadline(deadlineCommand.asProxy()); - } else { - LoggableCommandWrapper wrapper = LoggableCommandWrapper.wrap(deadlineCommand); - wrapper.setParent(this); - setDeadline(wrapper.asProxy()); - } + deadline.setParent(this); + setDeadline(deadline.asProxy()); } @Override diff --git a/src/main/java/frc/robot/utils/logging/commands/LoggableParallelCommandGroup.java b/src/main/java/frc/robot/utils/logging/commands/LoggableParallelCommandGroup.java index a98f9d48..e080e167 100644 --- a/src/main/java/frc/robot/utils/logging/commands/LoggableParallelCommandGroup.java +++ b/src/main/java/frc/robot/utils/logging/commands/LoggableParallelCommandGroup.java @@ -8,18 +8,12 @@ public class LoggableParallelCommandGroup extends ParallelCommandGroup implement private String basicName = getClass().getSimpleName(); private Command parent = new BlankCommand(); - public LoggableParallelCommandGroup(Command... commands) { + @SafeVarargs + public LoggableParallelCommandGroup(T... commands) { ProxyCommand[] proxyCommands = new ProxyCommand[commands.length]; for (int i = 0; i < commands.length; i++) { - Command command = commands[i]; - if (command instanceof Loggable) { - ((Loggable) command).setParent(this); - proxyCommands[i] = command.asProxy(); - } else { - LoggableCommandWrapper wrapper = LoggableCommandWrapper.wrap(command); - wrapper.setParent(this); - proxyCommands[i] = wrapper.asProxy(); - } + commands[i].setParent(this); + proxyCommands[i] = commands[i].asProxy(); } addCommands(proxyCommands); } diff --git a/src/main/java/frc/robot/utils/logging/commands/LoggableRaceCommandGroup.java b/src/main/java/frc/robot/utils/logging/commands/LoggableRaceCommandGroup.java index 0702145f..3af9f4bc 100644 --- a/src/main/java/frc/robot/utils/logging/commands/LoggableRaceCommandGroup.java +++ b/src/main/java/frc/robot/utils/logging/commands/LoggableRaceCommandGroup.java @@ -8,18 +8,12 @@ public class LoggableRaceCommandGroup extends ParallelRaceGroup implements Logga private String basicName = getClass().getSimpleName(); private Command parent = new BlankCommand(); - public LoggableRaceCommandGroup(Command... commands) { + @SafeVarargs + public LoggableRaceCommandGroup(T... commands) { ProxyCommand[] proxyCommands = new ProxyCommand[commands.length]; for (int i = 0; i < commands.length; i++) { - Command command = commands[i]; - if (command instanceof Loggable) { - ((Loggable) command).setParent(this); - proxyCommands[i] = command.asProxy(); - } else { - LoggableCommandWrapper wrapper = LoggableCommandWrapper.wrap(command); - wrapper.setParent(this); - proxyCommands[i] = wrapper.asProxy(); - } + commands[i].setParent(this); + proxyCommands[i] = commands[i].asProxy(); } addCommands(proxyCommands); } diff --git a/src/main/java/frc/robot/utils/logging/commands/LoggableSequentialCommandGroup.java b/src/main/java/frc/robot/utils/logging/commands/LoggableSequentialCommandGroup.java index 616b89af..1e19fa4d 100644 --- a/src/main/java/frc/robot/utils/logging/commands/LoggableSequentialCommandGroup.java +++ b/src/main/java/frc/robot/utils/logging/commands/LoggableSequentialCommandGroup.java @@ -8,18 +8,11 @@ public class LoggableSequentialCommandGroup extends SequentialCommandGroup imple private String basicName = getClass().getSimpleName(); private Command parent = new BlankCommand(); - public LoggableSequentialCommandGroup(Command... commands) { + public LoggableSequentialCommandGroup(T... commands) { ProxyCommand[] proxyCommands = new ProxyCommand[commands.length]; for (int i = 0; i < commands.length; i++) { - Command command = commands[i]; - if (command instanceof Loggable) { - ((Loggable) command).setParent(this); - proxyCommands[i] = command.asProxy(); - } else { - LoggableCommandWrapper wrapper = LoggableCommandWrapper.wrap(command); - wrapper.setParent(this); - proxyCommands[i] = wrapper.asProxy(); - } + commands[i].setParent(this); + proxyCommands[i] = commands[i].asProxy(); } addCommands(proxyCommands); } From cbbe80d891fc641caadd06266575a48a31e57364 Mon Sep 17 00:00:00 2001 From: Michael Kovalev Date: Mon, 16 Feb 2026 14:28:31 -0500 Subject: [PATCH 22/43] remove sahil's stuff in unit tests --- .../frc/robot/utils/calculations/LaunchCalculationsTest.java | 2 -- .../frc/robot/utils/calculations/TurretCalculationsTest.java | 2 -- 2 files changed, 4 deletions(-) diff --git a/src/test/java/frc/robot/utils/calculations/LaunchCalculationsTest.java b/src/test/java/frc/robot/utils/calculations/LaunchCalculationsTest.java index e6692667..e356859b 100644 --- a/src/test/java/frc/robot/utils/calculations/LaunchCalculationsTest.java +++ b/src/test/java/frc/robot/utils/calculations/LaunchCalculationsTest.java @@ -1,5 +1,3 @@ -package frc.robot.utils.calculations; - public class LaunchCalculationsTest { public LaunchCalculationsTest() { diff --git a/src/test/java/frc/robot/utils/calculations/TurretCalculationsTest.java b/src/test/java/frc/robot/utils/calculations/TurretCalculationsTest.java index 276eab71..5f967098 100644 --- a/src/test/java/frc/robot/utils/calculations/TurretCalculationsTest.java +++ b/src/test/java/frc/robot/utils/calculations/TurretCalculationsTest.java @@ -1,5 +1,3 @@ -package frc.robot.utils.calculations; - import static org.junit.jupiter.api.Assertions.assertEquals; import org.junit.jupiter.api.AfterEach; import org.junit.jupiter.api.BeforeEach; From daffdc3c28da7c412d8df0315675388e53fd5b0a Mon Sep 17 00:00:00 2001 From: Michael Kovalev Date: Mon, 16 Feb 2026 14:49:35 -0500 Subject: [PATCH 23/43] fixed PrintCommand --- src/main/java/frc/robot/commands/PrintCommand.java | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/main/java/frc/robot/commands/PrintCommand.java b/src/main/java/frc/robot/commands/PrintCommand.java index fa50f8be..21a1db49 100644 --- a/src/main/java/frc/robot/commands/PrintCommand.java +++ b/src/main/java/frc/robot/commands/PrintCommand.java @@ -1,20 +1,20 @@ package frc.robot.commands; -import edu.wpi.first.wpilibj2.command.InstantCommand; +import frc.robot.utils.logging.commands.LoggableCommand; /** * A command that prints a string when initialized. * *

This class is provided by the NewCommands VendorDep */ -public class PrintCommand extends InstantCommand { +public class PrintCommand extends LoggableCommand { /** * Creates a new a PrintCommand. * * @param message the message to print */ public PrintCommand(String message) { - super(() -> System.out.println(message)); + System.out.println(message); } @Override From 6f068fc90875d8bb0b9ed0b6e12c3c6712c9795b Mon Sep 17 00:00:00 2001 From: Michael Kovalev Date: Mon, 16 Feb 2026 15:29:58 -0500 Subject: [PATCH 24/43] merged it wrong; fixed it i think --- src/main/java/frc/robot/RobotContainer.java | 3 +++ 1 file changed, 3 insertions(+) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index e6cef8a5..5fc166c8 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -86,8 +86,11 @@ public class RobotContainer { private final IntakeSubsystem intakeSubsystem; private final FeederSubsystem feederSubsystem; private final ApriltagSubsystem apriltagSubsystem; + private final ShooterSubsystem shooterSubsystem; private RobotVisualizer robotVisualizer = null; private final HopperSubsystem hopperSubsystem; + private final ClimberSubsystem climberSubsystem; + private final IntakeDeployerSubsystem intakeDeployer; private SwerveSubsystem drivebase = null; private GyroSubsystem gyroSubsystem = null; private final CommandJoystick driveJoystick = new CommandJoystick(Constants.DRIVE_JOYSTICK_PORT); From e0c00ed2071a33b5fe86975b746939f77f33a906 Mon Sep 17 00:00:00 2001 From: Michael Kovalev Date: Mon, 16 Feb 2026 15:49:53 -0500 Subject: [PATCH 25/43] fixed robot container --- src/main/java/frc/robot/RobotContainer.java | 171 ++++++-------------- 1 file changed, 52 insertions(+), 119 deletions(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 5fc166c8..947006a6 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -27,7 +27,6 @@ import frc.robot.autochooser.AutoChooser; import frc.robot.commands.angler.AimAngler; import frc.robot.commands.angler.RunAnglerToReverseLimit; -import frc.robot.commands.auto.ExampleAuto; import frc.robot.commands.shooter.SetShootingState; import frc.robot.commands.shooter.SpinShooter; import frc.robot.constants.Constants; @@ -60,14 +59,6 @@ import java.io.File; -import choreo.auto.AutoFactory; -import choreo.auto.AutoRoutine; -import choreo.auto.AutoTrajectory; - -import choreo.auto.AutoFactory; -import choreo.auto.AutoRoutine; -import choreo.auto.AutoTrajectory; - /** * This class is where the bulk of the robot should be declared. Since * Command-based