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Merged
merged 12 commits into from
Oct 25, 2025
Merged

Auto fixes (￣o￣) . z Z #196

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7880e0e
move auto reset to when disabled
Wu-Fan-529 Oct 21, 2025
4fd4695
Update RobotContainer.java
Wu-Fan-529 Oct 21, 2025
dbea6d1
Update Field.java
Wu-Fan-529 Oct 22, 2025
3b17d05
pushing changes
EliUva Oct 23, 2025
10aa7aa
Merge branch 'auto-fixes' of https://github.com/FRCTeam3255/2025_Offb…
EliUva Oct 23, 2025
752d106
Update _all_paths.chor
EliUva Oct 23, 2025
2dfcfa5
tuned branch poses
BrodyKarr Oct 23, 2025
edd6738
10/32, 18:19
EliUva Oct 24, 2025
307fd23
Update Constants.java
EliUva Oct 24, 2025
f581881
Update Constants.java
EliUva Oct 24, 2025
05f8a99
10/23, 20:20
EliUva Oct 24, 2025
52b8bd6
10/24, 19:58
EliUva Oct 25, 2025
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2 changes: 1 addition & 1 deletion src/main/java/frc/robot/Constants.java
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Original file line number Diff line number Diff line change
Expand Up @@ -142,7 +142,7 @@ public static class constDrivetrain {
public static final AngularVelocity TURN_SPEED = Units.DegreesPerSecond.of(360);
public static final double SLOW_MODE_MULTIPLIER = 0.5;

public static final boolean INVERT_ROTATION = true;
public static final boolean INVERT_ROTATION = !Robot.isSimulation();

// -- Motor Configurations --
static {
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20 changes: 14 additions & 6 deletions src/main/java/frc/robot/RobotContainer.java
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Original file line number Diff line number Diff line change
Expand Up @@ -234,6 +234,18 @@ public RobotContainer() {
configOperatorBindings();
configAutos();

autoChooser.onChange(selectedAuto -> {
String pose = "default_pose"; // Initialize with a default value
if (selectedAuto == nonProcSide4Coral) {
pose = "top_ji";
} else if (selectedAuto == procSide4Coral) {
pose = "proc_ef";
} else if (selectedAuto == mid1Coral || selectedAuto == midAlgae) {
pose = "mid_gh";
}
autoFactory.resetOdometry(pose).ignoringDisable(true).schedule();
});

subDrivetrain.resetModulesToAbsolute();
}

Expand All @@ -247,7 +259,6 @@ public void configAutos() {
);

nonProcSide4Coral = Commands.sequence(
autoFactory.resetOdometry("top_ji").asProxy(),
ScoreAndCollect("top_ji", "ji_cs", REEF_AUTO_DRIVING_RIGHT,
TRY_PREP_CORAL_L4),
ScoreAndCollect("cs_lk", "lk_cs", REEF_AUTO_DRIVING_RIGHT,
Expand All @@ -257,7 +268,6 @@ public void configAutos() {
TRY_PREP_CORAL_L4));

procSide4Coral = Commands.sequence(
autoFactory.resetOdometry("proc_ef").asProxy(),
ScoreAndCollect("proc_ef", "ef_cs", REEF_AUTO_DRIVING_RIGHT,
TRY_PREP_CORAL_L4),
ScoreAndCollect("cs_cd", "cd_cs", REEF_AUTO_DRIVING_RIGHT,
Expand All @@ -267,19 +277,17 @@ public void configAutos() {
TRY_PREP_CORAL_L4));

mid1Coral = Commands.sequence(
autoFactory.resetOdometry("mid_gh").asProxy(),
Score("mid_gh", REEF_AUTO_DRIVING_LEFT, TRY_PREP_CORAL_L4));

midAlgae = Commands.sequence(
autoFactory.resetOdometry("mid_gh").asProxy(),
Score("mid_gh", REEF_AUTO_DRIVING_LEFT, TRY_PREP_CORAL_L4),
CleanAndScore("gh", "gh_net", TRY_CLEAN_LOW),
CleanAndScore("net_ji", "ji_net", TRY_CLEAN_HIGH),
CleanAndScore("net_ef", "ef_net", TRY_CLEAN_HIGH),
runPath("net_off_startingline").asProxy()); // FORGOT TO DO AS PROXY ON RUNPATH

autoChooser.setDefaultOption("4 Coral - Processor Side", procSide4Coral);
autoChooser.addOption("4 Coral - Non-Processor Side", nonProcSide4Coral);
autoChooser.addOption("4 Coral - Processor Side", procSide4Coral);
autoChooser.addOption("1 Coral - Mid", mid1Coral);
autoChooser.addOption("1 Algae - Mid", midAlgae);

Expand Down Expand Up @@ -329,7 +337,7 @@ Command CleanAndScore(String startPath, String endPath, Command try_clean_lv) {
}

Command runPath(String pathName) {
return autoFactory.trajectoryCmd(pathName)
return autoFactory.trajectoryCmd(pathName).asProxy()
.alongWith(Commands.runOnce(() -> subDriverStateMachine.setDriverState(DriverState.CHOREO)));
}

Expand Down