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| # | |
| # DRIVE | |
| # | |
| DriveTank: | |
| deadzone: .15 | |
| leftMultiplier: 120.0 | |
| rightMultiplier: 120.0 | |
| exponent: 2.0 | |
| DriveArcade: | |
| deadzone: .1 | |
| speedMultiplier: 120.0 | |
| rotateMultiplier: 120.0 | |
| exponent: 2.0 | |
| # | |
| # PICKER | |
| # | |
| PickerToHome: | |
| class: PickerSetPosition | |
| pickerPosition: HOME | |
| PickerToCheval: | |
| class: PickerSetPosition | |
| pickerPosition: CHEVAL | |
| PickerToPick: | |
| class: PickerSetPosition | |
| pickerPosition: PICK | |
| PickerPick: | |
| control: | |
| pick: 1.0 | |
| pinch: 0.75 | |
| highPower: 1.0 | |
| lowPower: .25 | |
| highTolerance: 50.0 | |
| stopTolerance: 1.0 | |
| ballAgeThresholds: | |
| # 0.0: OLD | |
| 0.0: AGED | |
| 0.70: NEW | |
| # 0.0: AGED | |
| dataLogging: false | |
| targetBallDistance: 50.0 | |
| PickerShortPick: | |
| pick: 1.0 | |
| pinch: 1.0 | |
| minBallDistance: 250.0 | |
| PickerBarf: | |
| pick: -1.0 | |
| pinch: -1.0 | |
| king: -1.0 | |
| PickerCheval: | |
| # | |
| # TURRET | |
| # | |
| HoodDown: | |
| class: TurretSetHoodPosition | |
| hoodPosition: DOWN | |
| HoodUp1: | |
| class: TurretSetHoodPosition | |
| hoodPosition: UP1 | |
| HoodUp2: | |
| class: TurretSetHoodPosition | |
| hoodPosition: UP2 | |
| HoodUp3: | |
| class: TurretSetHoodPosition | |
| hoodPosition: UP3 | |
| HoodUp4: | |
| class: TurretSetHoodPosition | |
| hoodPosition: UP4 | |
| HoodBumpUp: | |
| class: TurretBumpHoodPosition | |
| direction: up | |
| HoodBumpDown: | |
| class: TurretBumpHoodPosition | |
| direction: down | |
| TurretHome: | |
| speed: .15 | |
| TurretShoot: | |
| kingRollerPower: 1.0 | |
| waitTimeout: 2.0 | |
| shootTime: 1.0 | |
| minShooterWheelSpeed: 3000.0 | |
| TurretStopWheel: | |
| class: TurretSetWheelSpeed | |
| speed: 0.0 | |
| TurretSpinUp: | |
| class: TurretSetWheelSpeed | |
| speed: 75.0 | |
| TurretTarget: | |
| wheelSpeeds: | |
| NEW: | |
| 0: 5200 | |
| 72: 4900 | |
| 84: 4900 | |
| 132: 5200 | |
| AGED: | |
| 0: 5000 | |
| 72: 4900 | |
| 84: 4900 | |
| 132: 5100 | |
| OLD: | |
| 0: 5000 | |
| 72: 4900 | |
| 84: 4900 | |
| 132: 5100 | |
| hoodPositions: | |
| NEW: | |
| 0: UP1 | |
| 72: UP2 | |
| 90: UP4 | |
| AGED: | |
| 0: UP1 | |
| 72: UP2 | |
| 90: UP4 | |
| OLD: | |
| 0: UP1 | |
| 72: UP2 | |
| 90: UP4 | |
| dataLogging: false | |
| startDelay: .25 | |
| TurretBatter: | |
| class: TurretPrep | |
| lights: false | |
| wheelSpeed: 5000 | |
| hoodPosition: UP1 | |
| turretAngle: 0.0 | |
| TurretCalibrate: | |
| class: TurretPrep | |
| lights: true | |
| wheelSpeed: 4800 | |
| TurretBarfPrep: | |
| class: TurretPrep | |
| wheelSpeed: 3600.0 | |
| TurretBatter: | |
| class: TurretPrep | |