is a @@ -78,28 +69,24 @@ * subsystems, commands, and trigger mappings) should be declared here. */ public class RobotContainer { - // Instantiate the autochooser. - private final AutoChooser autoChooser = new AutoChooser(); - // The robot's subsystems and commands are defined here... - //private final TiltSubsystem tiltSubsystem; - private final AnglerSubsystem anglerSubsystem; - private final IntakeSubsystem intakeSubsystem; - private final FeederSubsystem feederSubsystem; - private final ApriltagSubsystem apriltagSubsystem; - private final ShooterSubsystem shooterSubsystem; - private RobotVisualizer robotVisualizer = null; - private final HopperSubsystem hopperSubsystem; - private final ClimberSubsystem climberSubsystem; - private final IntakeDeployerSubsystem intakeDeployer; - private SwerveSubsystem drivebase = null; - private GyroSubsystem gyroSubsystem = null; - private final CommandJoystick driveJoystick = new CommandJoystick(Constants.DRIVE_JOYSTICK_PORT); - private final CommandJoystick steerJoystick = new CommandJoystick(Constants.STEER_JOYSTICK_PORT); - private ShootingState shootState = new ShootingState(ShootState.STOPPED); - private Drive drive; - private AutoFactory autoFactory; - private static AutoRoutine straightRoutine; - private static AutoTrajectory straightTrajectory; + // Instantiate the autochooser. + private final AutoChooser autoChooser = new AutoChooser(); + // The robot's subsystems and commands are defined here... + // private final TiltSubsystem tiltSubsystem; + private final ClimberSubsystem climberSubsystem; + private final AnglerSubsystem anglerSubsystem; + private final IntakeSubsystem intakeSubsystem; + private final FeederSubsystem feederSubsystem; + private final ApriltagSubsystem apriltagSubsystem; + private final ShooterSubsystem shooterSubsystem; + private RobotVisualizer robotVisualizer = null; + private final HopperSubsystem hopperSubsystem; + private final IntakeDeployerSubsystem intakeDeployer; + private SwerveSubsystem drivebase = null; + private GyroSubsystem gyroSubsystem = null; + private final CommandJoystick driveJoystick = new CommandJoystick(Constants.DRIVE_JOYSTICK_PORT); + private final CommandJoystick steerJoystick = new CommandJoystick(Constants.STEER_JOYSTICK_PORT); + private ShootingState shootState = new ShootingState(ShootState.STOPPED); // Replace with CommandPS4Controller or CommandJoystick if needed // new CommandXboxController(OperatorConstants.kDriverControllerPort);private @@ -177,84 +164,28 @@ public RobotContainer() { } } - configureBindings(); - putShuffleboardCommands(); - setUpAutoFactory(); - } - - /** - * Use this method to define your trigger->command mappings. Triggers can be created via the - * {@link Trigger#Trigger(java.util.function.BooleanSupplier)} constructor with an arbitrary - * predicate, or via the named factories in {@link - * edu.wpi.first.wpilibj2.command.button.CommandGenericHID}'s subclasses for {@link - * CommandXboxController Xbox}/{@link edu.wpi.first.wpilibj2.command.button.CommandPS4Controller - * PS4} controllers or {@link edu.wpi.first.wpilibj2.command.button.CommandJoystick Flight - * joysticks}. - */ - private void setUpAutoFactory() { - - drive = new Drive(drivebase); - - - //Sets up Choreo with pose, odometry, drivebase, and a follow trajectory command - autoFactory = new AutoFactory(drivebase::getPose, - drivebase::resetOdometry, - drive::followTrajectory, - true, - drivebase); - - - - //example implementation of autoRoutine - if (false) { - // Uses autofactory to create a new routine - straightRoutine = autoFactory.newRoutine("StraightRoutine"); - - /* - Loads a trajectory created in Choreo given the name - Can load multiple trajectories from the same routine - - i.e. - AutoRoutine routine = autoFactory.newRoutine("grabAndScore"); - AutoTrajectory grabTraj = routine.trajectory("grabPiece"); - AutoTrajectory scoreTraj = routine.trajectory("scorePiece"); - */ - straightTrajectory = straightRoutine.trajectory("StraightPath"); - - /* - .active() is a trigger that becomes true when the routine is running - .onTrue() starts a command when the trigger becomes true (i.e. when the routine starts) - - Use commands.sequence() to sequence multiple commands (i.e. reset odometry, then follow trajectory) - */ - straightRoutine.active().onTrue( - straightTrajectory.resetOdometry() - .andThen(straightTrajectory.cmd()) - ); - - - /* - ------------------------------------------------------------------------------------------------ - Trajectory Triggers (read more on docs page https://choreo.autos/choreolib/auto-factory/): - ------------------------------------------------------------------------------------------------ - - trajectory.atTime(String) - trajectory.atTime(double time) - trajectory.done() - trajectory.active() - trajectory.inactive() - trajectory.atPose(String, double, double) - trajectory.atPose(Pose2d, double, double) - trajectory.doneDelayed(int) - trajectory.doneFor(int) - trajectory.recentlyDone() - */ + configureBindings(); + putShuffleboardCommands(); } - } - private void configureBindings() { - // Schedule `ExampleCommand` when `exampleCondition` changes to `true` - //new Trigger(m_exampleSubsystem::exampleCondition) - // .onTrue(new ExampleCommand(m_exampleSubsystem)); + + /** + * Use this method to define your trigger->command mappings. Triggers can be + * created via the + * {@link Trigger#Trigger(java.util.function.BooleanSupplier)} constructor with + * an arbitrary + * predicate, or via the named factories in {@link + * edu.wpi.first.wpilibj2.command.button.CommandGenericHID}'s subclasses for + * {@link + * CommandXboxController + * Xbox}/{@link edu.wpi.first.wpilibj2.command.button.CommandPS4Controller + * PS4} controllers or + * {@link edu.wpi.first.wpilibj2.command.button.CommandJoystick Flight + * joysticks}. + */ + private void configureBindings() { + // Schedule `ExampleCommand` when `exampleCondition` changes to `true` + // new Trigger(m_exampleSubsystem::exampleCondition) + // .onTrue(new ExampleCommand(m_exampleSubsystem)); // Schedule `exampleMethodCommand` when the Xbox controller's B button is // pressed, @@ -441,16 +372,18 @@ public void putShuffleboardCommands() { } - /** - * Use this to pass the autonomous command to the main {@link Robot} class. - * - * @return the command to run in autonomous - */ - public Command getAutonomousCommand() { - //return autoChooser.getCommand(); - //return straightRoutine.cmd(straightTrajectory.done()); - return new ExampleAuto(drivebase, autoFactory); - } + /** + * Use this to pass the autonomous command to the main {@link Robot} class. + * + * @return the command to run in autonomous + */ + public Command getAutonomousCommand() { + return autoChooser.getCommand(); + } + + public ClimberSubsystem getClimberSubsystem() { + return climberSubsystem; + } public RobotVisualizer getRobotVisualizer() { return robotVisualizer; @@ -471,4 +404,4 @@ public SwerveSubsystem getDriveBase() { public ShootingState getShootingState() { return shootState; } -} +} \ No newline at end of file From 566c5c0b62493b977b87acd290a0185e84ad7387 Mon Sep 17 00:00:00 2001 From: Michael Kovalev Date: Mon, 16 Feb 2026 16:14:14 -0500 Subject: [PATCH 26/43] fixed --- src/main/java/frc/robot/RobotContainer.java | 171 ++++++++++++++------ 1 file changed, 119 insertions(+), 52 deletions(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 947006a6..5fc166c8 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -27,6 +27,7 @@ import frc.robot.autochooser.AutoChooser; import frc.robot.commands.angler.AimAngler; import frc.robot.commands.angler.RunAnglerToReverseLimit; +import frc.robot.commands.auto.ExampleAuto; import frc.robot.commands.shooter.SetShootingState; import frc.robot.commands.shooter.SpinShooter; import frc.robot.constants.Constants; @@ -59,6 +60,14 @@ import java.io.File; +import choreo.auto.AutoFactory; +import choreo.auto.AutoRoutine; +import choreo.auto.AutoTrajectory; + +import choreo.auto.AutoFactory; +import choreo.auto.AutoRoutine; +import choreo.auto.AutoTrajectory; + /** * This class is where the bulk of the robot should be declared. Since * Command-based is a @@ -69,24 +78,28 @@ * subsystems, commands, and trigger mappings) should be declared here. */ public class RobotContainer { - // Instantiate the autochooser. - private final AutoChooser autoChooser = new AutoChooser(); - // The robot's subsystems and commands are defined here... - // private final TiltSubsystem tiltSubsystem; - private final ClimberSubsystem climberSubsystem; - private final AnglerSubsystem