Merge branch 'testing' into nonStraightAimingAssist

frc2052 · Mar 19, 2024 · 3738907 · 3738907
2 parents 99ef9b1 + d54f1fe
commit 3738907
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Showing 47 changed files with 524 additions and 785 deletions.
diff --git a/.pathplanner/settings.json b/.pathplanner/settings.json
@@ -12,7 +12,7 @@
     "WIP",
     "working autos"
   ],
-  "defaultMaxVel": 4.0,
+  "defaultMaxVel": 4.5,
   "defaultMaxAccel": 4.0,
   "defaultMaxAngVel": 540.0,
   "defaultMaxAngAccel": 540.0,

diff --git a/src/main/deploy/pathplanner/autos/Center 123.auto b/src/main/deploy/pathplanner/autos/Center 123.auto
@@ -66,15 +66,28 @@
           "data": {
             "commands": [
               {
-                "type": "named",
+                "type": "path",
                 "data": {
-                  "name": "Intake"
+                  "pathName": "1 to 2"
                 }
               },
               {
-                "type": "path",
+                "type": "race",
                 "data": {
-                  "pathName": "1 to 2"
+                  "commands": [
+                    {
+                      "type": "named",
+                      "data": {
+                        "name": "Intake"
+                      }
+                    },
+                    {
+                      "type": "wait",
+                      "data": {
+                        "waitTime": 3.0
+                      }
+                    }
+                  ]
                 }
               }
             ]
@@ -97,15 +110,28 @@
           "data": {
             "commands": [
               {
-                "type": "named",
+                "type": "path",
                 "data": {
-                  "name": "Intake"
+                  "pathName": "2 to 3"
                 }
               },
               {
-                "type": "path",
+                "type": "race",
                 "data": {
-                  "pathName": "2 to 3"
+                  "commands": [
+                    {
+                      "type": "named",
+                      "data": {
+                        "name": "Intake"
+                      }
+                    },
+                    {
+                      "type": "wait",
+                      "data": {
+                        "waitTime": 3.0
+                      }
+                    }
+                  ]
                 }
               }
             ]

diff --git a/src/main/deploy/pathplanner/autos/Source 54.auto b/src/main/deploy/pathplanner/autos/Source 54.auto
@@ -26,7 +26,7 @@
         {
           "type": "named",
           "data": {
-            "name": "Sub Shoot Command"
+            "name": "Shoot Command"
           }
         },
         {
@@ -38,7 +38,7 @@
         {
           "type": "named",
           "data": {
-            "name": "Shoot Command"
+            "name": "ShootAutoLow"
           }
         }
       ]

diff --git a/src/main/deploy/pathplanner/paths/1 to 2.path b/src/main/deploy/pathplanner/paths/1 to 2.path
@@ -3,25 +3,25 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 2.9066934025451485,
-        "y": 4.438407050851191
+        "x": 2.8715608929078047,
+        "y": 4.344720358484939
       },
       "prevControl": null,
       "nextControl": {
-        "x": 1.5365255266887123,
-        "y": 4.8248646568619815
+        "x": 1.5013930170513685,
+        "y": 4.73117796449573
       },
       "isLocked": false,
       "linkedName": "End Of Center 1"
     },
     {
       "anchor": {
-        "x": 3.30486184510172,
-        "y": 5.9022616190738795
+        "x": 3.2931510085559395,
+        "y": 5.714888234341376
       },
       "prevControl": {
-        "x": 1.0446703917658886,
-        "y": 5.796864090161845
+        "x": 1.032959555220108,
+        "y": 5.609490705429342
       },
       "nextControl": null,
       "isLocked": false,
@@ -32,7 +32,7 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 4.0,
+    "maxVelocity": 4.5,
     "maxAcceleration": 4.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 540.0

