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RegisJesuitRobotics · Mar 6, 2024 · 8b472f7 · 8b472f7
1 parent 2926bca
commit 8b472f7
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Showing 49 changed files with 399 additions and 132 deletions.
diff --git a/.pathplanner/settings.json b/.pathplanner/settings.json
@@ -12,7 +12,7 @@
     "Center Speaker",
     "Source Speaker"
   ],
-  "defaultMaxVel": 4.0,
+  "defaultMaxVel": 3.8,
   "defaultMaxAccel": 4.0,
   "defaultMaxAngVel": 500.0,
   "defaultMaxAngAccel": 2000.0,

diff --git a/src/main/deploy/pathplanner/autos/AmpSpeaker1Note.auto b/src/main/deploy/pathplanner/autos/AmpSpeaker1Note.auto
@@ -3,7 +3,7 @@
   "startingPose": {
     "position": {
       "x": 0.74,
-      "y": 6.6
+      "y": 6.61
     },
     "rotation": 60.0
   },

diff --git a/src/main/deploy/pathplanner/autos/AmpSpeaker2NoteCloseAmp.auto b/src/main/deploy/pathplanner/autos/AmpSpeaker2NoteCloseAmp.auto
@@ -3,7 +3,7 @@
   "startingPose": {
     "position": {
       "x": 0.74,
-      "y": 6.596235535725297
+      "y": 6.61
     },
     "rotation": 60.0
   },
@@ -27,12 +27,6 @@
           "type": "deadline",
           "data": {
             "commands": [
-              {
-                "type": "named",
-                "data": {
-                  "name": "IntakeUntilNote"
-                }
-              },
               {
                 "type": "sequential",
                 "data": {
@@ -57,6 +51,12 @@
                     }
                   ]
                 }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "IntakeUntilNote"
+                }
               }
             ]
           }

diff --git a/src/main/deploy/pathplanner/autos/AmpSpeaker2NoteFarAmp.auto b/src/main/deploy/pathplanner/autos/AmpSpeaker2NoteFarAmp.auto
@@ -3,7 +3,7 @@
   "startingPose": {
     "position": {
       "x": 0.74,
-      "y": 6.596235535725297
+      "y": 6.61
     },
     "rotation": 60.0
   },
@@ -27,6 +27,12 @@
           "type": "deadline",
           "data": {
             "commands": [
+              {
+                "type": "named",
+                "data": {
+                  "name": "IntakeUntilNote"
+                }
+              },
               {
                 "type": "sequential",
                 "data": {
@@ -40,7 +46,7 @@
                     {
                       "type": "wait",
                       "data": {
-                        "waitTime": 0.5
+                        "waitTime": 0.25
                       }
                     },
                     {
@@ -51,12 +57,6 @@
                     }
                   ]
                 }
-              },
-              {
-                "type": "named",
-                "data": {
-                  "name": "IntakeUntilNote"
-                }
               }
             ]
           }

diff --git a/src/main/deploy/pathplanner/autos/AmpSpeaker3NoteFarAmpCloseAmp.auto b/src/main/deploy/pathplanner/autos/AmpSpeaker3NoteFarAmpCloseAmp.auto
@@ -3,7 +3,7 @@
   "startingPose": {
     "position": {
       "x": 0.74,
-      "y": 6.596235535725297
+      "y": 6.61
     },
     "rotation": 60.0
   },

diff --git a/src/main/deploy/pathplanner/autos/CenterSpeaker2NoteCloseMid.auto b/src/main/deploy/pathplanner/autos/CenterSpeaker2NoteCloseMid.auto
@@ -23,12 +23,6 @@
             "name": "ShootNote"
           }
         },
-        {
-          "type": "wait",
-          "data": {
-            "waitTime": 0.5
-          }
-        },
         {
           "type": "deadline",
           "data": {
@@ -46,7 +40,7 @@
                     {
                       "type": "wait",
                       "data": {
-                        "waitTime": 0.5
+                        "waitTime": 0.3
                       }
                     },
                     {

diff --git a/src/main/deploy/pathplanner/autos/CenterSpeaker2NoteCloseSource.auto b/src/main/deploy/pathplanner/autos/CenterSpeaker2NoteCloseSource.auto
@@ -2,10 +2,10 @@
   "version": 1.0,
   "startingPose": {
     "position": {
-      "x": 1.29,
-      "y": 5.45
+      "x": 0.74,
+      "y": 4.48
     },
-    "rotation": 0.0
+    "rotation": -60.0
   },
   "command": {
     "type": "sequential",