anglerSubsystem; - private final IntakeSubsystem intakeSubsystem; - private final FeederSubsystem feederSubsystem; - private final ApriltagSubsystem apriltagSubsystem; - private final ShooterSubsystem shooterSubsystem; - private RobotVisualizer robotVisualizer = null; - private final HopperSubsystem hopperSubsystem; - private final IntakeDeployerSubsystem intakeDeployer; - private SwerveSubsystem drivebase = null; - private GyroSubsystem gyroSubsystem = null; - private final CommandJoystick driveJoystick = new CommandJoystick(Constants.DRIVE_JOYSTICK_PORT); - private final CommandJoystick steerJoystick = new CommandJoystick(Constants.STEER_JOYSTICK_PORT); - private ShootingState shootState = new ShootingState(ShootState.STOPPED); + // Instantiate the autochooser. + private final AutoChooser autoChooser = new AutoChooser(); + // The robot's subsystems and commands are defined here... + //private final TiltSubsystem tiltSubsystem; + private final AnglerSubsystem anglerSubsystem; + private final IntakeSubsystem intakeSubsystem; + private final FeederSubsystem feederSubsystem; + private final ApriltagSubsystem apriltagSubsystem; + private final ShooterSubsystem shooterSubsystem; + private RobotVisualizer robotVisualizer = null; + private final HopperSubsystem hopperSubsystem; + private final ClimberSubsystem climberSubsystem; + private final IntakeDeployerSubsystem intakeDeployer; + private SwerveSubsystem drivebase = null; + private GyroSubsystem gyroSubsystem = null; + private final CommandJoystick driveJoystick = new CommandJoystick(Constants.DRIVE_JOYSTICK_PORT); + private final CommandJoystick steerJoystick = new CommandJoystick(Constants.STEER_JOYSTICK_PORT); + private ShootingState shootState = new ShootingState(ShootState.STOPPED); + private Drive drive; + private AutoFactory autoFactory; + private static AutoRoutine straightRoutine; + private static AutoTrajectory straightTrajectory; // Replace with CommandPS4Controller or CommandJoystick if needed // new CommandXboxController(OperatorConstants.kDriverControllerPort);private @@ -164,28 +177,84 @@ public RobotContainer() { } } - configureBindings(); - putShuffleboardCommands(); + configureBindings(); + putShuffleboardCommands(); + setUpAutoFactory(); + } + + /** + * Use this method to define your trigger->command mappings. Triggers can be created via the + * {@link Trigger#Trigger(java.util.function.BooleanSupplier)} constructor with an arbitrary + * predicate, or via the named factories in {@link + * edu.wpi.first.wpilibj2.command.button.CommandGenericHID}'s subclasses for {@link + * CommandXboxController Xbox}/{@link edu.wpi.first.wpilibj2.command.button.CommandPS4Controller + * PS4} controllers or {@link edu.wpi.first.wpilibj2.command.button.CommandJoystick Flight + * joysticks}. + */ + private void setUpAutoFactory() { + + drive = new Drive(drivebase); + + + //Sets up Choreo with pose, odometry, drivebase, and a follow trajectory command + autoFactory = new AutoFactory(drivebase::getPose, + drivebase::resetOdometry, + drive::followTrajectory, + true, + drivebase); + + + + //example implementation of autoRoutine + if (false) { + // Uses autofactory to create a new routine + straightRoutine = autoFactory.newRoutine("StraightRoutine"); + + /* + Loads a trajectory created in Choreo given the name + Can load multiple trajectories from the same routine + + i.e. + AutoRoutine routine = autoFactory.newRoutine("grabAndScore"); + AutoTrajectory grabTraj = routine.trajectory("grabPiece"); + AutoTrajectory scoreTraj = routine.trajectory("scorePiece"); + */ + straightTrajectory = straightRoutine.trajectory("StraightPath"); + + /* + .active() is a trigger that becomes true when the routine is running + .onTrue() starts a command when the trigger becomes true (i.e. when the routine starts) + + Use commands.sequence() to sequence multiple commands (i.e. reset odometry, then follow trajectory) + */ + straightRoutine.active().onTrue( + straightTrajectory.resetOdometry() + .andThen(straightTrajectory.cmd()) + ); + + + /* + ------------------------------------------------------------------------------------------------ + Trajectory Triggers (read more on docs page https://choreo.autos/choreolib/auto-factory/): + ------------------------------------------------------------------------------------------------ + + trajectory.atTime(String) + trajectory.atTime(double time) + trajectory.done() + trajectory.active() + trajectory.inactive() + trajectory.atPose(String, double, double) + trajectory.atPose(Pose2d, double, double) + trajectory.doneDelayed(int) + trajectory.doneFor(int) + trajectory.recentlyDone() + */ } - - /** - * Use this method to define your trigger->command mappings. Triggers can be - * created via the - * {@link Trigger#Trigger(java.util.function.BooleanSupplier)} constructor with - * an arbitrary - * predicate, or via the named factories in {@link - * edu.wpi.first.wpilibj2.command.button.CommandGenericHID}'s subclasses for - * {@link - * CommandXboxController - * Xbox}/{@link edu.wpi.first.wpilibj2.command.button.CommandPS4Controller - * PS4} controllers or - * {@link edu.wpi.first.wpilibj2.command.button.CommandJoystick Flight - * joysticks}. - */ - private void configureBindings() { - // Schedule `ExampleCommand` when `exampleCondition` changes to `true` - // new Trigger(m_exampleSubsystem::exampleCondition) - // .onTrue(new ExampleCommand(m_exampleSubsystem)); + } + private void configureBindings() { + // Schedule `ExampleCommand` when `exampleCondition` changes to `true` + //new Trigger(m_exampleSubsystem::exampleCondition) + // .onTrue(new ExampleCommand(m_exampleSubsystem)); // Schedule `exampleMethodCommand` when the Xbox controller's B button is // pressed, @@ -372,18 +441,16 @@ public void putShuffleboardCommands() { } - /** - * Use this to pass the autonomous command to the main {@link Robot} class. - * - * @return the command to run in autonomous - */ - public Command getAutonomousCommand() { - return autoChooser.getCommand(); - } - - public ClimberSubsystem getClimberSubsystem() { - return climberSubsystem; - } + /** + * Use this to pass the autonomous command to the main {@link Robot} class. + * + * @return the command to run in autonomous + */ + public Command getAutonomousCommand() { + //return autoChooser.getCommand(); + //return straightRoutine.cmd(straightTrajectory.done()); + return new ExampleAuto(drivebase, autoFactory); + } public RobotVisualizer getRobotVisualizer() { return robotVisualizer; @@ -404,4 +471,4 @@ public SwerveSubsystem getDriveBase() { public ShootingState getShootingState() { return shootState; } -} \ No newline at end of file +} From c5c9171d7b68764d996a09313cd0539b8b8fb4a1 Mon Sep 17 00:00:00 2001 From: Michael Kovalev Date: Mon, 16 Feb 2026 16:17:58 -0500 Subject: [PATCH 27/43] fixing --- src/main/java/frc/robot/RobotContainer.java | 50 ++++++++++----------- 1 file changed, 25 insertions(+), 25 deletions(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 5fc166c8..22fe9717 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -78,28 +78,28 @@ * subsystems, commands, and trigger mappings) should be declared here. */ public class RobotContainer { - // Instantiate the autochooser. - private final AutoChooser autoChooser = new AutoChooser(); - // The robot's subsystems and commands are defined here... - //private final TiltSubsystem tiltSubsystem; - private final AnglerSubsystem anglerSubsystem; - private final IntakeSubsystem intakeSubsystem; - private final FeederSubsystem feederSubsystem; - private final ApriltagSubsystem apriltagSubsystem; - private final ShooterSubsystem shooterSubsystem; - private RobotVisualizer robotVisualizer = null; - private final HopperSubsystem hopperSubsystem; - private final ClimberSubsystem climberSubsystem; - private final IntakeDeployerSubsystem intakeDeployer; - private SwerveSubsystem drivebase = null; - private GyroSubsystem gyroSubsystem = null; - private final CommandJoystick driveJoystick = new CommandJoystick(Constants.DRIVE_JOYSTICK_PORT); - private final CommandJoystick steerJoystick = new CommandJoystick(Constants.STEER_JOYSTICK_PORT); - private ShootingState shootState = new ShootingState(ShootState.STOPPED); - private Drive drive; - private AutoFactory autoFactory; - private static AutoRoutine straightRoutine; - private static AutoTrajectory straightTrajectory; + // Instantiate the autochooser. + private final AutoChooser autoChooser = new AutoChooser(); + // The robot's subsystems and commands are defined here... + //private final TiltSubsystem tiltSubsystem; + private final