diff --git a/src/main/deploy/pathplanner/paths/2 to 3.path b/src/main/deploy/pathplanner/paths/2 to 3.path
@@ -3,24 +3,24 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 3.30486184510172,
-        "y": 5.9022616190738795
+        "x": 3.2931510085559395,
+        "y": 5.714888234341376
       },
       "prevControl": null,
       "nextControl": {
-        "x": 1.969826478882628,
-        "y": 5.995948311440131
+        "x": 1.9581156423368475,
+        "y": 5.808574926707627
       },
       "isLocked": false,
       "linkedName": "End Of 1 to 2"
     },
     {
       "anchor": {
-        "x": 3.5156569029257874,
+        "x": 3.4922352298342245,
         "y": 7.0733452736520315
       },
       "prevControl": {
-        "x": 2.0400914981573175,
+        "x": 2.0166698250657547,
         "y": 7.096766946743594
       },
       "nextControl": null,
@@ -32,7 +32,7 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 4.0,
+    "maxVelocity": 4.5,
     "maxAcceleration": 4.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 540.0

diff --git a/src/main/deploy/pathplanner/paths/Center 1.path b/src/main/deploy/pathplanner/paths/Center 1.path
@@ -8,20 +8,20 @@
       },
       "prevControl": null,
       "nextControl": {
-        "x": 2.356284084893418,
-        "y": 5.562647359246215
+        "x": 2.7310308543584263,
+        "y": 5.539225686154654
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 2.9066934025451485,
-        "y": 4.438407050851191
+        "x": 2.8715608929078047,
+        "y": 4.344720358484939
       },
       "prevControl": {
-        "x": 0.4474177279310322,
-        "y": 4.450117887396973
+        "x": 1.7473205845127804,
+        "y": 3.677202675375394
       },
       "nextControl": null,
       "isLocked": false,
@@ -32,7 +32,7 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 4.0,
+    "maxVelocity": 4.5,
     "maxAcceleration": 4.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 540.0

diff --git a/src/main/deploy/pathplanner/paths/Center 123.path b/src/main/deploy/pathplanner/paths/Center 123.path
@@ -198,7 +198,7 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 4.0,
+    "maxVelocity": 4.5,
     "maxAcceleration": 4.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 540.0

diff --git a/src/main/deploy/pathplanner/paths/Note 3 to Note 8.path b/src/main/deploy/pathplanner/paths/Note 3 to Note 8.path
@@ -48,7 +48,7 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 4.0,
+    "maxVelocity": 4.5,
     "maxAcceleration": 4.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 540.0

diff --git a/src/main/deploy/pathplanner/paths/Source 4 original.path b/src/main/deploy/pathplanner/paths/Source 4 original.path
diff --git a/src/main/deploy/pathplanner/paths/Source 4.path b/src/main/deploy/pathplanner/paths/Source 4.path
@@ -3,41 +3,41 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 1.1852004303152672,
-        "y": 4.005106098657276
+        "x": 4.101198730214863,
+        "y": 2.6466490593466205
       },
       "prevControl": null,
       "nextControl": {
-        "x": 2.1852004303152683,
-        "y": 4.005106098657276
+        "x": 5.101198730214864,
+        "y": 2.6466490593466205
       },
       "isLocked": false,
       "linkedName": "End Of Source 5"
     },
     {
       "anchor": {
-        "x": 9.441340195091232,
-        "y": 0.8548910678420494
+        "x": 8.563027454157618,
+        "y": 1.0773969622118975
       },
       "prevControl": {
-        "x": 6.010065087177249,
-        "y": 0.4918551349228223
+        "x": 5.131752346243635,
+        "y": 0.7143610292926704
       },
       "nextControl": {
-        "x": 9.674547874759517,
-        "y": 0.8795649179093423
+        "x": 8.796235133825903,
+        "y": 1.1020708122791905
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 3.3282835181932833,
-        "y": 2.213348107152705
+        "x": 2.976958421819838,
+        "y": 3.2087692135441324
       },
       "prevControl": {
-        "x": 4.593053865137684,
-        "y": 0.7846260485673611
+        "x": 3.1877534796439044,
+        "y": 1.0305536160287714
       },
       "nextControl": null,
       "isLocked": false,
@@ -72,18 +72,18 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 4.0,
+    "maxVelocity": 4.5,
     "maxAcceleration": 4.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 540.0
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": 134.99999999999991,
+    "rotation": 137.7263109939063,
     "rotateFast": false
   },
   "reversed": false,
-  "folder": "test",
+  "folder": null,
   "previewStartingState": {
     "rotation": 120.39872771416607,
     "velocity": 0