diff --git a/logs/FRC_20241026_155719_NJNor_Q20.wpilog b/logs/FRC_20241026_155719_NJNor_Q20.wpilog new file mode 100644 index 0000000..3e7caa2 Binary files /dev/null and b/logs/FRC_20241026_155719_NJNor_Q20.wpilog differ diff --git a/logs/FRC_20241026_164928_NJNor_Q26.wpilog b/logs/FRC_20241026_164928_NJNor_Q26.wpilog new file mode 100644 index 0000000..267e2d6 Binary files /dev/null and b/logs/FRC_20241026_164928_NJNor_Q26.wpilog differ diff --git a/logs/FRC_20241026_195838_NJNor_E3.wpilog b/logs/FRC_20241026_195838_NJNor_E3.wpilog new file mode 100644 index 0000000..baf3a8b Binary files /dev/null and b/logs/FRC_20241026_195838_NJNor_E3.wpilog differ diff --git a/logs/FRC_TBD_0b09622a29ea64b8.wpilog b/logs/FRC_TBD_0b09622a29ea64b8.wpilog deleted file mode 100644 index 3f983fd..0000000 Binary files a/logs/FRC_TBD_0b09622a29ea64b8.wpilog and /dev/null differ diff --git a/logs/FRC_TBD_5a8780ec987488e1.wpilog b/logs/FRC_TBD_5a8780ec987488e1.wpilog new file mode 100644 index 0000000..c0c6fb0 Binary files /dev/null and b/logs/FRC_TBD_5a8780ec987488e1.wpilog differ diff --git a/src/main/deploy/pathplanner/autos/Blue 90 Deg BCA.auto b/src/main/deploy/pathplanner/autos/Blue 90 Deg BCA.auto index d46db59..78ad8d9 100644 --- a/src/main/deploy/pathplanner/autos/Blue 90 Deg BCA.auto +++ b/src/main/deploy/pathplanner/autos/Blue 90 Deg BCA.auto @@ -44,6 +44,6 @@ } }, "resetOdom": true, - "folder": "Blue Autons", + "folder": "Blue Useable", "choreoAuto": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/ADEF BLUE.auto b/src/main/deploy/pathplanner/autos/Blue ADEF.auto similarity index 97% rename from src/main/deploy/pathplanner/autos/ADEF BLUE.auto rename to src/main/deploy/pathplanner/autos/Blue ADEF.auto index 56ad792..ee4b0da 100644 --- a/src/main/deploy/pathplanner/autos/ADEF BLUE.auto +++ b/src/main/deploy/pathplanner/autos/Blue ADEF.auto @@ -50,6 +50,6 @@ } }, "resetOdom": true, - "folder": "Blue Autons", + "folder": "Blue Useable", "choreoAuto": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/BCA BLUE.auto b/src/main/deploy/pathplanner/autos/Blue BCA.auto similarity index 100% rename from src/main/deploy/pathplanner/autos/BCA BLUE.auto rename to src/main/deploy/pathplanner/autos/Blue BCA.auto diff --git a/src/main/deploy/pathplanner/autos/Blue DEF.auto b/src/main/deploy/pathplanner/autos/Blue DEF.auto new file mode 100644 index 0000000..57b33cb --- /dev/null +++ b/src/main/deploy/pathplanner/autos/Blue DEF.auto @@ -0,0 +1,49 @@ +{ + "version": 1.0, + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "Blue Amp to D" + } + }, + { + "type": "path", + "data": { + "pathName": "Blue D to Shoot Alt" + } + }, + { + "type": "path", + "data": { + "pathName": "Blue D Shoot to E Alt" + } + }, + { + "type": "path", + "data": { + "pathName": "Blue E to Shoot Alt" + } + }, + { + "type": "path", + "data": { + "pathName": "Blue E Shoot to F Alt" + } + }, + { + "type": "path", + "data": { + "pathName": "Blue F to Shoot" + } + } + ] + } + }, + "resetOdom": true, + "folder": "Blue Useable", + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Blue GH.auto b/src/main/deploy/pathplanner/autos/Blue GH.auto index 95a2432..cccfee5 100644 --- a/src/main/deploy/pathplanner/autos/Blue GH.auto +++ b/src/main/deploy/pathplanner/autos/Blue GH.auto @@ -1,5 +1,12 @@ { "version": 1.0, + "startingPose": { + "position": { + "x": 0.8795509328910394, + "y": 4.209895599278378 + }, + "rotation": -60.0 + }, "command": { "type": "sequential", "data": { @@ -31,7 +38,6 @@ ] } }, - "resetOdom": true, - "folder": "Blue Autons", + "folder": null, "choreoAuto": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Blue HG.auto b/src/main/deploy/pathplanner/autos/Blue HG.auto index 3fa035a..7291044 100644 --- a/src/main/deploy/pathplanner/autos/Blue HG.auto +++ b/src/main/deploy/pathplanner/autos/Blue HG.auto @@ -1,5 +1,12 @@ { "version": 1.0, + "startingPose": { + "position": { + "x": 2, + "y": 2 + }, + "rotation": -60.0 + }, "command": { "type": "sequential", "data": { @@ -25,13 +32,12 @@ { "type": "path", "data": { - "pathName": "Red G to Shoot" + "pathName": "Blue G to Shoot" } } ] } }, - "resetOdom": true, - "folder": "Blue Autons", + "folder": null, "choreoAuto": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/HGF BLUE.auto b/src/main/deploy/pathplanner/autos/Blue HGF.auto similarity index 85% rename from src/main/deploy/pathplanner/autos/HGF BLUE.auto rename to src/main/deploy/pathplanner/autos/Blue HGF.auto index 0be249e..29ae4e1 100644 --- a/src/main/deploy/pathplanner/autos/HGF BLUE.auto +++ b/src/main/deploy/pathplanner/autos/Blue HGF.auto @@ -1,5 +1,12 @@ { "version": 1.0, + "startingPose": { + "position": { + "x": 0.8795509328910394, + "y": 4.209895599278378 + }, + "rotation": -60.0 + }, "command": { "type": "sequential", "data": { @@ -43,7 +50,6 @@ ] } }, - "resetOdom": true, - "folder": "Blue Autons", + "folder": null, "choreoAuto": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Reroute Test Blue.auto b/src/main/deploy/pathplanner/autos/Blue Reroute Test.auto similarity index 100% rename from src/main/deploy/pathplanner/autos/Reroute Test Blue.auto rename to src/main/deploy/pathplanner/autos/Blue Reroute Test.auto diff --git a/src/main/deploy/pathplanner/autos/Red 90 Deg BCA.auto b/src/main/deploy/pathplanner/autos/Red 90 Deg BCA.auto index ff1a8dc..abe9760 100644 --- a/src/main/deploy/pathplanner/autos/Red 90 Deg BCA.auto +++ b/src/main/deploy/pathplanner/autos/Red 90 Deg BCA.auto @@ -44,6 +44,6 @@ } }, "resetOdom": true, - "folder": "Red Autons", + "folder": "Red Useable", "choreoAuto": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/ADEF RED.auto b/src/main/deploy/pathplanner/autos/Red ADEF.auto similarity index 97% rename from src/main/deploy/pathplanner/autos/ADEF RED.auto rename to src/main/deploy/pathplanner/autos/Red ADEF.auto index d5948d6..116c7ea 100644 --- a/src/main/deploy/pathplanner/autos/ADEF RED.auto +++ b/src/main/deploy/pathplanner/autos/Red ADEF.auto @@ -50,6 +50,6 @@ } }, "resetOdom": true, - "folder": "Red Autons", + "folder": "Red Useable", "choreoAuto": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/BCA RED.auto b/src/main/deploy/pathplanner/autos/Red BCA.auto similarity index 100% rename from src/main/deploy/pathplanner/autos/BCA RED.auto rename to src/main/deploy/pathplanner/autos/Red BCA.auto diff --git a/src/main/deploy/pathplanner/autos/Red GH.auto b/src/main/deploy/pathplanner/autos/Red GH.auto index 12efada..14f57e4 100644 --- a/src/main/deploy/pathplanner/autos/Red GH.auto +++ b/src/main/deploy/pathplanner/autos/Red GH.auto @@ -32,6 +32,6 @@ } }, "resetOdom": true, - "folder": "Red Autons", + "folder": "Red Useable", "choreoAuto": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Red HG.auto b/src/main/deploy/pathplanner/autos/Red HG.auto index 0f5513b..62df6eb 100644 --- a/src/main/deploy/pathplanner/autos/Red HG.auto +++ b/src/main/deploy/pathplanner/autos/Red HG.auto @@ -32,6 +32,6 @@ } }, "resetOdom": true, - "folder": "Red Autons", + "folder": "Red Useable", "choreoAuto": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/HGF Red.auto b/src/main/deploy/pathplanner/autos/Red HGF.auto similarity index 87% rename from src/main/deploy/pathplanner/autos/HGF Red.auto rename to src/main/deploy/pathplanner/autos/Red HGF.auto index d5b3608..d9ff68b 100644 --- a/src/main/deploy/pathplanner/autos/HGF Red.auto +++ b/src/main/deploy/pathplanner/autos/Red HGF.auto @@ -1,5 +1,12 @@ { "version": 1.0, + "startingPose": { + "position": { + "x": 0.88, + "y": 4.21 + }, + "rotation": -60.0 + }, "command": { "type": "sequential", "data": { @@ -43,7 +50,6 @@ ] } }, - "resetOdom": true, - "folder": "Red Autons", + "folder": null, "choreoAuto": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Red Midline Shots.auto b/src/main/deploy/pathplanner/autos/Red Midline Shots.auto new file mode 100644 index 0000000..00833cf --- /dev/null +++ b/src/main/deploy/pathplanner/autos/Red Midline Shots.auto @@ -0,0 +1,49 @@ +{ + "version": 1.0, + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "Red Amp to D" + } + }, + { + "type": "path", + "data": { + "pathName": "Red D to Shoot Alt" + } + }, + { + "type": "path", + "data": { + "pathName": "Red D Shoot to E Alt" + } + }, + { + "type": "path", + "data": { + "pathName": "Red E to Shoot Alt" + } + }, + { + "type": "path", + "data": { + "pathName": "Red E Shoot to F Alt" + } + }, + { + "type": "path", + "data": { + "pathName": "Red F to Shoot" + } + } + ] + } + }, + "resetOdom": true, + "folder": "Red Useable", + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Reroute Test Red.auto b/src/main/deploy/pathplanner/autos/Red Reroute Test.auto similarity index 100% rename from src/main/deploy/pathplanner/autos/Reroute Test Red.auto rename to src/main/deploy/pathplanner/autos/Red Reroute Test.auto diff --git a/src/main/deploy/pathplanner/paths/Blue Amp Side Mobility.path b/src/main/deploy/pathplanner/paths/Blue Amp Side Mobility.path index c850fa4..ab1eba5 100644 --- a/src/main/deploy/pathplanner/paths/Blue Amp Side Mobility.path +++ b/src/main/deploy/pathplanner/paths/Blue Amp Side Mobility.path @@ -8,20 +8,20 @@ }, "prevControl": null, "nextControl": { - "x": 1.702311404622812, - "y": 6.739121939782341 + "x": 1.6299951070884284, + "y": 7.598758525270028 }, "isLocked": false, "linkedName": null }, { "anchor": { - "x": 2.496814123442796, - "y": 7.4598028796628215 + "x": 3.7613533644105983, + "y": 7.467083995737933 }, "prevControl": { - "x": 1.496814123442796, - "y": 7.4598028796628215 + "x": 2.7613533644105983, + "y": 7.467083995737933 }, "nextControl": null, "isLocked": false, diff --git a/src/main/deploy/pathplanner/paths/Blue Amp to A.path b/src/main/deploy/pathplanner/paths/Blue Amp to A.path index 8d95224..1e2f217 100644 --- a/src/main/deploy/pathplanner/paths/Blue Amp to A.path +++ b/src/main/deploy/pathplanner/paths/Blue Amp to A.path @@ -3,13 +3,13 @@ "waypoints": [ { "anchor": { - "x": 1.3901542060896621, - "y": 6.569495408336055 + "x": 0.771923300729042, + "y": 6.761454662232242 }, "prevControl": null, "nextControl": { - "x": 1.8598514847351095, - "y": 6.746049877940562 + "x": 1.2416205793744894, + "y": 6.93800913183675 }, "isLocked": false, "linkedName": "Blue ADEF Starting Pose" @@ -46,7 +46,7 @@ "folder": "Blue To Note", "idealStartingState": { "velocity": 0, - "rotation": 0.0 + "rotation": 61.21333556498881 }, "useDefaultConstraints": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Blue Amp to D.path b/src/main/deploy/pathplanner/paths/Blue Amp to D.path new file mode 100644 index 0000000..73e9d37 --- /dev/null +++ b/src/main/deploy/pathplanner/paths/Blue Amp to D.path @@ -0,0 +1,55 @@ +{ + "version": 1.0, + "waypoints": [ + { + "anchor": { + "x": 0.771923300729042, + "y": 6.761454662232242 + }, + "prevControl": null, + "nextControl": { + "x": 1.35957917842175, + "y": 8.561439231323403 + }, + "isLocked": false, + "linkedName": "Blue ADEF Starting Pose" + }, + { + "anchor": { + "x": 8.303868098476938, + "y": 7.429163844438801 + }, + "prevControl": { + "x": 6.354990656409885, + "y": 7.0765312838289365 + }, + "nextControl": null, + "isLocked": false, + "linkedName": "Blue D" + } + ], + "rotationTargets": [ + { + "waypointRelativePos": 0.35, + "rotationDegrees": 90.07372067708508, + "rotateFast": false + } + ], + "constraintZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 3.0, + "maxAcceleration": 3.0, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0 + }, + "goalEndState": { + "velocity": 0, + "rotation": 0.0, + "rotateFast": false + }, + "reversed": false, + "folder": null, + "previewStartingState": null, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Blue D Shoot to E Alt.path b/src/main/deploy/pathplanner/paths/Blue D Shoot to E Alt.path new file mode 100644 index 0000000..32dc8f3 --- /dev/null +++ b/src/main/deploy/pathplanner/paths/Blue D Shoot to E Alt.path @@ -0,0 +1,52 @@ +{ + "version": 1.0, + "waypoints": [ + { + "anchor": { + "x": 5.797813658499342, + "y": 6.662518487797393 + }, + "prevControl": null, + "nextControl": { + "x": 7.9931548509513926, + "y": 6.078010421012019 + }, + "isLocked": false, + "linkedName": "Blue DEF Shoot" + }, + { + "anchor": { + "x": 8.304224404745106, + "y": 5.774418150688153 + }, + "prevControl": { + "x": 7.420685950022898, + "y": 6.011662048249713 + }, + "nextControl": null, + "isLocked": false, + "linkedName": "Blue E" + } + ], + "rotationTargets": [], + "constraintZones": [], + "pointTowardsZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 3.0, + "maxAcceleration": 3.0, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0 + }, + "goalEndState": { + "velocity": 0, + "rotation": -10.44392231985493 + }, + "reversed": false, + "folder": "Blue To Note", + "idealStartingState": { + "velocity": 0, + "rotation": 0.0 + }, + "useDefaultConstraints": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Blue D Shoot to E.path b/src/main/deploy/pathplanner/paths/Blue D Shoot to E.path index 903878f..45f5b25 100644 --- a/src/main/deploy/pathplanner/paths/Blue D Shoot to E.path +++ b/src/main/deploy/pathplanner/paths/Blue D Shoot to E.path @@ -3,16 +3,16 @@ "waypoints": [ { "anchor": { - "x": 3.7806787928390673, - "y": 6.027870676111723 + "x": 4.445301349680081, + "y": 6.156732534819237 }, "prevControl": null, "nextControl": { - "x": 5.279718647400258, - "y": 7.277258605443138 + "x": 6.477386914967283, + "y": 7.04436981604618 }, "isLocked": false, - "linkedName": "Blue DEF Shoot" + "linkedName": "Blue Close DEF Shot" }, { "anchor": { @@ -20,8 +20,8 @@ "y": 5.774418150688153 }, "prevControl": { - "x": 7.393505583307462, - "y": 5.7328582221267 + "x": 7.420685950022898, + "y": 6.011662048249713 }, "nextControl": null, "isLocked": false, @@ -40,13 +40,13 @@ }, "goalEndState": { "velocity": 0, - "rotation": 0.0 + "rotation": -10.44392231985493 }, "reversed": false, "folder": "Blue To Note", "idealStartingState": { "velocity": 0, - "rotation": 0.0 + "rotation": -0.0672222368676542 }, "useDefaultConstraints": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Blue D to Shoot Alt.path b/src/main/deploy/pathplanner/paths/Blue D to Shoot Alt.path new file mode 100644 index 0000000..f731277 --- /dev/null +++ b/src/main/deploy/pathplanner/paths/Blue D to Shoot Alt.path @@ -0,0 +1,52 @@ +{ + "version": 1.0, + "waypoints": [ + { + "anchor": { + "x": 8.303868098476938, + "y": 7.429163844438801 + }, + "prevControl": null, + "nextControl": { + "x": 6.295753410021586, + "y": 6.811173683100656 + }, + "isLocked": false, + "linkedName": "Blue D" + }, + { + "anchor": { + "x": 5.797813658499342, + "y": 6.662518487797393 + }, + "prevControl": { + "x": 7.909668943575458, + "y": 7.3074887753507864 + }, + "nextControl": null, + "isLocked": false, + "linkedName": "Blue DEF Shoot" + } + ], + "rotationTargets": [], + "constraintZones": [], + "pointTowardsZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 3.0, + "maxAcceleration": 3.0, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0 + }, + "goalEndState": { + "velocity": 0, + "rotation": 5.219729912691032 + }, + "reversed": false, + "folder": "Blue To Shoot", + "idealStartingState": { + "velocity": 0, + "rotation": 0.0 + }, + "useDefaultConstraints": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Blue D to Shoot.path b/src/main/deploy/pathplanner/paths/Blue D to Shoot.path index c44eb48..f85bb83 100644 --- a/src/main/deploy/pathplanner/paths/Blue D to Shoot.path +++ b/src/main/deploy/pathplanner/paths/Blue D to Shoot.path @@ -8,24 +8,24 @@ }, "prevControl": null, "nextControl": { - "x": 5.381303446027345, - "y": 6.520162874561078 + "x": 6.761201049764626, + "y": 6.911532484396365 }, "isLocked": false, "linkedName": "Blue D" }, { "anchor": { - "x": 3.7806787928390673, - "y": 6.027870676111723 + "x": 4.445301349680081, + "y": 6.156732534819237 }, "prevControl": { - "x": 6.65225436733672, - "y": 6.925044975688779 + "x": 6.468659518323985, + "y": 6.830304125640686 }, "nextControl": null, "isLocked": false, - "linkedName": "Blue DEF Shoot" + "linkedName": "Blue Close DEF Shot" } ], "rotationTargets": [], @@ -40,7 +40,7 @@ }, "goalEndState": { "velocity": 0, - "rotation": 11.961303526373325 + "rotation": 5.219729912691032 }, "reversed": false, "folder": "Blue To Shoot", diff --git a/src/main/deploy/pathplanner/paths/Blue E Shoot to F Alt.path b/src/main/deploy/pathplanner/paths/Blue E Shoot to F Alt.path new file mode 100644 index 0000000..d311343 --- /dev/null +++ b/src/main/deploy/pathplanner/paths/Blue E Shoot to F Alt.path @@ -0,0 +1,52 @@ +{ + "version": 1.0, + "waypoints": [ + { + "anchor": { + "x": 5.797813658499342, + "y": 6.662518487797393 + }, + "prevControl": null, + "nextControl": { + "x": 6.388017455164375, + "y": 6.508778018486097 + }, + "isLocked": false, + "linkedName": "Blue DEF Shoot" + }, + { + "anchor": { + "x": 8.288957304291097, + "y": 4.0969083044936925 + }, + "prevControl": { + "x": 6.780012385359592, + "y": 6.00404969225117 + }, + "nextControl": null, + "isLocked": false, + "linkedName": "Blue F" + } + ], + "rotationTargets": [], + "constraintZones": [], + "pointTowardsZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 3.0, + "maxAcceleration": 4.0, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0 + }, + "goalEndState": { + "velocity": 0, + "rotation": -54.697882695177206 + }, + "reversed": false, + "folder": "Blue To Note", + "idealStartingState": { + "velocity": 0, + "rotation": 1.3660059022414424 + }, + "useDefaultConstraints": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Blue E Shoot to F.path b/src/main/deploy/pathplanner/paths/Blue E Shoot to F.path index 088a7e8..3871226 100644 --- a/src/main/deploy/pathplanner/paths/Blue E Shoot to F.path +++ b/src/main/deploy/pathplanner/paths/Blue E Shoot to F.path @@ -3,16 +3,16 @@ "waypoints": [ { "anchor": { - "x": 3.7806787928390673, - "y": 6.027870676111723 + "x": 4.445301349680081, + "y": 6.156732534819237 }, "prevControl": null, "nextControl": { - "x": 4.683796180278373, - "y": 3.722508437390387 + "x": 4.3567972208489065, + "y": 3.8686051497847047 }, "isLocked": false, - "linkedName": "Blue DEF Shoot" + "linkedName": "Blue Close DEF Shot" }, { "anchor": { @@ -20,8 +20,8 @@ "y": 4.0969083044936925 }, "prevControl": { - "x": 5.226887512926812, - "y": 4.141857441080955 + "x": 4.5812063861850945, + "y": 3.9870593450264273 }, "nextControl": null, "isLocked": false, diff --git a/src/main/deploy/pathplanner/paths/Blue E to Shoot Alt.path b/src/main/deploy/pathplanner/paths/Blue E to Shoot Alt.path new file mode 100644 index 0000000..7aeeff4 --- /dev/null +++ b/src/main/deploy/pathplanner/paths/Blue E to Shoot Alt.path @@ -0,0 +1,52 @@ +{ + "version": 1.0, + "waypoints": [ + { + "anchor": { + "x": 8.304224404745106, + "y": 5.774418150688153 + }, + "prevControl": null, + "nextControl": { + "x": 6.804888064358584, + "y": 6.167483563162863 + }, + "isLocked": false, + "linkedName": "Blue E" + }, + { + "anchor": { + "x": 5.797813658499342, + "y": 6.662518487797393 + }, + "prevControl": { + "x": 7.493477573483347, + "y": 6.218817461764985 + }, + "nextControl": null, + "isLocked": false, + "linkedName": "Blue DEF Shoot" + } + ], + "rotationTargets": [], + "constraintZones": [], + "pointTowardsZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 3.0, + "maxAcceleration": 4.0, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0 + }, + "goalEndState": { + "velocity": 0, + "rotation": 17.14111484001432 + }, + "reversed": false, + "folder": "Blue To