AnglerSubsystem anglerSubsystem; + private final IntakeSubsystem intakeSubsystem; + private final FeederSubsystem feederSubsystem; + private final ApriltagSubsystem apriltagSubsystem; + private final ShooterSubsystem shooterSubsystem; + private RobotVisualizer robotVisualizer = null; + private final HopperSubsystem hopperSubsystem; + private final ClimberSubsystem climberSubsystem; + private final IntakeDeployerSubsystem intakeDeployer; + private SwerveSubsystem drivebase = null; + private GyroSubsystem gyroSubsystem = null; + private final CommandJoystick driveJoystick = new CommandJoystick(Constants.DRIVE_JOYSTICK_PORT); + private final CommandJoystick steerJoystick = new CommandJoystick(Constants.STEER_JOYSTICK_PORT); + private ShootingState shootState = new ShootingState(ShootState.STOPPED); + private Drive drive; + private AutoFactory autoFactory; + private static AutoRoutine straightRoutine; + private static AutoTrajectory straightTrajectory; // Replace with CommandPS4Controller or CommandJoystick if needed // new CommandXboxController(OperatorConstants.kDriverControllerPort);private @@ -177,9 +177,9 @@ public RobotContainer() { } } - configureBindings(); - putShuffleboardCommands(); - setUpAutoFactory(); + configureBindings(); + putShuffleboardCommands(); + setUpAutoFactory(); } /** From b37356fc5d2e90eaa75ff502d92823b1312f1f87 Mon Sep 17 00:00:00 2001 From: Michael Kovalev Date: Mon, 16 Feb 2026 16:20:19 -0500 Subject: [PATCH 28/43] more fix --- src/main/java/frc/robot/RobotContainer.java | 48 +++++++++++---------- 1 file changed, 26 insertions(+), 22 deletions(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 22fe9717..cbfcf5ff 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -78,28 +78,28 @@ * subsystems, commands, and trigger mappings) should be declared here. */ public class RobotContainer { - // Instantiate the autochooser. - private final AutoChooser autoChooser = new AutoChooser(); - // The robot's subsystems and commands are defined here... - //private final TiltSubsystem tiltSubsystem; - private final AnglerSubsystem anglerSubsystem; - private final IntakeSubsystem intakeSubsystem; - private final FeederSubsystem feederSubsystem; - private final ApriltagSubsystem apriltagSubsystem; - private final ShooterSubsystem shooterSubsystem; - private RobotVisualizer robotVisualizer = null; - private final HopperSubsystem hopperSubsystem; - private final ClimberSubsystem climberSubsystem; - private final IntakeDeployerSubsystem intakeDeployer; - private SwerveSubsystem drivebase = null; - private GyroSubsystem gyroSubsystem = null; - private final CommandJoystick driveJoystick = new CommandJoystick(Constants.DRIVE_JOYSTICK_PORT); - private final CommandJoystick steerJoystick = new CommandJoystick(Constants.STEER_JOYSTICK_PORT); - private ShootingState shootState = new ShootingState(ShootState.STOPPED); - private Drive drive; - private AutoFactory autoFactory; - private static AutoRoutine straightRoutine; - private static AutoTrajectory straightTrajectory; + // Instantiate the autochooser. + private final AutoChooser autoChooser = new AutoChooser(); + // The robot's subsystems and commands are defined here... + //private final TiltSubsystem tiltSubsystem; + private final AnglerSubsystem anglerSubsystem; + private final IntakeSubsystem intakeSubsystem; + private final FeederSubsystem feederSubsystem; + private final ApriltagSubsystem apriltagSubsystem; + private final ShooterSubsystem shooterSubsystem; + private RobotVisualizer robotVisualizer = null; + private final HopperSubsystem hopperSubsystem; + private final ClimberSubsystem climberSubsystem; + private final IntakeDeployerSubsystem intakeDeployer; + private SwerveSubsystem drivebase = null; + private GyroSubsystem gyroSubsystem = null; + private final CommandJoystick driveJoystick = new CommandJoystick(Constants.DRIVE_JOYSTICK_PORT); + private final CommandJoystick steerJoystick = new CommandJoystick(Constants.STEER_JOYSTICK_PORT); + private ShootingState shootState = new ShootingState(ShootState.STOPPED); + private Drive drive; + private AutoFactory autoFactory; + private static AutoRoutine straightRoutine; + private static AutoTrajectory straightTrajectory; // Replace with CommandPS4Controller or CommandJoystick if needed // new CommandXboxController(OperatorConstants.kDriverControllerPort);private @@ -452,6 +452,10 @@ public Command getAutonomousCommand() { return new ExampleAuto(drivebase, autoFactory); } + public ClimberSubsystem getClimberSubsystem() { + return climberSubsystem; + } + public RobotVisualizer getRobotVisualizer() { return robotVisualizer; } From a51ddba2b6ec83c03cede9367bfa93b9811be278 Mon Sep 17 00:00:00 2001 From: Michael Kovalev Date: Mon, 16 Feb 2026 16:27:38 -0500 Subject: [PATCH 29/43] i think fixed --- src/main/java/frc/robot/RobotContainer.java | 224 ++++++++++---------- 1 file changed, 116 insertions(+), 108 deletions(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index cbfcf5ff..a2e02994 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -79,9 +79,9 @@ */ public class RobotContainer { // Instantiate the autochooser. - private final AutoChooser autoChooser = new AutoChooser(); + private final AutoChooser autoChooser = new AutoChooser(); // The robot's subsystems and commands are defined here... - //private final TiltSubsystem tiltSubsystem; + // private final TiltSubsystem tiltSubsystem; private final AnglerSubsystem anglerSubsystem; private final IntakeSubsystem intakeSubsystem; private final FeederSubsystem feederSubsystem; @@ -164,7 +164,8 @@ public RobotContainer() { feederSubsystem = new FeederSubsystem(FeederSubsystem.createSimIo(robotVisualizer)); apriltagSubsystem = new ApriltagSubsystem(ApriltagSubsystem.createSimIo()); shooterSubsystem = new ShooterSubsystem(ShooterSubsystem.createSimIo(robotVisualizer)); - intakeDeployer = new IntakeDeployerSubsystem(IntakeDeployerSubsystem.createSimIo(robotVisualizer)); + intakeDeployer = new IntakeDeployerSubsystem( + IntakeDeployerSubsystem.createSimIo(robotVisualizer)); // No GyroSubsystem in REPLAY for now // create the drive subsystem with null gyro (use default json) @@ -180,81 +181,88 @@ public RobotContainer() { configureBindings(); putShuffleboardCommands(); setUpAutoFactory(); - } - - /** - * Use this method to define your trigger->command mappings. Triggers can be created via the - * {@link Trigger#Trigger(java.util.function.BooleanSupplier)} constructor with an arbitrary - * predicate, or via the named factories in {@link - * edu.wpi.first.wpilibj2.command.button.CommandGenericHID}'s subclasses for {@link - * CommandXboxController Xbox}/{@link edu.wpi.first.wpilibj2.command.button.CommandPS4Controller - * PS4} controllers or {@link edu.wpi.first.wpilibj2.command.button.CommandJoystick Flight - * joysticks}. - */ - private void setUpAutoFactory() { - - drive = new Drive(drivebase); - - - //Sets up Choreo with pose, odometry, drivebase, and a follow trajectory command - autoFactory = new AutoFactory(drivebase::getPose, - drivebase::resetOdometry, - drive::followTrajectory, - true, - drivebase); - - - - //example implementation of autoRoutine - if (false) { - // Uses autofactory to create a new routine - straightRoutine = autoFactory.newRoutine("StraightRoutine"); - - /* - Loads a trajectory created in Choreo given the name - Can load multiple trajectories from the same routine - - i.e. - AutoRoutine routine = autoFactory.newRoutine("grabAndScore"); - AutoTrajectory grabTraj = routine.trajectory("grabPiece"); - AutoTrajectory scoreTraj = routine.trajectory("scorePiece"); - */ - straightTrajectory = straightRoutine.trajectory("StraightPath"); - - /* - .active() is a trigger that becomes true when the routine is running - .onTrue() starts a command when the trigger becomes true (i.e. when the routine starts) - - Use commands.sequence() to sequence multiple commands (i.e. reset odometry, then follow trajectory) - */ - straightRoutine.active().onTrue( - straightTrajectory.resetOdometry() - .andThen(straightTrajectory.cmd()) - ); - - - /* - ------------------------------------------------------------------------------------------------ - Trajectory Triggers (read more on docs page https://choreo.autos/choreolib/auto-factory/): - ------------------------------------------------------------------------------------------------ - - trajectory.atTime(String) - trajectory.atTime(double time) - trajectory.done() - trajectory.active() - trajectory.inactive() - trajectory.atPose(String, double, double) - trajectory.atPose(Pose2d, double, double) - trajectory.doneDelayed(int) - trajectory.doneFor(int) - trajectory.recentlyDone() - */ } - } - private void configureBindings() { - // Schedule `ExampleCommand` when `exampleCondition` changes to `true` - //new Trigger(m_exampleSubsystem::exampleCondition) - // .onTrue(new ExampleCommand(m_exampleSubsystem)); + + /** + * Use this method to define your trigger->command mappings. Triggers can be + * created via the + * {@link Trigger#Trigger(java.util.function.BooleanSupplier)} constructor with + * an arbitrary + * predicate, or via the named factories in {@link + * edu.wpi.first.wpilibj2.command.button.CommandGenericHID}'s subclasses for + * {@link + * CommandXboxController + * Xbox}/{@link edu.wpi.first.wpilibj2.command.button.CommandPS4Controller + * PS4} controllers or + * {@link edu.wpi.first.wpilibj2.command.button.CommandJoystick Flight + * joysticks}. + */ + private void setUpAutoFactory() { + + drive = new Drive(drivebase); + + // Sets up Choreo with pose, odometry, drivebase, and a follow trajectory + // command + autoFactory = new AutoFactory(drivebase::getPose, + drivebase::resetOdometry, + drive::followTrajectory, + true, + drivebase); + + // example implementation of autoRoutine + if (false) { + // Uses autofactory to create a new routine + straightRoutine = autoFactory.newRoutine("StraightRoutine"); + + /* + * Loads a trajectory created in Choreo given the name + * Can load multiple trajectories from the same routine + * + * i.e. + * AutoRoutine routine = autoFactory.newRoutine("grabAndScore"); + * AutoTrajectory grabTraj = routine.trajectory("grabPiece"); + * AutoTrajectory scoreTraj = routine.trajectory("scorePiece"); + */ + straightTrajectory = straightRoutine.trajectory("StraightPath"); + + /* + * .active() is a trigger that becomes true when the routine is running + * .onTrue() starts a command when the trigger becomes true (i.e. when the + * routine starts) + * + * Use commands.sequence() to sequence multiple commands (i.e. reset odometry, + * then follow trajectory) + */ + straightRoutine.active().onTrue( + straightTrajectory.resetOdometry() + .andThen(straightTrajectory.cmd())); + + /* + * ----------------------------------------------------------------------------- + * ------------------- + * Trajectory Triggers (read more on docs page + * https://choreo.autos/choreolib/auto-factory/): + * ----------------------------------------------------------------------------- + * ------------------- + * + * trajectory.atTime(String) + * trajectory.atTime(double time) + * trajectory.done() + * trajectory.active() + * trajectory.inactive() + * trajectory.atPose(String, double, double) + * trajectory.atPose(Pose2d, double, double) + * trajectory.doneDelayed(int) + * trajectory.doneFor(int) + * trajectory.recentlyDone() + */ + } + } + + private void configureBindings() { + // Schedule `ExampleCommand` when `exampleCondition` changes to `true` + // new Trigger(m_exampleSubsystem::exampleCondition) + // .onTrue(new ExampleCommand(m_exampleSubsystem)); // Schedule `exampleMethodCommand` when the Xbox controller's B button is // pressed, @@ -373,25 +381,25 @@ public void putShuffleboardCommands() { SmartDashboard.putData( "Spin Feeder", new SpinFeeder(feederSubsystem)); - SmartDashboard.putData( - "Spin Intake", - new SpinIntake(intakeSubsystem)); - - SmartDashboard.putData( - "Start Hopper", - new SpinHopper(hopperSubsystem)); - - SmartDashboard.putData( - "Climber Up", - new ClimberUp(climberSubsystem)); - - SmartDashboard.putData( - "Climber Down", - new ClimberDown(climberSubsystem)); - - SmartDashboard.putData( - "Spin Feeder", - new SpinFeeder(feederSubsystem)); + SmartDashboard.putData( + "Spin Intake", + new SpinIntake(intakeSubsystem)); + + SmartDashboard.putData( + "Start Hopper", + new SpinHopper(hopperSubsystem)); + + SmartDashboard.putData( + "Climber Up", + new ClimberUp(climberSubsystem)); + + SmartDashboard.putData( + "Climber Down", + new ClimberDown(climberSubsystem)); + + SmartDashboard.putData( + "Spin Feeder", + new SpinFeeder(feederSubsystem)); SmartDashboard.putData( "Spin Shooter", @@ -441,18 +449,18 @@ public void putShuffleboardCommands() { } - /** - * Use this to pass the autonomous command to the main {@link Robot} class. - * - * @return the command to run in autonomous - */ - public Command getAutonomousCommand() { - //return autoChooser.getCommand(); - //return straightRoutine.cmd(straightTrajectory.done()); - return new ExampleAuto(drivebase, autoFactory); - } - - public ClimberSubsystem getClimberSubsystem() { + /** + * Use this to pass the autonomous command to the main {@link Robot} class. + * + * @return the command to run in autonomous + */ + public Command getAutonomousCommand() { + // return autoChooser.getCommand(); + // return straightRoutine.cmd(straightTrajectory.done()); + return new ExampleAuto(drivebase, autoFactory); + } + + public ClimberSubsystem getClimberSubsystem() { return climberSubsystem; } From 85ab42c50b1b8999d3bad002d671523b1fa2f21f Mon Sep 17 00:00:00 2001 From: Michael Kovalev Date: Mon, 16 Feb 2026 16:33:52 -0500 Subject: [PATCH 30/43] more fix --- src/main/java/frc/robot/RobotContainer.java | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index a2e02994..c16c56b0 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -460,9 +460,9 @@ public Command getAutonomousCommand() { return new ExampleAuto(drivebase, autoFactory); } - public ClimberSubsystem getClimberSubsystem() { - return climberSubsystem; - } +public ClimberSubsystem getClimberSubsystem() { + return climberSubsystem; +} public RobotVisualizer getRobotVisualizer() { return robotVisualizer; From 15702a34f315b9f8a8ab5b0f5a968043cfc1cfa2 Mon Sep 17 00:00:00 2001 From: Michael Kovalev Date: Mon, 16 Feb 2026 16:34:37 -0500 Subject: [PATCH 31/43] more --- src/main/java/frc/robot/RobotContainer.java | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index c16c56b0..a2e02994 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -460,9 +460,9 @@ public Command getAutonomousCommand() { return new ExampleAuto(drivebase, autoFactory); } -public ClimberSubsystem getClimberSubsystem() { - return climberSubsystem; -} + public ClimberSubsystem getClimberSubsystem() { + return climberSubsystem; + } public RobotVisualizer getRobotVisualizer() { return robotVisualizer; From 19d59c213142ad4a3f8b64a3ec8f8b1ee3c30653 Mon Sep 17 00:00:00 2001 From: Michael Kovalev Date: Mon, 16 Feb 2026 16:36:31 -0500 Subject: [PATCH 32/43] cleaning up robot --- src/main/java/frc/robot/Robot.java | 5 ----- 1 file changed, 5 deletions(-) diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 3a8e5f82..aca3bcb2 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -33,8 +33,6 @@ */ public class Robot extends LoggedRobot { private Command autonomousCommand; - - private static final Diagnostics diagnostics = new Diagnostics(); private final RobotContainer robotContainer; private static final AtomicReference mode = new AtomicReference<>(RobotMode.DISABLED); @@ -84,7 +82,6 @@ public Robot() { robotContainer = new RobotContainer(); } - public static RobotMode getMode() { return mode.get(); } @@ -160,8 +157,6 @@ public void autonomousInit() { // schedule the autonomous command (example) mode.set(RobotMode.AUTONOMOUS); autonomousCommand = robotContainer.getAutonomousCommand(); - // new ExampleAuto(robotContainer.getDriveBase(), autoFactory, robotContainer.getIntakeSubsystem()); - // schedule the autonomous command (example) if (autonomousCommand != null) { CommandScheduler.getInstance().schedule(autonomousCommand); From df637aa31d74ad1919f56383c8cdf5ddb0d158cc Mon Sep 17 00:00:00 2001 From: Michael Kovalev Date: Mon, 16 Feb 2026 16:37:55 -0500 Subject: [PATCH 33/43] more robot cleanup --- src/main/java/frc/robot/Robot.java | 2 ++ 1 file changed, 2 insertions(+) diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index aca3bcb2..e8b022fc 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -82,6 +82,7 @@ public Robot() { robotContainer = new RobotContainer(); } + public static RobotMode getMode() { return mode.get(); } @@ -156,6 +157,7 @@ public void autonomousInit() { // schedule the autonomous command (example) mode.set(RobotMode.AUTONOMOUS); + autonomousCommand = robotContainer.getAutonomousCommand(); // schedule the autonomous command (example) if (autonomousCommand != null) { From fae951a038815683111e64b52a5ec12806d5fdeb Mon Sep 17 00:00:00 2001 From: Michael Kovalev Date: Mon, 16 Feb 2026 16:39:20 -0500 Subject: [PATCH 34/43] i think its done --- src/main/java/frc/robot/Robot.java | 2 -- 1 file changed, 2 