| wheelSpeed: 4800 | |
| TurretBumpLeft: | |
| class: TurretBumpRotation | |
| angle: -10.0 | |
| TurretBumpRight: | |
| class: TurretBumpRotation | |
| angle: 10.0 | |
| TurretStraight: | |
| class: TurretSetRotation | |
| angle: 0.0 | |
| TurretRight: | |
| class: TurretSetRotation | |
| angle: 75.0 | |
| TurretLeft: | |
| class: TurretSetRotation | |
| angle: -75.0 | |
| TurretBumpWheelSpeedUp: | |
| class: TurretBumpWheelSpeedOffset | |
| offset: 50 # 100 | |
| TurretBumpWheelSpeedDown: | |
| class: TurretBumpWheelSpeedOffset | |
| offset: -50 # -100 | |
| # | |
| # AUTON | |
| # | |
| ^DriveStraight: | |
| speed: 40.0 | |
| angleController: { type: PID, P: 4.8 } | |
| DriveStraightCheval: | |
| speed: -30.0 | |
| angleController: { type: PID, P: 4.8 } | |
| ^DriveRotate: | |
| angleController: | |
| type: PID | |
| P: 3.5 | |
| I: 3.5 | |
| maxIError: 10.0 | |
| maxAbsoluteOutput: 48.0 | |
| target: { within: 1.5, time: .125 } | |
| $SequentialTest: | |
| - class: DriveStraight | |
| speed: 40.0 | |
| angle: 0.0 | |
| distance: 36.0 | |
| - class: DriveRotate | |
| angle: 90.0 | |
| - class: DriveStraight | |
| speed: 40.0 | |
| angle: 90.0 | |
| distance: 36.0 | |
| - class: DriveRotate | |
| angle: 180.0 | |
| - class: DriveStraight | |
| speed: 40.0 | |
| angle: 180.0 | |
| distance: 36.0 | |
| - class: DriveRotate | |
| angle: 270.0 | |
| - class: DriveStraight | |
| speed: 40.0 | |
| angle: 270.0 | |
| distance: 36.0 | |
| - class: DriveRotate | |
| angle: 360.0 | |
| $AutoShoot: | |
| - name: TurretTarget | |
| parallel: true | |
| - class: WaitCommand | |
| period: 2.0 | |
| - TurretShoot | |
| $AutoLowBarPickRotate: | |
| - PickerPick | |
| - class: TurretSetRotation | |
| angle: 42.0 | |
| $CrossLowBar: | |
| - class: DriveStraight | |
| speed: 80.0 | |
| angle: 0.0 | |
| distance: 192.0 | |
| $AutoLowBar: | |
| - name: $AutoLowBarPickRotate | |
| parallel: true | |
| - $CrossLowBar | |
| - $AutoShoot | |
| $AutoLowBar2Ball: | |
| - name: $AutoLowBarPickRotate | |
| parallel: true | |
| - class: TurretSetRotation | |
| angle: 42.0 | |
| parallel: true | |
| - class: DriveStraight | |
| speed: 80.0 | |
| angle: 0.0 | |
| distance: 60.0 | |
| - class: DriveStraight | |
| speed: 100.0 | |
| angle: 0.0 | |
| distance: 120.0 | |
| - $AutoShoot | |
| - class: DriveStraight | |
| speed: -100.0 | |
| angle: 0.0 | |
| distance: 144.0 | |
| - name: $AutoLowBarPickRotate | |
| parallel: true | |
| - class: DriveStraight | |
| speed: -80.0 | |
| angle: -10.0 | |
| distance: 66.0 | |
| - class: DriveStraight | |
| speed: 80.0 | |
| angle: -10.0 | |
| distance: 54.0 | |
| - class: DriveStraight | |
| speed: 80.0 | |
| angle: 0.0 | |
| distance: 72.0 | |
| - class: DriveStraight | |
| speed: 100.0 | |