Shoot", + "idealStartingState": { + "velocity": 0, + "rotation": 0.0 + }, + "useDefaultConstraints": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Blue E to Shoot.path b/src/main/deploy/pathplanner/paths/Blue E to Shoot.path index 02c2ef0..8d390e4 100644 --- a/src/main/deploy/pathplanner/paths/Blue E to Shoot.path +++ b/src/main/deploy/pathplanner/paths/Blue E to Shoot.path @@ -16,16 +16,16 @@ }, { "anchor": { - "x": 3.7806787928390673, - "y": 6.027870676111723 + "x": 4.445301349680081, + "y": 6.156732534819237 }, "prevControl": { - "x": 4.849538212965315, - "y": 6.758714216502507 + "x": 5.514160769806328, + "y": 6.887576075210021 }, "nextControl": null, "isLocked": false, - "linkedName": "Blue DEF Shoot" + "linkedName": "Blue Close DEF Shot" } ], "rotationTargets": [], @@ -40,7 +40,7 @@ }, "goalEndState": { "velocity": 0, - "rotation": 17.14111484001432 + "rotation": 8.066836177505122 }, "reversed": false, "folder": "Blue To Shoot", diff --git a/src/main/deploy/pathplanner/paths/Blue F Shoot to G.path b/src/main/deploy/pathplanner/paths/Blue F Shoot to G.path index ac78437..7dbf8f4 100644 --- a/src/main/deploy/pathplanner/paths/Blue F Shoot to G.path +++ b/src/main/deploy/pathplanner/paths/Blue F Shoot to G.path @@ -16,12 +16,12 @@ }, { "anchor": { - "x": 7.454009064454142, - "y": 2.7589143264224028 + "x": 8.289822635262832, + "y": 2.4377803880235733 }, "prevControl": { - "x": 6.038712186241336, - "y": 4.161231240059206 + "x": 6.874525757050026, + "y": 3.8400973016603763 }, "nextControl": null, "isLocked": false, @@ -30,7 +30,6 @@ ], "rotationTargets": [], "constraintZones": [], - "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { "maxVelocity": 3.0, @@ -40,13 +39,11 @@ }, "goalEndState": { "velocity": 0, - "rotation": -36.75099449320135 + "rotation": -36.75099449320135, + "rotateFast": false }, "reversed": false, - "folder": "Red To Note", - "idealStartingState": { - "velocity": 0, - "rotation": 0.0 - }, + "folder": null, + "previewStartingState": null, "useDefaultConstraints": true } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Blue F to Shoot Alt.path b/src/main/deploy/pathplanner/paths/Blue F to Shoot Alt.path new file mode 100644 index 0000000..f6dabe3 --- /dev/null +++ b/src/main/deploy/pathplanner/paths/Blue F to Shoot Alt.path @@ -0,0 +1,52 @@ +{ + "version": 1.0, + "waypoints": [ + { + "anchor": { + "x": 8.288957304291097, + "y": 4.0969083044936925 + }, + "prevControl": null, + "nextControl": { + "x": 6.515413403780678, + "y": 6.570360739307788 + }, + "isLocked": false, + "linkedName": "Blue F" + }, + { + "anchor": { + "x": 5.797813658499342, + "y": 6.662518487797393 + }, + "prevControl": { + "x": 6.615503352844504, + "y": 6.347057274657704 + }, + "nextControl": null, + "isLocked": false, + "linkedName": "Blue DEF Shoot" + } + ], + "rotationTargets": [], + "constraintZones": [], + "pointTowardsZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 3.0, + "maxAcceleration": 4.0, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0 + }, + "goalEndState": { + "velocity": 0, + "rotation": 5.640618551239058 + }, + "reversed": false, + "folder": "Blue To Shoot", + "idealStartingState": { + "velocity": 0, + "rotation": 0.0 + }, + "useDefaultConstraints": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Blue G Shoot to F.path b/src/main/deploy/pathplanner/paths/Blue G Shoot to F.path index 71f0688..9328a42 100644 --- a/src/main/deploy/pathplanner/paths/Blue G Shoot to F.path +++ b/src/main/deploy/pathplanner/paths/Blue G Shoot to F.path @@ -3,13 +3,13 @@ "waypoints": [ { "anchor": { - "x": 1.9554131415955136, - "y": 3.8122943482354206 + "x": 2.9673160499594813, + "y": 2.9639016188374643 }, "prevControl": null, "nextControl": { - "x": 3.9992452801857166, - "y": 1.9280280334064948 + "x": 5.011148188549685, + "y": 1.0796353040085385 }, "isLocked": false, "linkedName": "Blue Midline Shoot Pose" @@ -31,27 +31,25 @@ "rotationTargets": [ { "waypointRelativePos": 0.5, - "rotationDegrees": 26.187378361039833 + "rotationDegrees": 26.187378361039833, + "rotateFast": false } ], "constraintZones": [], - "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { - "maxVelocity": 2.25, - "maxAcceleration": 2.0, + "maxVelocity": 3.75, + "maxAcceleration": 3.5, "maxAngularVelocity": 540.0, "maxAngularAcceleration": 720.0 }, "goalEndState": { "velocity": 0, - "rotation": 61.30469161044191 + "rotation": 61.30469161044191, + "rotateFast": false }, "reversed": false, - "folder": "Blue To Note", - "idealStartingState": { - "velocity": 0, - "rotation": 0.0 - }, + "folder": null, + "previewStartingState": null, "useDefaultConstraints": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Blue G Shoot to H.path b/src/main/deploy/pathplanner/paths/Blue G Shoot to H.path index 6423b55..917bb9f 100644 --- a/src/main/deploy/pathplanner/paths/Blue G Shoot to H.path +++ b/src/main/deploy/pathplanner/paths/Blue G Shoot to H.path @@ -3,25 +3,25 @@ "waypoints": [ { "anchor": { - "x": 1.9554131415955136, - "y": 3.8122943482354206 + "x": 2.9673160499594813, + "y": 2.9639016188374643 }, "prevControl": null, "nextControl": { - "x": 2.7951402231152036, - "y": 1.622874554865919 + "x": 3.8070431314791713, + "y": 0.7744818254679626 }, "isLocked": false, "linkedName": "Blue Midline Shoot Pose" }, { "anchor": { - "x": 7.6387722006213234, - "y": 1.0875563631469138 + "x": 8.277227262229824, + "y": 0.7599036338325648 }, "prevControl": { - "x": 6.6387722006213234, - "y": 1.087556363146914 + "x": 7.2772272622298235, + "y": 0.759903633832565 }, "nextControl": null, "isLocked": false, @@ -31,27 +31,25 @@ "rotationTargets": [ { "waypointRelativePos": 0.1, - "rotationDegrees": 0.0 + "rotationDegrees": 0.0, + "rotateFast": false } ], "constraintZones": [], - "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { - "maxVelocity": 3.0, - "maxAcceleration": 3.0, + "maxVelocity": 3.75, + "maxAcceleration": 3.5, "maxAngularVelocity": 540.0, "maxAngularAcceleration": 720.0 }, "goalEndState": { "velocity": 0, - "rotation": 0.0 + "rotation": 0.0, + "rotateFast": false }, "reversed": false, - "folder": "Blue To Note", - "idealStartingState": { - "velocity": 0, - "rotation": 0.0 - }, - "useDefaultConstraints": true + "folder": null, + "previewStartingState": null, + "useDefaultConstraints": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Blue G to F Reroute.path b/src/main/deploy/pathplanner/paths/Blue G to F Reroute.path index 895fed5..3056922 100644 --- a/src/main/deploy/pathplanner/paths/Blue G to F Reroute.path +++ b/src/main/deploy/pathplanner/paths/Blue G to F Reroute.path @@ -3,13 +3,13 @@ "waypoints": [ { "anchor": { - "x": 7.454009064454142, - "y": 2.7589143264224028 + "x": 8.289822635262832, + "y": 2.4377803880235733 }, "prevControl": null, "nextControl": { - "x": 7.4396690084924755, - "y": 3.2549724743877855 + "x": 8.275482579301165, + "y": 2.933838535988956 }, "isLocked": false, "linkedName": "Blue G" @@ -30,7 +30,6 @@ ], "rotationTargets": [], "constraintZones": [], - "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { "maxVelocity": 3.0, @@ -40,13 +39,11 @@ }, "goalEndState": { "velocity": 0, - "rotation": 90.0 + "rotation": 90.0, + "rotateFast": false }, "reversed": false, - "folder": "Blue Reroutes", - "idealStartingState": { - "velocity": 0, - "rotation": 0.0 - }, + "folder": null, + "previewStartingState": null, "useDefaultConstraints": true } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Blue G to F Shoot.path b/src/main/deploy/pathplanner/paths/Blue G to F Shoot.path index 039fef7..0a0bd13 100644 --- a/src/main/deploy/pathplanner/paths/Blue G to F Shoot.path +++ b/src/main/deploy/pathplanner/paths/Blue G to F Shoot.path @@ -3,13 +3,13 @@ "waypoints": [ { "anchor": { - "x": 7.454009064454142, - "y": 2.7589143264224028 + "x": 8.289822635262832, + "y": 2.4377803880235733 }, "prevControl": null, "nextControl": { - "x": 6.055153474704271, - "y": 4.402322063572698 + "x": 6.890967045512961, + "y": 4.081188125173869 }, "isLocked": false, "linkedName": "Blue G" @@ -30,7 +30,6 @@ ], "rotationTargets": [], "constraintZones": [], - "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { "maxVelocity": 3.0, @@ -40,13 +39,11 @@ }, "goalEndState": { "velocity": 0, - "rotation": 0.0 + "rotation": 0.0, + "rotateFast": false }, "reversed": false, - "folder": "Red To Shoot", - "idealStartingState": { - "velocity": 0, - "rotation": -36.99723984606199 - }, + "folder": null, + "previewStartingState": null, "useDefaultConstraints": true } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Blue G to Shoot.path b/src/main/deploy/pathplanner/paths/Blue G to Shoot.path index ebdf8b7..df6a097 100644 --- a/src/main/deploy/pathplanner/paths/Blue G to Shoot.path +++ b/src/main/deploy/pathplanner/paths/Blue G to Shoot.path @@ -3,55 +3,47 @@ "waypoints": [ { "anchor": { - "x": 7.454009064454142, - "y": 2.7589143264224028 + "x": 8.289822635262832, + "y": 2.4377803880235733 }, "prevControl": null, "nextControl": { - "x": 5.335023775460655, - "y": 0.2572713977336796 + "x": 5.717530173899634, + "y": 1.0805087588597786 }, "isLocked": false, "linkedName": "Blue G" }, { "anchor": { - "x": 1.9554131415955136, - "y": 3.8122943482354206 + "x": 3.522429836882466, + "y": 2.4377803880235733 }, "prevControl": { - "x": 3.9645556673592, - "y": 2.242664740315236 + "x": 5.5922951731943344, + "y": 1.321439451995713 }, "nextControl": null, "isLocked": false, - "linkedName": "Blue Midline Shoot Pose" - } - ], - "rotationTargets": [ - { - "waypointRelativePos": 0.5, - "rotationDegrees": -4.159684543530611 + "linkedName": null } ], + "rotationTargets": [], "constraintZones": [], - "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { - "maxVelocity": 2.5, - "maxAcceleration": 2.5, + "maxVelocity": 3.75, + "maxAcceleration": 3.5, "maxAngularVelocity": 540.0, "maxAngularAcceleration": 720.0 }, "goalEndState": { "velocity": 0, - "rotation": -42.20729763428664 + "rotation": -38.83936907589442, + "rotateFast": false }, "reversed": false, - "folder": "Blue To Shoot", - "idealStartingState": { - "velocity": 0, - "rotation": 0.0 - }, + "folder": null, + "previewStartingState": null, "useDefaultConstraints": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Blue GF Shoot to H.path b/src/main/deploy/pathplanner/paths/Blue GF Shoot to H.path index 2642c39..8795cd3 100644 --- a/src/main/deploy/pathplanner/paths/Blue GF Shoot to H.path +++ b/src/main/deploy/pathplanner/paths/Blue GF Shoot to H.path @@ -32,12 +32,12 @@ }, { "anchor": { - "x": 7.6387722006213234, - "y": 1.0875563631469138 + "x": 8.277227262229824, + "y": 0.7599036338325648 }, "prevControl": { - "x": 6.853853961614173, - "y": 2.7999213996939902 + "x": 7.492309023222673, + "y": 2.4722686703796413 }, "nextControl": null, "isLocked": false, diff --git a/src/main/deploy/pathplanner/paths/Blue H Shoot to G.path b/src/main/deploy/pathplanner/paths/Blue H Shoot to G.path index 194a721..3c81f27 100644 --- a/src/main/deploy/pathplanner/paths/Blue H Shoot to G.path +++ b/src/main/deploy/pathplanner/paths/Blue H Shoot to G.path @@ -3,25 +3,25 @@ "waypoints": [ { "anchor": { - "x": 1.9554131415955136, - "y": 3.8122943482354206 + "x": 2.9673160499594813, + "y": 2.9639016188374643 }, "prevControl": null, "nextControl": { - "x": 5.017029567178791, - "y": 1.5994862459810397 + "x": 6.028932475542758, + "y": 0.7510935165830834 }, "isLocked": false, "linkedName": "Blue Midline Shoot Pose" }, { "anchor": { - "x": 7.454009064454142, - "y": 2.7589143264224028 + "x": 8.289822635262832, + "y": 2.4377803880235733 }, "prevControl": { - "x": 5.299941312133336, - "y": 0.9589206642800754 + "x": 6.135754882942026, + "y": 0.637786725881246 }, "nextControl": null, "isLocked": false, @@ -30,23 +30,20 @@ ], "rotationTargets": [], "constraintZones": [], - "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { - "maxVelocity": 3.0, - "maxAcceleration": 3.0, + "maxVelocity": 3.75, + "maxAcceleration": 3.5, "maxAngularVelocity": 540.0, "maxAngularAcceleration": 720.0 }, "goalEndState": { "velocity": 0, - "rotation": 37.58348553725079 + "rotation": 37.58348553725079, + "rotateFast": false }, "reversed": false, - "folder": "Blue To Note", - "idealStartingState": { - "velocity": 0, - "rotation": 0.0 - }, - "useDefaultConstraints": true + "folder": null, + "previewStartingState": null, + "useDefaultConstraints": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Blue H to F Shoot.path b/src/main/deploy/pathplanner/paths/Blue H to F Shoot.path index b3484db..4b199ee 100644 --- a/src/main/deploy/pathplanner/paths/Blue H to F Shoot.path +++ b/src/main/deploy/pathplanner/paths/Blue H to F Shoot.path @@ -3,13 +3,13 @@ "waypoints": [ { "anchor": { - "x": 7.6387722006213234, - "y": 1.0875563631469138 + "x": 8.277227262229824, + "y": 0.7599036338325648 }, "prevControl": null, "nextControl": { - "x": 6.625166215362193, - "y": 3.524491866692066 + "x": 7.263621276970693, + "y": 3.196839137377717 }, "isLocked": false, "linkedName": "Blue H" diff --git a/src/main/deploy/pathplanner/paths/Blue