deletions(-) diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index e8b022fc..3a67808b 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -80,7 +80,6 @@ public Robot() { // Instantiate our RobotContainer. This will perform all our button bindings, and put our // autonomous chooser on the dashboard. robotContainer = new RobotContainer(); - } public static RobotMode getMode() { @@ -157,7 +156,6 @@ public void autonomousInit() { // schedule the autonomous command (example) mode.set(RobotMode.AUTONOMOUS); - autonomousCommand = robotContainer.getAutonomousCommand(); // schedule the autonomous command (example) if (autonomousCommand != null) { From 6600ae3bd9897679dbda3ca51989747beb5c2784 Mon Sep 17 00:00:00 2001 From: Michael Kovalev Date: Mon, 16 Feb 2026 16:39:59 -0500 Subject: [PATCH 35/43] its not done --- src/main/java/frc/robot/Robot.java | 1 + 1 file changed, 1 insertion(+) diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 3a67808b..442c0522 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -157,6 +157,7 @@ public void autonomousInit() { // schedule the autonomous command (example) mode.set(RobotMode.AUTONOMOUS); autonomousCommand = robotContainer.getAutonomousCommand(); + // schedule the autonomous command (example) if (autonomousCommand != null) { CommandScheduler.getInstance().schedule(autonomousCommand); From d36d17e70046f94f7abd5252d8076beb0221095b Mon Sep 17 00:00:00 2001 From: Michael Kovalev Date: Mon, 16 Feb 2026 16:40:43 -0500 Subject: [PATCH 36/43] done? --- src/main/java/frc/robot/Robot.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 442c0522..ce872885 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -157,7 +157,7 @@ public void autonomousInit() { // schedule the autonomous command (example) mode.set(RobotMode.AUTONOMOUS); autonomousCommand = robotContainer.getAutonomousCommand(); - + // schedule the autonomous command (example) if (autonomousCommand != null) { CommandScheduler.getInstance().schedule(autonomousCommand); From 87a642ae8058c7cedf88ed880679caced1dfd5c6 Mon Sep 17 00:00:00 2001 From: Michael Kovalev Date: Mon, 16 Feb 2026 17:38:47 -0500 Subject: [PATCH 37/43] omg it works --- src/main/java/frc/robot/commands/auto/ExampleAuto.java | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc/robot/commands/auto/ExampleAuto.java b/src/main/java/frc/robot/commands/auto/ExampleAuto.java index 547b0dc6..81abbc6e 100644 --- a/src/main/java/frc/robot/commands/auto/ExampleAuto.java +++ b/src/main/java/frc/robot/commands/auto/ExampleAuto.java @@ -4,6 +4,7 @@ import choreo.auto.AutoFactory; import frc.robot.commands.PrintCommand; import frc.robot.subsystems.swervedrive.SwerveSubsystem; +import frc.robot.utils.logging.commands.LoggableCommandWrapper; import frc.robot.utils.logging.commands.LoggableParallelCommandGroup; import frc.robot.utils.logging.commands.LoggableSequentialCommandGroup; @@ -13,13 +14,13 @@ public ExampleAuto(SwerveSubsystem subsystem, AutoFactory auto) { auto.resetOdometry("ExamplePathOne"), new LoggableParallelCommandGroup( - auto.trajectoryCmd("ExamplePathOne"), + LoggableCommandWrapper.wrap(auto.trajectoryCmd("ExamplePathOne")), new PrintCommand("Started ExamplePathOne") ), new PrintCommand("Finished ExamplePathOne"), new LoggableParallelCommandGroup( - auto.trajectoryCmd("ExamplePathTwo"), + LoggableCommandWrapper.wrap(auto.trajectoryCmd("ExamplePathTwo")), new PrintCommand("Started ExamplePathTwo") ), new PrintCommand("Finished ExamplePathTwo") From 2d3668d07a27021dfaa16faaaf888fcfa4708b51 Mon Sep 17 00:00:00 2001 From: Sahiltheram Date: Mon, 16 Feb 2026 18:15:10 -0500 Subject: [PATCH 38/43] fix priny command --- src/main/java/frc/robot/commands/PrintCommand.java | 12 ++++++++++++ 1 file changed, 12 insertions(+) diff --git a/src/main/java/frc/robot/commands/PrintCommand.java b/src/main/java/frc/robot/commands/PrintCommand.java index 21a1db49..2865b1ee 100644 --- a/src/main/java/frc/robot/commands/PrintCommand.java +++ b/src/main/java/frc/robot/commands/PrintCommand.java @@ -8,15 +8,27 @@ *

This class is provided by the NewCommands VendorDep */ public class PrintCommand extends LoggableCommand { + private final String message; + /** * Creates a new a PrintCommand. * * @param message the message to print */ public PrintCommand(String message) { + this.message = message; + } + + @Override + public void initialize() { System.out.println(message); } + @Override + public boolean isFinished() { + return true; + } + @Override public boolean runsWhenDisabled() { return true; From 691b6c31e956190e6a1ffc54498281771e7716dd Mon Sep 17 00:00:00 2001 From: Michael Kovalev Date: Mon, 16 Feb 2026 21:04:26 -0500 Subject: [PATCH 39/43] push --- src/main/deploy/choreo/ExamplePathOne.traj | 215 +++++++++++++---- src/main/deploy/choreo/ExamplePathTwo.traj | 217 +++++++++++++----- .../frc/robot/commands/auto/ExampleAuto.java | 24 +- 3 files changed, 354 insertions(+), 102 deletions(-) diff --git a/src/main/deploy/choreo/ExamplePathOne.traj b/src/main/deploy/choreo/ExamplePathOne.traj index ae0e65da..f0d9fe67 100644 --- a/src/main/deploy/choreo/ExamplePathOne.traj +++ b/src/main/deploy/choreo/ExamplePathOne.traj @@ -3,24 +3,26 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":3.604594230651855, "y":4.017058849334717, "heading":0.0, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":2.0492920875549316, "y":5.3384809494018555, "heading":0.0, "intervals":16, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":2.8327901363372803, "y":6.531269073486328, "heading":0.0, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":2.3845205307006836, "y":5.301450252532959, "heading":0.19634954084936207, "intervals":73, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":2.306560516357422, "y":5.98360013961792, "heading":0.0, "intervals":84, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":2.8327901363372803, "y":6.531269073486328, "heading":-0.7853977386450895, "intervals":29, "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":false}], + {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":0.0, "y":0.0, "w":16.541, "h":8.0692}}, "enabled":false}, + {"from":0, "to":2, "data":{"type":"MaxVelocity", "props":{"max":0.2}}, "enabled":true}], "targetDt":0.05 }, "params":{ "waypoints":[ - {"x":{"exp":"3.6045942306518555 m", "val":3.604594230651855}, "y":{"exp":"4.017058849334717 m", "val":4.017058849334717}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"2.0492920875549316 m", "val":2.0492920875549316}, "y":{"exp":"5.3384809494018555 m", "val":5.3384809494018555}, "heading":{"exp":"0 deg", "val":0.0}, "intervals":24, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":{"exp":"2.8327901363372803 m", "val":2.8327901363372803}, "y":{"exp":"6.531269073486328 m", "val":6.531269073486328}, "heading":{"exp":"-0.7853977386450895 rad", "val":-0.7853977386450895}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":{"exp":"2.3845205307006836 m", "val":2.3845205307006836}, "y":{"exp":"5.301450252532959 m", "val":5.301450252532959}, "heading":{"exp":"0.19634954084936207 rad", "val":0.19634954084936207}, "intervals":73, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"2.306560516357422 m", "val":2.306560516357422}, "y":{"exp":"5.98360013961792 m", "val":5.98360013961792}, "heading":{"exp":"0 rad", "val":0.0}, "intervals":84, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":{"exp":"2.8327901363372803 m", "val":2.8327901363372803}, "y":{"exp":"6.531269073486328 m", "val":6.531269073486328}, "heading":{"exp":"-0.7853977386450895 rad", "val":-0.7853977386450895}, "intervals":29, "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":false}], + {"from":"first", "to":"last", "data":{"type":"KeepInRectangle", 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b/src/main/deploy/choreo/ExamplePathTwo.traj @@ -3,24 +3,26 @@ "version":3, "snapshot":{ "waypoints":[ - {"x":2.8327901363372803, "y":6.531269073486328, "heading":-0.7853977386450895, "intervals":20, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":1.6516963243484497, "y":5.584054470062256, "heading":-0.9342889335095604, "intervals":22, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, - {"x":1.3476521968841553, "y":4.636840343475342, "heading":0.0, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}], + {"x":2.8327901363372803, "y":6.531269073486328, "heading":-0.7853977386450895, "intervals":71, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + {"x":2.3845205307006836, "y":6.042070388793945, "heading":-0.9342889335095604, "intervals":82, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}, + 