diff --git a/src/main/deploy/pathplanner/autos/CenterSpeaker4NoteFarMidAmpCloseMidCloseAmp.auto b/src/main/deploy/pathplanner/autos/CenterSpeaker4NoteFarMidAmpCloseMidCloseAmp.auto
@@ -24,7 +24,7 @@
           }
         },
         {
-          "type": "deadline",
+          "type": "parallel",
           "data": {
             "commands": [
               {
@@ -112,7 +112,7 @@
           }
         },
         {
-          "type": "deadline",
+          "type": "parallel",
           "data": {
             "commands": [
               {

diff --git a/src/main/deploy/pathplanner/autos/TestAuto.auto b/src/main/deploy/pathplanner/autos/TestAuto.auto
@@ -0,0 +1,25 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 2,
+      "y": 7.0
+    },
+    "rotation": 0
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "TestPath"
+          }
+        }
+      ]
+    }
+  },
+  "folder": null,
+  "choreoAuto": false
+}
diff --git a/src/main/deploy/pathplanner/paths/AmpMobility.path b/src/main/deploy/pathplanner/paths/AmpMobility.path
@@ -38,7 +38,7 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 4.0,
+    "maxVelocity": 3.8,
     "maxAcceleration": 4.0,
     "maxAngularVelocity": 500.0,
     "maxAngularAcceleration": 2000.0

diff --git a/src/main/deploy/pathplanner/paths/AmpSpeaker-CloseAmp.path b/src/main/deploy/pathplanner/paths/AmpSpeaker-CloseAmp.path
@@ -71,7 +71,7 @@
   ],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 4.0,
+    "maxVelocity": 3.8,
     "maxAcceleration": 4.0,
     "maxAngularVelocity": 500.0,
     "maxAngularAcceleration": 2000.0

diff --git a/src/main/deploy/pathplanner/paths/AmpSpeaker-FarAmp.path b/src/main/deploy/pathplanner/paths/AmpSpeaker-FarAmp.path
@@ -87,7 +87,7 @@
   ],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 4.0,
+    "maxVelocity": 3.8,
     "maxAcceleration": 4.0,
     "maxAngularVelocity": 500.0,
     "maxAngularAcceleration": 2000.0

diff --git a/src/main/deploy/pathplanner/paths/CenterSpeaker-CloseAmp.path b/src/main/deploy/pathplanner/paths/CenterSpeaker-CloseAmp.path
@@ -71,7 +71,7 @@
   ],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 4.0,
+    "maxVelocity": 3.8,
     "maxAcceleration": 4.0,
     "maxAngularVelocity": 500.0,
     "maxAngularAcceleration": 2000.0

diff --git a/src/main/deploy/pathplanner/paths/CenterSpeaker-CloseMid.path b/src/main/deploy/pathplanner/paths/CenterSpeaker-CloseMid.path
@@ -71,7 +71,7 @@
   ],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 4.0,
+    "maxVelocity": 3.8,
     "maxAcceleration": 4.0,
     "maxAngularVelocity": 500.0,
     "maxAngularAcceleration": 2000.0

diff --git a/src/main/deploy/pathplanner/paths/CenterSpeaker-CloseSource.path b/src/main/deploy/pathplanner/paths/CenterSpeaker-CloseSource.path
@@ -32,11 +32,11 @@
     },
     {
       "anchor": {
-        "x": 2.58076817012177,
+        "x": 2.7,
         "y": 4.100916501780468
       },
       "prevControl": {
-        "x": 2.53076817012177,
+        "x": 2.6500000000000004,
         "y": 4.100916501780468
       },
       "nextControl": null,
@@ -71,7 +71,7 @@
   ],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 4.0,
+    "maxVelocity": 3.8,
     "maxAcceleration": 4.0,
     "maxAngularVelocity": 500.0,
     "maxAngularAcceleration": 2000.0