H to G Reroute.path b/src/main/deploy/pathplanner/paths/Blue H to G Reroute.path index 1562383..03dc660 100644 --- a/src/main/deploy/pathplanner/paths/Blue H to G Reroute.path +++ b/src/main/deploy/pathplanner/paths/Blue H to G Reroute.path @@ -3,25 +3,25 @@ "waypoints": [ { "anchor": { - "x": 7.6387722006213234, - "y": 1.0875563631469138 + "x": 8.277227262229824, + "y": 0.7599036338325648 }, "prevControl": null, "nextControl": { - "x": 7.634598680522222, - "y": 1.3802414486160037 + "x": 8.273053742130722, + "y": 1.0525887193016548 }, "isLocked": false, "linkedName": "Blue H" }, { "anchor": { - "x": 7.454009064454142, - "y": 2.7589143264224028 + "x": 8.289822635262832, + "y": 2.4377803880235733 }, "prevControl": { - "x": 7.450970443618394, - "y": 1.8037179741752176 + "x": 8.286784014427084, + "y": 1.4825840357763882 }, "nextControl": null, "isLocked": false, @@ -30,7 +30,6 @@ ], "rotationTargets": [], "constraintZones": [], - "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { "maxVelocity": 3.0, @@ -40,13 +39,11 @@ }, "goalEndState": { "velocity": 0, - "rotation": 90.0 + "rotation": 90.0, + "rotateFast": false }, "reversed": false, - "folder": "Blue Reroutes", - "idealStartingState": { - "velocity": 0, - "rotation": 0.0 - }, + "folder": null, + "previewStartingState": null, "useDefaultConstraints": true } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Blue H to Shoot.path b/src/main/deploy/pathplanner/paths/Blue H to Shoot.path index ea86ae5..9abd4f0 100644 --- a/src/main/deploy/pathplanner/paths/Blue H to Shoot.path +++ b/src/main/deploy/pathplanner/paths/Blue H to Shoot.path @@ -3,25 +3,25 @@ "waypoints": [ { "anchor": { - "x": 7.6387722006213234, - "y": 1.0875563631469138 + "x": 8.277227262229824, + "y": 0.7599036338325648 }, "prevControl": null, "nextControl": { - "x": 4.217397760216192, - "y": 1.3491747602676356 + "x": 4.126715330253577, + "y": 1.888054851258513 }, "isLocked": false, "linkedName": "Blue H" }, { "anchor": { - "x": 1.9554131415955136, - "y": 3.8122943482354206 + "x": 2.9673160499594813, + "y": 2.9639016188374643 }, "prevControl": { - "x": 2.9026396514331485, - "y": 2.8533736839553465 + "x": 3.914542559797117, + "y": 2.0049809545573902 }, "nextControl": null, "isLocked": false, @@ -30,23 +30,20 @@ ], "rotationTargets": [], "constraintZones": [], - "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { - "maxVelocity": 3.0, - "maxAcceleration": 3.0, + "maxVelocity": 3.75, + "maxAcceleration": 3.5, "maxAngularVelocity": 540.0, "maxAngularAcceleration": 720.0 }, "goalEndState": { "velocity": 0, - "rotation": -45.93919094573563 + "rotation": -38.06702049799883, + "rotateFast": false }, "reversed": false, - "folder": "Blue To Shoot", - "idealStartingState": { - "velocity": 0, - "rotation": 0.0 - }, - "useDefaultConstraints": true + "folder": null, + "previewStartingState": null, + "useDefaultConstraints": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Blue Midline Waypoints.path b/src/main/deploy/pathplanner/paths/Blue Midline Waypoints.path index 0b9d594..2206da4 100644 --- a/src/main/deploy/pathplanner/paths/Blue Midline Waypoints.path +++ b/src/main/deploy/pathplanner/paths/Blue Midline Waypoints.path @@ -48,64 +48,64 @@ }, { "anchor": { - "x": 7.454009064454142, - "y": 2.7589143264224028 + "x": 8.289822635262832, + "y": 2.4377803880235733 }, "prevControl": { - "x": 7.6777084893676975, - "y": 2.647296374043115 + "x": 8.513522060176387, + "y": 2.3261624356442856 }, "nextControl": { - "x": 7.230309639540587, - "y": 2.87053227880169 + "x": 8.066123210349277, + "y": 2.5493983404028606 }, "isLocked": false, "linkedName": "Blue G" }, { "anchor": { - "x": 7.6387722006213234, - "y": 1.0875563631469138 + "x": 8.277227262229824, + "y": 0.7599036338325648 }, "prevControl": { - "x": 7.862682673242908, - "y": 0.9763623873641469 + "x": 8.501137734851408, + "y": 0.6487096580497979 }, "nextControl": { - "x": 7.414861727999737, - "y": 1.1987503389296776 + "x": 8.053316789608237, + "y": 0.8710976096153286 }, "isLocked": false, "linkedName": "Blue H" }, { "anchor": { - "x": 1.3901542060896621, - "y": 6.569495408336055 + "x": 0.771923300729042, + "y": 6.761454662232242 }, "prevControl": { - "x": 1.6148154107297024, - "y": 6.459826164107392 + "x": 0.9965845053690823, + "y": 6.65178541800358 }, "nextControl": { - "x": 1.165493001449622, - "y": 6.679164652564717 + "x": 0.547262096089002, + "y": 6.871123906460904 }, "isLocked": false, "linkedName": "Blue ADEF Starting Pose" }, { "anchor": { - "x": 1.9554131415955136, - "y": 3.8122943482354206 + "x": 2.9673160499594813, + "y": 2.9639016188374643 }, "prevControl": { - "x": 2.18364615591039, - "y": 3.7102664541243215 + "x": 3.1955490642743576, + "y": 2.8618737247263653 }, "nextControl": { - "x": 1.7271801272806377, - "y": 3.9143222423465196 + "x": 2.7390830356446054, + "y": 3.0659295129485633 }, "isLocked": false, "linkedName": "Blue Midline Shoot Pose" @@ -142,7 +142,6 @@ ], "rotationTargets": [], "constraintZones": [], - "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { "maxVelocity": 3.0, @@ -152,13 +151,11 @@ }, "goalEndState": { "velocity": 0, - "rotation": 0.0 + "rotation": 0.0, + "rotateFast": false }, "reversed": false, - "folder": "Blue Util", - "idealStartingState": { - "velocity": 0, - "rotation": 0.0 - }, + "folder": null, + "previewStartingState": null, "useDefaultConstraints": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Blue Source to G.path b/src/main/deploy/pathplanner/paths/Blue Source to G.path index 6072256..f825f83 100644 --- a/src/main/deploy/pathplanner/paths/Blue Source to G.path +++ b/src/main/deploy/pathplanner/paths/Blue Source to G.path @@ -8,20 +8,20 @@ }, "prevControl": null, "nextControl": { - "x": 4.42287972895034, - "y": 1.648875776384032 + "x": 1.1952931028369176, + "y": 0.5613194132371174 }, "isLocked": false, "linkedName": "Blue HGF Starting Pose" }, { "anchor": { - "x": 7.454009064454142, - "y": 2.7589143264224028 + "x": 8.289822635262832, + "y": 2.4377803880235733 }, "prevControl": { - "x": 5.510436092097254, - "y": 0.3625187877156386 + "x": 4.832175134435738, + "y": 0.514542795467358 }, "nextControl": null, "isLocked": false, @@ -30,23 +30,20 @@ ], "rotationTargets": [], "constraintZones": [], - "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { - "maxVelocity": 3.0, - "maxAcceleration": 3.0, + "maxVelocity": 3.75, + "maxAcceleration": 3.5, "maxAngularVelocity": 540.0, "maxAngularAcceleration": 720.0 }, "goalEndState": { "velocity": 0, - "rotation": 