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"omega":0.28883, "ax":0.0, "ay":0.0, "alpha":-0.0134, "fx":[0.02343,0.04513,-0.02343,-0.04513], "fy":[-0.04513,0.02343,0.04513,-0.02343]}, + {"t":5.71779, "x":2.055, "y":5.69985, "heading":-0.29363, "vx":-0.13871, "vy":-0.14402, "omega":0.28823, "ax":0.0, "ay":0.0, "alpha":-0.01557, "fx":[0.02791,0.05211,-0.02791,-0.05211], "fy":[-0.05211,0.02791,0.05211,-0.02791]}, + {"t":5.76262, "x":2.04878, "y":5.69339, "heading":-0.28071, "vx":-0.13871, "vy":-0.14402, "omega":0.28753, "ax":0.0, "ay":0.0, "alpha":-0.01808, "fx":[0.03319,0.06008,-0.03319,-0.06008], "fy":[-0.06008,0.03319,0.06008,-0.03319]}, + {"t":5.80745, "x":2.04256, "y":5.68693, "heading":-0.26782, "vx":-0.13871, "vy":-0.14402, "omega":0.28672, "ax":0.0, "ay":0.0, "alpha":-0.02098, "fx":[0.0394,0.0692,-0.0394,-0.0692], "fy":[-0.0692,0.0394,0.0692,-0.0394]}, + {"t":5.85228, "x":2.03634, "y":5.68048, "heading":-0.25496, "vx":-0.13871, "vy":-0.14402, "omega":0.28578, "ax":0.0, "ay":0.0, "alpha":-0.02432, "fx":[0.0467,0.07962,-0.0467,-0.07962], "fy":[-0.07962,0.0467,0.07962,-0.0467]}, + {"t":5.89711, "x":2.03013, "y":5.67402, "heading":-0.24215, "vx":-0.13871, "vy":-0.14402, "omega":0.28469, "ax":0.0, "ay":0.0, "alpha":-0.02817, "fx":[0.05528,0.09155,-0.05528,-0.09155], "fy":[-0.09155,0.05528,0.09155,-0.05528]}, + {"t":5.94193, "x":2.02391, "y":5.66756, "heading":-0.22939, "vx":-0.13871, "vy":-0.14402, "omega":0.28343, "ax":0.0, "ay":0.0, "alpha":-0.03263, "fx":[0.06538,0.10521,-0.06538,-0.10521], "fy":[-0.10521,0.06538,0.10521,-0.06538]}, + {"t":5.98676, "x":2.01769, "y":5.66111, "heading":-0.21668, "vx":-0.13871, "vy":-0.14402, "omega":0.28196, "ax":0.0, "ay":0.0, "alpha":-0.03778, "fx":[0.07723,0.12084,-0.07723,-0.12084], "fy":[-0.12084,0.07723,0.12084,-0.07723]}, + {"t":6.03159, "x":2.01147, "y":5.65465, "heading":-0.20404, "vx":-0.13871, "vy":-0.14402, "omega":0.28027, "ax":0.0, "ay":0.0, "alpha":-0.04373, "fx":[0.09117,0.13875,-0.09117,-0.13875], "fy":[-0.13875,0.09117,0.13875,-0.09117]}, + {"t":6.07642, "x":2.00525, "y":5.64819, "heading":-0.19148, "vx":-0.13871, "vy":-0.14402, "omega":0.27831, "ax":0.0, "ay":0.0, "alpha":-0.05062, "fx":[0.10753,0.15926,-0.10753,-0.15926], "fy":[-0.15926,0.10753,0.15926,-0.10753]}, + {"t":6.12125, "x":1.99904, "y":5.64174, "heading":-0.179, "vx":-0.13871, "vy":-0.14402, "omega":0.27604, "ax":0.0, "ay":0.0, "alpha":-0.05858, "fx":[0.12674,0.18275,-0.12674,-0.18275], "fy":[-0.18275,0.12674,0.18275,-0.12674]}, + {"t":6.16608, "x":1.99282, "y":5.63528, "heading":-0.16663, "vx":-0.13871, "vy":-0.14402, "omega":0.27341, "ax":0.0, "ay":0.0, "alpha":-0.06779, "fx":[0.14927,0.20965,-0.14927,-0.20965], "fy":[-0.20965,0.14927,0.20965,-0.14927]}, + {"t":6.21091, "x":1.9866, "y":5.62883, "heading":-0.15437, "vx":-0.13871, "vy":-0.14402, "omega":0.27038, "ax":0.0, "ay":0.0, "alpha":-0.07845, "fx":[0.17568,0.24046,-0.17568,-0.24046], "fy":[-0.24046,0.17568,0.24046,-0.17568]}, + {"t":6.25574, "x":1.98038, "y":5.62237, "heading":-0.14225, "vx":-0.13871, "vy":-0.14402, "omega":0.26686, "ax":0.0, "ay":0.0, "alpha":-0.09077, "fx":[0.20662,0.27574,-0.20662,-0.27574], "fy":[-0.27574,0.20662,0.27574,-0.20662]}, + {"t":6.30057, "x":1.97416, "y":5.61591, "heading":-0.13029, "vx":-0.13871, "vy":-0.14402, "omega":0.26279, "ax":0.0, "ay":0.0, "alpha":-0.10502, "fx":[0.24286,0.31615,-0.24286,-0.31615], "fy":[-0.31615,0.24286,0.31615,-0.24286]}, + {"t":6.3454, "x":1.96794, "y":5.60946, "heading":-0.11851, "vx":-0.13871, "vy":-0.14402, "omega":0.25808, "ax":0.0, "ay":0.0, "alpha":-0.1215, "fx":[0.28527,0.36244,-0.28527,-0.36244], "fy":[-0.36244,0.28527,0.36244,-0.28527]}, + {"t":6.39023, "x":1.96173, "y":5.603, "heading":-0.10694, "vx":-0.13871, "vy":-0.14402, "omega":0.25264, "ax":0.0, "ay":0.0, "alpha":-0.14057, "fx":[0.33488,0.41549,-0.33488,-0.41549], "fy":[-0.41549,0.33488,0.41549,-0.33488]}, + {"t":6.43505, "x":1.95551, "y":5.59654, "heading":-0.09561, "vx":-0.13871, "vy":-0.14402, "omega":0.24633, "ax":0.0, "ay":0.0, "alpha":-0.16263, "fx":[0.39285,0.47628,-0.39285,-0.47628], "fy":[-0.47628,0.39285,0.47628,-0.39285]}, + {"t":6.47988, "x":1.94929, "y":5.59009, "heading":-0.08457, "vx":-0.13871, "vy":-0.14402, "omega":0.23904, "ax":0.0, "ay":0.0, "alpha":-0.18816, "fx":[0.46056,0.54598,-0.46056,-0.54598], "fy":[-0.54598,0.46056,0.54598,-0.46056]}, + {"t":6.52471, "x":1.94307, "y":5.58363, "heading":-0.07385, "vx":-0.13871, "vy":-0.14402, "omega":0.23061, "ax":0.0, "ay":0.0, "alpha":-0.21769, "fx":[0.53958,0.62593,-0.53958,-0.62593], "fy":[-0.62593,0.53958,0.62593,-0.53958]}, + {"t":6.56954, "x":1.93685, "y":5.57718, "heading":-0.06352, "vx":-0.13871, "vy":-0.14402, "omega":0.22085, "ax":0.0, "ay":0.0, "alpha":-0.25186, "fx":[0.63172,0.71767,-0.63172,-0.71767], "fy":[-0.71767,0.63172,0.71767,-0.63172]}, + {"t":6.61437, "x":1.93064, "y":5.57072, "heading":-0.05361, "vx":-0.13871, "vy":-0.14402, "omega":0.20956, "ax":0.0, "ay":0.0, "alpha":-0.29138, "fx":[0.73905,0.82303,-0.73905,-0.82303], "fy":[-0.82303,0.73905,0.82303,-0.73905]}, + {"t":6.6592, "x":1.92442, "y":5.56426, "heading":-0.04422, "vx":-0.13871, "vy":-0.14402, "omega":0.1965, "ax":0.0, "ay":0.0, "alpha":-0.33711, "fx":[0.86395,0.94412,-0.86395,-0.94412], "fy":[-0.94412,0.86395,0.94412,-0.86395]}, + {"t":6.70403, "x":1.9182, "y":5.55781, "heading":-0.03541, "vx":-0.13871, "vy":-0.14402, "omega":0.18138, "ax":0.0, "ay":0.0, "alpha":-0.39002, "fx":[1.00913,1.08343,-1.00913,-1.08343], "fy":[-1.08343,1.00913,1.08343,-1.00913]}, + {"t":6.74886, "x":1.91198, "y":5.55135, "heading":-0.02728, "vx":-0.13871, "vy":-0.14402, "omega":0.1639, "ax":0.0, "ay":0.0, "alpha":-0.45123, "fx":[1.17765,1.24391,-1.17765,-1.24391], "fy":[-1.24391,1.17765,1.24391,-1.17765]}, + {"t":6.79369, "x":1.90576, "y":5.54489, "heading":-0.01993, "vx":-0.13871, "vy":-0.14402, "omega":0.14367, "ax":0.0, "ay":0.0, "alpha":-0.52203, "fx":[1.373,1.42905,-1.373,-1.42905], "fy":[-1.42905,1.373,1.42905,-1.373]}, + {"t":6.83852, "x":1.89954, "y":5.53844, "heading":-0.01349, "vx":-0.13871, "vy":-0.14402, "omega":0.12027, "ax":0.0, "ay":0.0, "alpha":-0.60394, "fx":[1.59906,1.64299,-1.59906,-1.64299], "fy":[-1.64299,1.59906,1.64299,-1.59906]}, + {"t":6.88335, "x":1.89333, "y":5.53198, "heading":-0.0081, "vx":-0.13871, "vy":-0.14402, "omega":0.0932, "ax":0.0, "ay":0.0, "alpha":-0.69869, "fx":[1.86017,1.89072,-1.86017,-1.89072], "fy":[-1.89072,1.86017,1.89072,-1.86017]}, + {"t":6.92817, "x":1.88711, "y":5.52552, "heading":-0.00392, "vx":-0.13871, "vy":-0.14402, "omega":0.06187, "ax":0.0, "ay":0.0, "alpha":-0.80831, "fx":[2.1611,2.17843,-2.1611,-2.1784], "fy":[-2.17826,2.16127,2.17827,-2.16125]}, + {"t":6.973, "x":1.88089, "y":5.51907, "heading":-0.00115, "vx":-0.13871, "vy":-0.14402, "omega":0.02564, "ax":3.09417, "ay":3.21268, "alpha":-0.5719, "fx":[54.55646,53.80479,50.71441,51.44826], "fy":[52.75458,55.78891,56.54588,53.49742]}, + {"t":7.01783, "x":1.87778, "y":5.51584, "heading":0.0, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}], "splits":[0] }, "events":[] diff --git a/src/main/java/frc/robot/commands/auto/ExampleAuto.java b/src/main/java/frc/robot/commands/auto/ExampleAuto.java index 81abbc6e..a66024b0 100644 --- a/src/main/java/frc/robot/commands/auto/ExampleAuto.java +++ b/src/main/java/frc/robot/commands/auto/ExampleAuto.java @@ -8,22 +8,38 @@ import frc.robot.utils.logging.commands.LoggableParallelCommandGroup; import frc.robot.utils.logging.commands.LoggableSequentialCommandGroup; + public class ExampleAuto extends LoggableSequentialCommandGroup{ - public ExampleAuto(SwerveSubsystem subsystem, AutoFactory auto) { + public ExampleAuto(SwerveSubsystem subsystem, AutoFactory auto) { addCommands( auto.resetOdometry("ExamplePathOne"), + new PrintCommand("Started ExamplePathOne"), + auto.trajectoryCmd("ExamplePathOne"), + new PrintCommand("Finished ExamplePathOne"), + new PrintCommand("Started ExamplePathTwo"), + auto.trajectoryCmd("ExamplePathTwo"), + new PrintCommand("Finished ExamplePathTwo") + ); + } +} +/* +public class ExampleAuto extends LoggableSequentialCommandGroup{ + public ExampleAuto(SwerveSubsystem subsystem, AutoFactory auto) { + addCommands( + auto.resetOdometry("ExamplePathOne"), new LoggableParallelCommandGroup( - LoggableCommandWrapper.wrap(auto.trajectoryCmd("ExamplePathOne")), + LoggableCommandWrapper.wrap((auto.trajectoryCmd("ExamplePathOne")).withTimeout(25)), new PrintCommand("Started ExamplePathOne") ), new PrintCommand("Finished ExamplePathOne"), new LoggableParallelCommandGroup( - LoggableCommandWrapper.wrap(auto.trajectoryCmd("ExamplePathTwo")), + LoggableCommandWrapper.wrap((auto.trajectoryCmd("ExamplePathTwo")).withTimeout(25)), new