diff --git a/src/main/deploy/pathplanner/paths/CenterSpeaker-FarMidAmp-NoCloseNotes.path b/src/main/deploy/pathplanner/paths/CenterSpeaker-FarMidAmp-NoCloseNotes.path
@@ -8,24 +8,24 @@
       },
       "prevControl": null,
       "nextControl": {
-        "x": 2.2850623701247397,
-        "y": 5.453516007032013
+        "x": 2.2655457718322847,
+        "y": 5.7999534332402
       },
       "isLocked": false,
       "linkedName": "CenterSpeaker"
     },
     {
       "anchor": {
-        "x": 5.657051569387574,
-        "y": 6.227974218780084
+        "x": 5.840782251008946,
+        "y": 6.363273643213954
       },
       "prevControl": {
-        "x": 4.149611502585436,
-        "y": 6.245087746886545
+        "x": 4.333342184206808,
+        "y": 6.3803871713204146
       },
       "nextControl": {
-        "x": 6.33691527859793,
-        "y": 6.220255924068165
+        "x": 6.520645960219302,
+        "y": 6.355555348502034
       },
       "isLocked": false,
       "linkedName": null
@@ -75,7 +75,7 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 4.0,
+    "maxVelocity": 3.8,
     "maxAcceleration": 4.0,
     "maxAngularVelocity": 500.0,
     "maxAngularAcceleration": 2000.0

diff --git a/src/main/deploy/pathplanner/paths/CenterSpeaker-FarMidAmp.path b/src/main/deploy/pathplanner/paths/CenterSpeaker-FarMidAmp.path
@@ -32,16 +32,16 @@
     },
     {
       "anchor": {
-        "x": 5.914181342244099,
-        "y": 6.302167118229941
+        "x": 5.879857171751381,
+        "y": 6.592616111158148
       },
       "prevControl": {
-        "x": 5.57760624348574,
-        "y": 6.302167118229941
+        "x": 5.543282072993022,
+        "y": 6.592616111158148
       },
       "nextControl": {
-        "x": 6.492415011577995,
-        "y": 6.302167118229941
+        "x": 6.458090841085276,
+        "y": 6.592616111158148
       },
       "isLocked": false,
       "linkedName": null
@@ -98,7 +98,7 @@
   ],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 4.0,
+    "maxVelocity": 3.8,
     "maxAcceleration": 4.0,
     "maxAngularVelocity": 500.0,
     "maxAngularAcceleration": 2000.0

diff --git a/src/main/deploy/pathplanner/paths/CloseAmp-AmpSpeaker.path b/src/main/deploy/pathplanner/paths/CloseAmp-AmpSpeaker.path
@@ -32,7 +32,7 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 4.0,
+    "maxVelocity": 3.8,
     "maxAcceleration": 4.0,
     "maxAngularVelocity": 500.0,
     "maxAngularAcceleration": 2000.0

diff --git a/src/main/deploy/pathplanner/paths/CloseAmp-CenterSpeaker.path b/src/main/deploy/pathplanner/paths/CloseAmp-CenterSpeaker.path
@@ -38,7 +38,7 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 4.0,
+    "maxVelocity": 3.8,
     "maxAcceleration": 4.0,
     "maxAngularVelocity": 500.0,
     "maxAngularAcceleration": 2000.0

diff --git a/src/main/deploy/pathplanner/paths/CloseMid-CenterSpeaker.path b/src/main/deploy/pathplanner/paths/CloseMid-CenterSpeaker.path
@@ -38,7 +38,7 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 4.0,
+    "maxVelocity": 3.8,
     "maxAcceleration": 4.0,
     "maxAngularVelocity": 500.0,
     "maxAngularAcceleration": 2000.0

diff --git a/src/main/deploy/pathplanner/paths/CloseSource-CenterSpeaker.path b/src/main/deploy/pathplanner/paths/CloseSource-CenterSpeaker.path
@@ -3,12 +3,12 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 2.58076817012177,
+        "x": 2.7,
         "y": 4.100916501780468
       },
       "prevControl": null,
       "nextControl": {
-        "x": 1.9444219888439773,
+        "x": 2.0636538187222073,
         "y": 4.73014246028492
       },
       "isLocked": false,
@@ -38,7 +38,7 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 4.0,
+    "maxVelocity": 3.8,
     "maxAcceleration": 4.0,
     "maxAngularVelocity": 500.0,
     "maxAngularAcceleration": 2000.0