47.89574324189973 + "rotation": 34.107422772469015, + "rotateFast": false }, "reversed": false, - "folder": "Blue To Note", - "idealStartingState": { - "velocity": 0, - "rotation": 0.0 - }, - "useDefaultConstraints": true + "folder": null, + "previewStartingState": null, + "useDefaultConstraints": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Blue Source to H.path b/src/main/deploy/pathplanner/paths/Blue Source to H.path index ed760dd..29b7211 100644 --- a/src/main/deploy/pathplanner/paths/Blue Source to H.path +++ b/src/main/deploy/pathplanner/paths/Blue Source to H.path @@ -8,20 +8,20 @@ }, "prevControl": null, "nextControl": { - "x": 3.6393713813068667, - "y": 0.7952025020859157 + "x": 0.79769185179396, + "y": 0.5262369499097975 }, "isLocked": false, "linkedName": "Blue HGF Starting Pose" }, { "anchor": { - "x": 7.6387722006213234, - "y": 1.0875563631469138 + "x": 8.277227262229824, + "y": 0.7599036338325648 }, "prevControl": { - "x": 3.251736469704623, - "y": 0.9992926040301094 + "x": 6.153614586431451, + "y": 0.8185908109707958 }, "nextControl": null, "isLocked": false, @@ -31,27 +31,28 @@ "rotationTargets": [ { "waypointRelativePos": 0.35, - "rotationDegrees": 0.0 + "rotationDegrees": 0.0, + "rotateFast": false } ], "constraintZones": [], - "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { - "maxVelocity": 3.0, - "maxAcceleration": 3.0, + "maxVelocity": 3.75, + "maxAcceleration": 3.5, "maxAngularVelocity": 540.0, "maxAngularAcceleration": 720.0 }, "goalEndState": { "velocity": 0, - "rotation": -1.5944180626014446 + "rotation": -1.5944180626014446, + "rotateFast": false }, "reversed": false, - "folder": "Blue To Note", - "idealStartingState": { - "velocity": 0, - "rotation": 0.0 + "folder": null, + "previewStartingState": { + "rotation": -60.0, + "velocity": 0 }, - "useDefaultConstraints": true + "useDefaultConstraints": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Red Amp Side Mobility.path b/src/main/deploy/pathplanner/paths/Red Amp Side Mobility.path index ee5bd5b..b136240 100644 --- a/src/main/deploy/pathplanner/paths/Red Amp Side Mobility.path +++ b/src/main/deploy/pathplanner/paths/Red Amp Side Mobility.path @@ -8,20 +8,20 @@ }, "prevControl": null, "nextControl": { - "x": 1.702311404622812, - "y": 6.739121939782341 + "x": 1.2118479519697136, + "y": 7.520446072328157 }, "isLocked": false, "linkedName": null }, { "anchor": { - "x": 2.4851032868970147, - "y": 7.436381206571257 + "x": 3.9405249495022803, + "y": 7.442277841214909 }, "prevControl": { - "x": 1.4851032868970147, - "y": 7.436381206571257 + "x": 2.9405249495022803, + "y": 7.442277841214909 }, "nextControl": null, "isLocked": false, diff --git a/src/main/deploy/pathplanner/paths/Red Amp to A.path b/src/main/deploy/pathplanner/paths/Red Amp to A.path index 0901d57..19c35ed 100644 --- a/src/main/deploy/pathplanner/paths/Red Amp to A.path +++ b/src/main/deploy/pathplanner/paths/Red Amp to A.path @@ -3,13 +3,13 @@ "waypoints": [ { "anchor": { - "x": 1.2654580294915574, - "y": 6.817692039942485 + "x": 0.7824995681613388, + "y": 6.781693792182228 }, "prevControl": null, "nextControl": { - "x": 2.446567628177991, - "y": 7.0398809743488435 + "x": 1.9636091668477724, + "y": 7.003882726588587 }, "isLocked": false, "linkedName": "Red ADEF Starting Pose" @@ -46,7 +46,7 @@ "folder": "Red To Note", "idealStartingState": { "velocity": 0, - "rotation": 0.0 + "rotation": 61.33391091010635 }, "useDefaultConstraints": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Red Amp to D.path b/src/main/deploy/pathplanner/paths/Red Amp to D.path new file mode 100644 index 0000000..91dddbf --- /dev/null +++ b/src/main/deploy/pathplanner/paths/Red Amp to D.path @@ -0,0 +1,61 @@ +{ + "version": 1.0, + "waypoints": [ + { + "anchor": { + "x": 0.7824995681613388, + "y": 6.781693792182228 + }, + "prevControl": null, + "nextControl": { + "x": 1.4809658841787923, + "y": 8.395151462921975 + }, + "isLocked": false, + "linkedName": "Red ADEF Starting Pose" + }, + { + "anchor": { + "x": 8.281950694955519, + "y": 7.472564688719121 + }, + "prevControl": { + "x": 4.749561334130109, + "y": 7.423336707722522 + }, + "nextControl": null, + "isLocked": false, + "linkedName": "Red D" + } + ], + "rotationTargets": [ + { + "waypointRelativePos": 0.4, + "rotationDegrees": 90.66852855556625 + }, + { + "waypointRelativePos": 0.65, + "rotationDegrees": 91.48598831446061 + } + ], + "constraintZones": [], + "pointTowardsZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 3.0, + "maxAcceleration": 3.0, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0 + }, + "goalEndState": { + "velocity": 0, + "rotation": 0.0 + }, + "reversed": false, + "folder": "Red To Note", + "idealStartingState": { + "velocity": 0, + "rotation": 62.43570515266472 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Red D Shoot to E Alt.path b/src/main/deploy/pathplanner/paths/Red D Shoot to E Alt.path new file mode 100644 index 0000000..b43ff0f --- /dev/null +++ b/src/main/deploy/pathplanner/paths/Red D Shoot to E Alt.path @@ -0,0 +1,52 @@ +{ + "version": 1.0, + "waypoints": [ + { + "anchor": { + "x": 5.762431236544021, + "y": 6.679680885403438 + }, + "prevControl": null, + "nextControl": { + "x": 6.899909632828153, + "y": 6.253447406108623 + }, + "isLocked": false, + "linkedName": "Red DE Long Shots" + }, + { + "anchor": { + "x": 8.298956684408905, + "y": 5.788149614803694 + }, + "prevControl": { + "x": 6.850202419110588, + "y": 6.2795840843579205 + }, + "nextControl": null, + "isLocked": false, + "linkedName": "Red E" + } + ], + "rotationTargets": [], + "constraintZones": [], + "pointTowardsZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 3.0, + "maxAcceleration": 4.0, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0 + }, + "goalEndState": { + "velocity": 0, + "rotation": -7.867150286788811 + }, + "reversed": false, + "folder": "Red To Note", + "idealStartingState": { + "velocity": 0, + "rotation": 10.841373394284963 + }, + "useDefaultConstraints": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Red D Shoot to E.path b/src/main/deploy/pathplanner/paths/Red D Shoot to E.path index bcb4ab5..4b59612 100644 --- a/src/main/deploy/pathplanner/paths/Red D Shoot to E.path +++ b/src/main/deploy/pathplanner/paths/Red D Shoot to E.path @@ -12,16 +12,16 @@ "y": 7.013746714435394 }, "isLocked": false, - "linkedName": null + "linkedName": "Red DE Close Shots" }, { "anchor": { - "x": 8.398526797053595, - "y": 5.762294601512281 + "x": 