more auto testing

Author: DriverStation3950

src/main/deploy/pathplanner/autos/Copy of TEst Auto.auto

@@ -0,0 +1,32 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "parallel",
+          "data": {
+            "commands": [
+              {
+                "type": "named",
+                "data": {
+                  "name": "HalfRaise"
+                }
+              },
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "shortZayan"
+                }
+              }
+            ]
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": false,
+  "folder": null,
+  "choreoAuto": false
+}

src/main/deploy/pathplanner/autos/TEst Auto.auto

@@ -4,16 +4,60 @@
     "type": "sequential",
     "data": {
       "commands": [
+        {
+          "type": "parallel",
+          "data": {
+            "commands": [
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "NSource_3L4 Max V"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "HalfRaise"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "AutoLeft"
+          }
+        },
         {
           "type": "named",
           "data": {
-            "name": "HalfRaise"
+            "name": "AutoL4"
+          }
+        },
+        {
+          "type": "parallel",
+          "data": {
+            "commands": [
+              {
+                "type": "named",
+                "data": {
+                  "name": "AutoSource"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "Rest"
+                }
+              }
+            ]
           }
         }
       ]
     }
   },
-  "resetOdom": true,
+  "resetOdom": false,
   "folder": null,
   "choreoAuto": false
 }

src/main/deploy/pathplanner/paths/3L4_NSource.path

@@ -20,7 +20,7 @@
         "y": 6.9961925864377
       },
       "prevControl": {
-        "x": 2.596411960407839,
+        "x": 2.5964119604078384,
         "y": 6.1812288963188555
       },
       "nextControl": null,

src/main/deploy/pathplanner/paths/NSource_3L4 Max V.path

@@ -8,7 +8,7 @@
       },
       "prevControl": null,
       "nextControl": {
-        "x": 1.7001755231350861,
+        "x": 1.7001755231350864,
         "y": 6.692872886068093
       },
       "isLocked": false,
@@ -31,14 +31,7 @@
   "rotationTargets": [],
   "constraintZones": [],
   "pointTowardsZones": [],
-  "eventMarkers": [
-    {
-      "name": "HalfRaise",
-      "waypointRelativePos": 0.0,
-      "endWaypointRelativePos": null,
-      "command": null
-    }
-  ],
+  "eventMarkers": [],
   "globalConstraints": {
     "maxVelocity": 3.5,
     "maxAcceleration": 3.5,

src/main/deploy/pathplanner/paths/NSource_4L4 Max V.path

@@ -8,7 +8,7 @@
       },
       "prevControl": null,
       "nextControl": {
-        "x": 2.1459258827873184,
+        "x": 2.145925882787318,
         "y": 6.775326847782206
       },
       "isLocked": false,

src/main/deploy/pathplanner/paths/shortZayan.path

@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 1.2780967178611593,
+        "y": 6.9961925864377
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 1.4662764096942653,
+        "y": 6.83160703548745
+      },
+      "isLocked": false,
+      "linkedName": "NSourceCenter"
+    },
+    {
+      "anchor": {
+        "x": 1.5057102272727272,
+        "y": 6.762201704545455
+      },
+      "prevControl": {
+        "x": 1.3057102272727306,
+        "y": 6.91220170454546
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.5,
+    "maxAcceleration": 3.5,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": -48.81407483429033
+  },
+  "reversed": false,
+  "folder": "North",
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": -54.69266815216971
+  },
+  "useDefaultConstraints": true
+}

src/main/java/frc/robot/commands/HalfRaise.java

@@ -11,7 +11,7 @@ public class HalfRaise extends Command {
   public HalfRaise(Elevator elevator, MailBox mailbox) {
     this.elevator = elevator;
     this.mailbox = mailbox;
-    addRequirements(elevator, mailbox);
+    addRequirements(elevator);
   }
 
   // Called when the command is initially scheduled.
@@ -23,7 +23,7 @@ public void initialize() {}
   public void execute() {
     boolean hasCoral = mailbox.somethingInIntake();
     if (hasCoral) {
-      elevator.setElevatorPosition(elevator.L4_inMotorRotations / 2, 120, 75, 0);
+      elevator.setElevatorPosition(elevator.L4_inMotorRotations / 2, 150, 100, 0);
     }
   }
 

src/main/java/frc/robot/subsystems/elevator/Elevator.java

@@ -4,17 +4,15 @@
 
 package frc.robot.subsystems.elevator;
 
-import java.util.function.BooleanSupplier;
-
 import com.ctre.phoenix6.controls.DynamicMotionMagicVoltage;
 import com.ctre.phoenix6.controls.Follower;
 import com.ctre.phoenix6.hardware.CANdi;
 import com.ctre.phoenix6.hardware.TalonFX;
-
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.RunCommand;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.Constants;
+import java.util.function.BooleanSupplier;
 
 public class Elevator extends SubsystemBase {
   private final CANdi myCANdi;