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align to speaker #94

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align to speaker #94

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d0215ff
added stuff to constructor
PineappleGirl5 Feb 21, 2024
52f8ba6
Merge branch 'main' into 77-align-to-speaker
PineappleGirl5 Apr 3, 2024
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34 changes: 34 additions & 0 deletions src/main/java/frc/robot/subsystems/Bass.java
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Original file line number Diff line number Diff line change
Expand Up @@ -2,6 +2,9 @@

import org.littletonrobotics.junction.LoggedRobot;

import java.util.List;


import java.lang.annotation.Target;
import java.util.Optional;

Expand All @@ -14,6 +17,9 @@
import com.pathplanner.lib.util.PathPlannerLogging;
import com.pathplanner.lib.util.HolonomicPathFollowerConfig;
import com.pathplanner.lib.auto.AutoBuilder;
import com.pathplanner.lib.path.GoalEndState;
import com.pathplanner.lib.path.PathConstraints;
import com.pathplanner.lib.path.PathPlannerPath;
import com.pathplanner.lib.commands.PathPlannerAuto;

import edu.wpi.first.wpilibj.DriverStation;
Expand All @@ -23,6 +29,7 @@
import edu.wpi.first.math.filter.SlewRateLimiter;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.math.kinematics.ChassisSpeeds;
import edu.wpi.first.math.kinematics.SwerveDriveKinematics;
import edu.wpi.first.math.kinematics.SwerveModulePosition;
Expand Down Expand Up @@ -104,6 +111,33 @@ public Bass() {
this // Reference to this subsystem to set requirements
);
PathPlannerLogging.setLogCurrentPoseCallback(pose -> Logger.recordOutput("Chassis/targetPose",pose));

// Create a list of bezier points from poses. Each pose represents one waypoint.
// The rotation component of the pose should be the direction of travel. Do not
// use holonomic rotation.
List<Translation2d> bezierPoints = PathPlannerPath.bezierFromPoses(
new Pose2d(1.0, 1.0, Rotation2d.fromDegrees(0)),
new Pose2d(3.0, 1.0, Rotation2d.fromDegrees(0)),
new Pose2d(5.0, 3.0, Rotation2d.fromDegrees(90)));

// Create the path using the bezier points created above
PathPlannerPath path = new PathPlannerPath(
bezierPoints,
new PathConstraints(3.0, 3.0, 2 * Math.PI, 4 * Math.PI),
// The constraints for this path. If using a differential drivetrain, the angularmconstraints have no effect.

new GoalEndState(0.0, Rotation2d.fromDegrees(-90))
// Goal end state. You can set a holonomic rotation here. If using a differential drivetrain, the rotation will have no effect.
);

// Prevent the path from being flipped if the coordinates are already correct
path.preventFlipping = false;
}

public Command alignToSpeaker(){
return runOnce(( -> {

}));
}

@Override
Expand Down
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