recooked autos

frc2053 · Nov 1, 2024 · 3e4ad5f · 3e4ad5f
1 parent 536d149
commit 3e4ad5f
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Showing 11 changed files with 1,173 additions and 1,100 deletions.
diff --git a/src/main/deploy/choreo/AmpSide.traj b/src/main/deploy/choreo/AmpSide.traj
diff --git a/src/main/deploy/choreo/AmpSideCloseNotes.traj b/src/main/deploy/choreo/AmpSideCloseNotes.traj
diff --git a/src/main/deploy/choreo/AmpSideGoForSecond.traj b/src/main/deploy/choreo/AmpSideGoForSecond.traj
diff --git a/src/main/deploy/choreo/AmpSideSafe.traj b/src/main/deploy/choreo/AmpSideSafe.traj
diff --git a/src/main/deploy/choreo/CloseFourSafe.traj b/src/main/deploy/choreo/CloseFourSafe.traj
diff --git a/src/main/deploy/choreo/SourceGoForSecond.traj b/src/main/deploy/choreo/SourceGoForSecond.traj
diff --git a/src/main/deploy/choreo/SourceSide.traj b/src/main/deploy/choreo/SourceSide.traj
diff --git a/src/main/deploy/pathplanner/autos/AmpDash.auto b/src/main/deploy/pathplanner/autos/AmpDash.auto
@@ -0,0 +1,38 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "Spit"
+          }
+        },
+        {
+          "type": "deadline",
+          "data": {
+            "commands": [
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "AmpSide.0"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "Intake"
+                }
+              }
+            ]
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": true
+}
diff --git a/src/main/deploy/pathplanner/autos/Amp.auto → ...ain/deploy/pathplanner/autos/AmpSafe.auto b/src/main/deploy/pathplanner/autos/Amp.auto → ...ain/deploy/pathplanner/autos/AmpSafe.auto
diff --git a/src/main/deploy/pathplanner/autos/Source.auto b/src/main/deploy/pathplanner/autos/Source.auto
@@ -23,7 +23,7 @@
               {
                 "type": "path",
                 "data": {
-                  "pathName": "SourceSideSafe"
+                  "pathName": "SourceSide.0"
                 }
               },
               {

diff --git a/src/main/include/Autos.h b/src/main/include/Autos.h
@@ -64,27 +64,36 @@ class Autos {
         std::pair{CHOREO_TEST, TestChoreoAuto()},
         std::pair{CLOSE_FOUR_SAFE, pathplanner::PathPlannerAuto("SafeCloseFour").ToPtr()},
         std::pair{SOURCE_SIDE, frc2::cmd::Sequence(
-          pathplanner::PathPlannerAuto("Source").ToPtr()
-          // frc2::cmd::Wait(.5_s),
-          // frc2::cmd::Either(
-          //   pathplanner::PathPlannerAuto("SourceGotNote").ToPtr(), 
-          //   pathplanner::PathPlannerAuto("SourceNoNote").ToPtr(),
-          //   [this] { return m_feederSub.HasNote(); })
+          pathplanner::PathPlannerAuto("Source").ToPtr(),
+          frc2::cmd::Wait(.5_s),
+          frc2::cmd::Either(
+            pathplanner::PathPlannerAuto("SourceGotNote").ToPtr(), 
+            pathplanner::PathPlannerAuto("SourceNoNote").ToPtr(),
+            [this] { return m_feederSub.HasNote(); })
         )},
-        std::pair{AMP_SIDE, frc2::cmd::Sequence(
-          pathplanner::PathPlannerAuto("Amp").ToPtr()
-          // frc2::cmd::Wait(.5_s),
-          // frc2::cmd::Either(
-          //   pathplanner::PathPlannerAuto("AmpGotNote").ToPtr(), 
-          //   pathplanner::PathPlannerAuto("AmpNoNote").ToPtr(),
-          //   [this] { return m_feederSub.HasNote(); }),
-          // pathplanner::PathPlannerAuto("AmpClose").ToPtr()
+        std::pair{AMP_SIDE_SAFE, frc2::cmd::Sequence(
+          pathplanner::PathPlannerAuto("AmpSafe").ToPtr(),
+          frc2::cmd::Wait(.5_s),
+          frc2::cmd::Either(
+            pathplanner::PathPlannerAuto("AmpGotNote").ToPtr(), 
+            pathplanner::PathPlannerAuto("AmpNoNote").ToPtr(),
+            [this] { return m_feederSub.HasNote(); })        
+        )},
+        std::pair{AMP_SIDE_DASH, frc2::cmd::Sequence(
+          pathplanner::PathPlannerAuto("AmpDash").ToPtr(),
+          frc2::cmd::Wait(.5_s),
+          frc2::cmd::Either(
+            pathplanner::PathPlannerAuto("AmpGotNote").ToPtr(), 
+            pathplanner::PathPlannerAuto("AmpNoNote").ToPtr(),
+            [this] { return m_feederSub.HasNote(); }),
+          pathplanner::PathPlannerAuto("AmpClose").ToPtr()
         )});
 
     autoChooser.AddOption("Choreo Test", AutoSelector::CHOREO_TEST);
     autoChooser.AddOption("Close Four Safe", AutoSelector::CLOSE_FOUR_SAFE);
     autoChooser.AddOption("Source", AutoSelector::SOURCE_SIDE);
-    autoChooser.AddOption("Amp", AutoSelector::AMP_SIDE);
+    autoChooser.AddOption("Amp Safe", AutoSelector::AMP_SIDE_SAFE);
+    autoChooser.AddOption("Amp Dash", AutoSelector::AMP_SIDE_DASH);
 
     frc::SmartDashboard::PutData("Auto Chooser", &autoChooser);
   }
@@ -131,7 +140,7 @@ class Autos {
     );
   }
 
-  enum AutoSelector { CHOREO_TEST, PP_TEST, CLOSE_FOUR_SAFE, SOURCE_SIDE, AMP_SIDE };
+  enum AutoSelector { CHOREO_TEST, PP_TEST, CLOSE_FOUR_SAFE, SOURCE_SIDE, AMP_SIDE_SAFE, AMP_SIDE_DASH };
 
   frc::SendableChooser<AutoSelector> autoChooser;