PrintCommand("Started ExamplePathTwo") ), new PrintCommand("Finished ExamplePathTwo") ); } -} \ No newline at end of file +} +*/ \ No newline at end of file From db7c5f7f821ef96de6dac63785b0a58c38af4832 Mon Sep 17 00:00:00 2001 From: ohad Date: Mon, 16 Feb 2026 21:17:20 -0500 Subject: [PATCH 40/43] Change the pose manager to return the vision estimate rather than the drivebase one --- .../frc/robot/commands/auto/ExampleAuto.java | 37 +++++++++---------- 1 file changed, 18 insertions(+), 19 deletions(-) diff --git a/src/main/java/frc/robot/commands/auto/ExampleAuto.java b/src/main/java/frc/robot/commands/auto/ExampleAuto.java index a66024b0..6ce13643 100644 --- a/src/main/java/frc/robot/commands/auto/ExampleAuto.java +++ b/src/main/java/frc/robot/commands/auto/ExampleAuto.java @@ -8,38 +8,37 @@ import frc.robot.utils.logging.commands.LoggableParallelCommandGroup; import frc.robot.utils.logging.commands.LoggableSequentialCommandGroup; +// +//public class ExampleAuto extends LoggableSequentialCommandGroup{ +// public ExampleAuto(SwerveSubsystem subsystem, AutoFactory auto) { +// addCommands( +// auto.resetOdometry("ExamplePathOne"), +// new PrintCommand("Started ExamplePathOne"), +// auto.trajectoryCmd("ExamplePathOne"), +// new PrintCommand("Finished ExamplePathOne"), +// new PrintCommand("Started ExamplePathTwo"), +// auto.trajectoryCmd("ExamplePathTwo"), +// new PrintCommand("Finished ExamplePathTwo") +// ); +// } +//} -public class ExampleAuto extends LoggableSequentialCommandGroup{ - public ExampleAuto(SwerveSubsystem subsystem, AutoFactory auto) { - addCommands( - auto.resetOdometry("ExamplePathOne"), - new PrintCommand("Started ExamplePathOne"), - auto.trajectoryCmd("ExamplePathOne"), - new PrintCommand("Finished ExamplePathOne"), - new PrintCommand("Started ExamplePathTwo"), - auto.trajectoryCmd("ExamplePathTwo"), - new PrintCommand("Finished ExamplePathTwo") - ); - } -} -/* public class ExampleAuto extends LoggableSequentialCommandGroup{ public ExampleAuto(SwerveSubsystem subsystem, AutoFactory auto) { - addCommands( - auto.resetOdometry("ExamplePathOne"), + super( + LoggableCommandWrapper.wrap(auto.resetOdometry("ExamplePathOne")), new LoggableParallelCommandGroup( - LoggableCommandWrapper.wrap((auto.trajectoryCmd("ExamplePathOne")).withTimeout(25)), + LoggableCommandWrapper.wrap((auto.trajectoryCmd("ExamplePathOne").withTimeout(25))), new PrintCommand("Started ExamplePathOne") ), new PrintCommand("Finished ExamplePathOne"), new LoggableParallelCommandGroup( - LoggableCommandWrapper.wrap((auto.trajectoryCmd("ExamplePathTwo")).withTimeout(25)), + LoggableCommandWrapper.wrap((auto.trajectoryCmd("ExamplePathTwo").withTimeout(25))), new PrintCommand("Started ExamplePathTwo") ), new PrintCommand("Finished ExamplePathTwo") ); } } -*/ \ No newline at end of file From 05045f276a9a9277ea3441d375a8e9525bf6418f Mon Sep 17 00:00:00 2001 From: Michael Kovalev Date: Mon, 16 Feb 2026 21:32:44 -0500 Subject: [PATCH 41/43] omg it works im free --- .../frc/robot/commands/auto/ExampleAuto.java | 21 ++----------------- 1 file changed, 2 insertions(+), 19 deletions(-) diff --git a/src/main/java/frc/robot/commands/auto/ExampleAuto.java b/src/main/java/frc/robot/commands/auto/ExampleAuto.java index 6ce13643..bece64d4 100644 --- a/src/main/java/frc/robot/commands/auto/ExampleAuto.java +++ b/src/main/java/frc/robot/commands/auto/ExampleAuto.java @@ -1,6 +1,5 @@ package frc.robot.commands.auto; - import choreo.auto.AutoFactory; import frc.robot.commands.PrintCommand; import frc.robot.subsystems.swervedrive.SwerveSubsystem; @@ -8,34 +7,18 @@ import frc.robot.utils.logging.commands.LoggableParallelCommandGroup; import frc.robot.utils.logging.commands.LoggableSequentialCommandGroup; -// -//public class ExampleAuto extends LoggableSequentialCommandGroup{ -// public ExampleAuto(SwerveSubsystem subsystem, AutoFactory auto) { -// addCommands( -// auto.resetOdometry("ExamplePathOne"), -// new PrintCommand("Started ExamplePathOne"), -// auto.trajectoryCmd("ExamplePathOne"), -// new PrintCommand("Finished ExamplePathOne"), -// new PrintCommand("Started ExamplePathTwo"), -// auto.trajectoryCmd("ExamplePathTwo"), -// new PrintCommand("Finished ExamplePathTwo") -// ); -// } -//} - - public class ExampleAuto extends LoggableSequentialCommandGroup{ public ExampleAuto(SwerveSubsystem subsystem, AutoFactory auto) { super( LoggableCommandWrapper.wrap(auto.resetOdometry("ExamplePathOne")), new LoggableParallelCommandGroup( - LoggableCommandWrapper.wrap((auto.trajectoryCmd("ExamplePathOne").withTimeout(25))), + LoggableCommandWrapper.wrap((auto.trajectoryCmd("ExamplePathOne"))), new PrintCommand("Started ExamplePathOne") ), new PrintCommand("Finished ExamplePathOne"), new LoggableParallelCommandGroup( - LoggableCommandWrapper.wrap((auto.trajectoryCmd("ExamplePathTwo").withTimeout(25))), + LoggableCommandWrapper.wrap((auto.trajectoryCmd("ExamplePathTwo"))), new PrintCommand("Started ExamplePathTwo") ), new PrintCommand("Finished ExamplePathTwo") From 5a8fc4da13e68299bd507c405bb2d86d4bb05ce9 Mon Sep 17 00:00:00 2001 From: cloudygitalt Date: Tue, 17 Feb 2026 12:13:25 -0500 Subject: [PATCH 42/43] added auto command thing for right -> tower --- .../frc/robot/commands/auto/RightShoot.java | 25 +++++++++++++++++++ 1 file changed, 25 insertions(+) create mode 100644 src/main/java/frc/robot/commands/auto/RightShoot.java diff --git a/src/main/java/frc/robot/commands/auto/RightShoot.java b/src/main/java/frc/robot/commands/auto/RightShoot.java new file mode 100644 index 00000000..a201143a --- /dev/null +++ b/src/main/java/frc/robot/commands/auto/RightShoot.java @@ -0,0 +1,25 @@ +package frc.robot.commands.auto; + +import choreo.auto.AutoFactory; +import frc.robot.commands.PrintCommand; +import frc.robot.commands.shooter.SetShootingState; +import frc.robot.commands.shooter.SpinShooter; +import frc.robot.constants.Constants; +import frc.robot.constants.enums.ShootingState; +import frc.robot.constants.enums.ShootingState.ShootState; +import frc.robot.subsystems.ShooterSubsystem; +import frc.robot.subsystems.swervedrive.SwerveSubsystem; +import frc.robot.utils.logging.commands.LoggableCommandWrapper; +import frc.robot.utils.logging.commands.LoggableParallelCommandGroup; +import frc.robot.utils.logging.commands.LoggableSequentialCommandGroup; + +public class RightShoot extends LoggableSequentialCommandGroup { + public RightShoot(SwerveSubsystem subsystem, AutoFactory auto, ShooterSubsystem shooter, ShootingState shootState) { + super( + new SetShootingState(shootState, ShootState.SHOOTING_HUB), + LoggableCommandWrapper.wrap(auto.resetOdometry("RightToTower")), + LoggableCommandWrapper.wrap(auto.trajectoryCmd("RightToTower")), + new SpinShooter(shooter, Constants.SHOOTER_SPEED) + ); + } +} From 01d0da827683f954b5b5d5a5a3f19e81995cd530 Mon Sep 17 00:00:00 2001 From: Michael Kovalev Date: Tue, 17 Feb 2026 19:05:12 -0500 Subject: [PATCH 43/43] removed sam's commit --- .../frc/robot/commands/auto/RightShoot.java | 25 ------------------- 1 file changed, 25 deletions(-) delete mode 100644 src/main/java/frc/robot/commands/auto/RightShoot.java diff --git a/src/main/java/frc/robot/commands/auto/RightShoot.java b/src/main/java/frc/robot/commands/auto/RightShoot.java deleted file mode 100644 index a201143a..00000000 --- a/src/main/java/frc/robot/commands/auto/RightShoot.java +++ /dev/null @@ -1,25 +0,0 @@ -package frc.robot.commands.auto; - -import choreo.auto.AutoFactory; -import frc.robot.commands.PrintCommand; -import frc.robot.commands.shooter.SetShootingState; -import frc.robot.commands.shooter.SpinShooter; -import frc.robot.constants.Constants; -import frc.robot.constants.enums.ShootingState; -import frc.robot.constants.enums.ShootingState.ShootState; -import frc.robot.subsystems.ShooterSubsystem; -import frc.robot.subsystems.swervedrive.SwerveSubsystem; -import frc.robot.utils.logging.commands.LoggableCommandWrapper; -import frc.robot.utils.logging.commands.LoggableParallelCommandGroup; -import frc.robot.utils.logging.commands.LoggableSequentialCommandGroup; - -public class RightShoot extends LoggableSequentialCommandGroup { - public RightShoot(SwerveSubsystem subsystem, AutoFactory auto, ShooterSubsystem shooter, ShootingState shootState) { - super( - new SetShootingState(shootState, ShootState.SHOOTING_HUB), - LoggableCommandWrapper.wrap(auto.resetOdometry("RightToTower")), - LoggableCommandWrapper.wrap(auto.trajectoryCmd("RightToTower")), - new SpinShooter(shooter, Constants.SHOOTER_SPEED) - ); - } -}