| angle: 0.0 | |
| distance: 84.0 | |
| - $AutoShoot | |
| # - class: DriveStraight | |
| # speed: -80.0 | |
| # angle: 0.0 | |
| # distance: 192.0 | |
| $CrossRockWall: | |
| - class: DriveStraight | |
| speed: 80.0 | |
| angle: 0.0 | |
| distance: 240.0 | |
| $AutoRockWall2: | |
| - PickerPick | |
| - PickerToCheval | |
| - class: TurretSetRotation | |
| angle: 45.0 | |
| parallel: true | |
| - $CrossRockWall | |
| # - PickerToPick | |
| - $AutoShoot | |
| $AutoMoat3PickRotate: | |
| - PickerPick | |
| - class: TurretSetRotation | |
| angle: 25.0 | |
| $CrossMoat: | |
| - class: DriveStraight | |
| speed: 80.0 | |
| angle: 0.0 | |
| distance: 192.0 | |
| $AutoMoat3: | |
| - PickerPick | |
| - PickerToCheval | |
| - class: TurretSetRotation | |
| angle: 10.0 | |
| parallel: true | |
| - $CrossMoat | |
| # - PickerToPick | |
| - $AutoShoot | |
| $CrossCheval: | |
| - PickerToCheval | |
| - DriveStraightCheval | |
| - PickerToPick | |
| - class: DriveStraight | |
| speed: -40.0 | |
| angle: 0.0 | |
| distance: 36.0 | |
| - PickerToCheval | |
| - class: DriveStraight | |
| speed: -40.0 | |
| angle: 0.0 | |
| distance: 72.0 | |
| $AutoCheval4: | |
| - PickerPick | |
| - class: TurretSetRotation | |
| angle: 90.0 | |
| parallel: true | |
| - $CrossCheval | |
| - class: DriveRotate | |
| angle: 90.0 | |
| - PickerToPick | |
| - $AutoShoot | |
| $CrossRamparts: | |
| - class: DriveStraight | |
| speed: 80.0 | |
| angle: 0.0 | |
| distance: 264.0 | |
| $AutoRamparts5: | |
| - PickerPick | |
| - PickerToCheval | |
| - class: TurretSetRotation | |
| angle: -45.0 | |
| parallel: true | |
| - $CrossRamparts | |
| # - PickerToPick | |
| - $AutoShoot | |
| $BackupLowbar: | |
| - class: DriveStraight | |
| speed: -80.0 | |
| angle: 0.0 | |
| distance: 192.0 | |
| $Backup2: | |
| - class: DriveStraight | |
| speed: -80.0 | |
| angle: 0.0 | |
| distance: 240.0 | |
| $Backup3: | |
| - class: DriveStraight | |
| speed: -80.0 | |
| angle: 0.0 | |
| distance: 192.0 | |
| $Backup5: | |
| - class: DriveStraight | |
| speed: -80.0 | |
| angle: 0.0 | |
| distance: 264.0 | |
| $Nothing: | |
| AutoChooser: | |
| class: ChooserCommand | |
| chooser: Auto | |
| commands: | |
| - $Nothing | |
| - $AutoLowBar | |
| - $AutoLowBar2Ball | |
| - $AutoRockWall2 | |
| - $AutoMoat3 | |
| - $AutoCheval4 | |
| - $AutoRamparts5 | |
| - $CrossLowBar | |
| - $CrossRockWall | |
| - $CrossMoat | |
| - $CrossCheval | |
| - $CrossRamparts | |
| - $AutoShoot | |
| - $SequentialTest | |
| BackupChooser: | |
| class: ChooserCommand | |
| chooser: Backup | |
| commands: | |
| - $Nothing | |
| - $BackupLowbar | |
| - $Backup2 | |
| - $Backup3 | |
| - $Backup5 | |
| $AutoInit: | |
| - TurretHome | |
| - AutoChooser | |
| - BackupChooser |