8.298956684408905, + "y": 5.788149614803694 }, "prevControl": { - "x": 5.545040866867447, - "y": 6.3010505113272135 + "x": 5.445470754222757, + "y": 6.326905524618627 }, "nextControl": null, "isLocked": false, diff --git a/src/main/deploy/pathplanner/paths/Red D to Shoot Alt.path b/src/main/deploy/pathplanner/paths/Red D to Shoot Alt.path new file mode 100644 index 0000000..1e73230 --- /dev/null +++ b/src/main/deploy/pathplanner/paths/Red D to Shoot Alt.path @@ -0,0 +1,52 @@ +{ + "version": 1.0, + "waypoints": [ + { + "anchor": { + "x": 8.288620786690979, + "y": 7.4527098868185835 + }, + "prevControl": null, + "nextControl": { + "x": 5.987968359123289, + "y": 6.783180665554184 + }, + "isLocked": false, + "linkedName": "Red DE Shoot Pose" + }, + { + "anchor": { + "x": 5.762431236544021, + "y": 6.679680885403438 + }, + "prevControl": { + "x": 7.3539773335541865, + "y": 7.176701390456047 + }, + "nextControl": null, + "isLocked": false, + "linkedName": "Red DE Long Shots" + } + ], + "rotationTargets": [], + "constraintZones": [], + "pointTowardsZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 3.0, + "maxAcceleration": 4.0, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0 + }, + "goalEndState": { + "velocity": 0, + "rotation": 5.776351579033 + }, + "reversed": false, + "folder": "Red To Shoot", + "idealStartingState": { + "velocity": 0, + "rotation": 0.0 + }, + "useDefaultConstraints": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Red D to Shoot.path b/src/main/deploy/pathplanner/paths/Red D to Shoot.path index 2fbba63..c1561f9 100644 --- a/src/main/deploy/pathplanner/paths/Red D to Shoot.path +++ b/src/main/deploy/pathplanner/paths/Red D to Shoot.path @@ -3,13 +3,13 @@ "waypoints": [ { "anchor": { - "x": 8.281950694955519, - "y": 7.472564688719121 + "x": 8.288620786690979, + "y": 7.4527098868185835 }, "prevControl": null, "nextControl": { - "x": 6.183013205060271, - "y": 6.7693906328214934 + "x": 6.189683296795731, + "y": 6.749535830920956 }, "isLocked": false, "linkedName": "Red DE Shoot Pose" diff --git a/src/main/deploy/pathplanner/paths/Red E Shoot to F Alt.path b/src/main/deploy/pathplanner/paths/Red E Shoot to F Alt.path new file mode 100644 index 0000000..d73fad7 --- /dev/null +++ b/src/main/deploy/pathplanner/paths/Red E Shoot to F Alt.path @@ -0,0 +1,52 @@ +{ + "version": 1.0, + "waypoints": [ + { + "anchor": { + "x": 5.762431236544021, + "y": 6.679680885403438 + }, + "prevControl": null, + "nextControl": { + "x": 7.32507474966587, + "y": 5.831704607047608 + }, + "isLocked": false, + "linkedName": "Red DE Long Shots" + }, + { + "anchor": { + "x": 8.285159462804046, + "y": 4.107340350097367 + }, + "prevControl": { + "x": 7.2484448847245915, + "y": 5.826945286703074 + }, + "nextControl": null, + "isLocked": false, + "linkedName": "Red F" + } + ], + "rotationTargets": [], + "constraintZones": [], + "pointTowardsZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 3.0, + "maxAcceleration": 4.0, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0 + }, + "goalEndState": { + "velocity": 0, + "rotation": -53.72066885531223 + }, + "reversed": false, + "folder": "Red To Note", + "idealStartingState": { + "velocity": 0, + "rotation": 9.001886166114181 + }, + "useDefaultConstraints": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Red E to Shoot Alt.path b/src/main/deploy/pathplanner/paths/Red E to Shoot Alt.path new file mode 100644 index 0000000..975ad5a --- /dev/null +++ b/src/main/deploy/pathplanner/paths/Red E to Shoot Alt.path @@ -0,0 +1,52 @@ +{ + "version": 1.0, + "waypoints": [ + { + "anchor": { + "x": 8.298956684408905, + "y": 5.788149614803694 + }, + "prevControl": null, + "nextControl": { + "x": 6.196856898823826, + "y": 6.516790113348607 + }, + "isLocked": false, + "linkedName": "Red E" + }, + { + "anchor": { + "x": 5.762431236544021, + "y": 6.679680885403438 + }, + "prevControl": { + "x": 7.386245535350753, + "y": 6.118948226123664 + }, + "nextControl": null, + "isLocked": false, + "linkedName": "Red DE Long Shots" + } + ], + "rotationTargets": [], + "constraintZones": [], + "pointTowardsZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 3.0, + "maxAcceleration": 4.0, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0 + }, + "goalEndState": { + "velocity": 0, + "rotation": 6.150276616687043 + }, + "reversed": false, + "folder": "Red To Shoot", + "idealStartingState": { + "velocity": 0, + "rotation": 0.0 + }, + "useDefaultConstraints": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Red E to Shoot.path b/src/main/deploy/pathplanner/paths/Red E to Shoot.path index d495199..c90af68 100644 --- a/src/main/deploy/pathplanner/paths/Red E to Shoot.path +++ b/src/main/deploy/pathplanner/paths/Red E to Shoot.path @@ -3,13 +3,13 @@ "waypoints": [ { "anchor": { - "x": 8.398526797053595, - "y": 5.762294601512281 + "x": 8.298956684408905, + "y": 5.788149614803694 }, "prevControl": null, "nextControl": { - "x": 5.6023930807162206, - "y": 6.857217956437401 + "x": 5.502822968071531, + "y": 6.883072969728814 }, "isLocked": false, "linkedName": "Red E" diff --git a/src/main/deploy/pathplanner/paths/Red F Shoot to G.path b/src/main/deploy/pathplanner/paths/Red F Shoot to G.path index c9f76e7..13e87b3 100644 --- a/src/main/deploy/pathplanner/paths/Red F Shoot to G.path +++ b/src/main/deploy/pathplanner/paths/Red F Shoot to G.path @@ -16,12 +16,12 @@ }, { "anchor": { - "x": 7.454, - "y": 2.759 + "x": 8.292274406349408, + "y": 2.449077764598981 }, "prevControl": { - "x": 6.0387031217871945, - "y": 4.161316913636803 + "x": 6.876977528136603, + "y": 3.851394678235784 }, "nextControl": null, "isLocked": false, diff --git a/src/main/deploy/pathplanner/paths/Red G Shoot to F.path b/src/main/deploy/pathplanner/paths/Red G Shoot to F.path index 30bac21..2b3abb8 100644 --- a/src/main/deploy/pathplanner/paths/Red G Shoot to F.path +++ b/src/main/deploy/pathplanner/paths/Red G Shoot to F.path @@ -3,13 +3,13 @@ "waypoints": [ { "anchor": { - "x": 2.365670654890417, - "y": 3.567518045564365 + "x": 3.2534642847063466, + "y": 2.6311847495489866 }, "prevControl": null, "nextControl": { - "x": 3.433056408523532, - "y": 2.156884339810345 + "x": 5.749896064214251, + "y": 0.7169764921890187 }, "isLocked": false, "linkedName": "Red HG Shoot Pose" @@ -20,22 +20,16 @@ "y": 4.107340350097367 }, "prevControl": { - "x": 5.313276388271527, - "y": 4.534092740990542 + "x": 6.340616547490535, + "y": 1.243046759717032 }, "nextControl": null, "isLocked": false, "linkedName": "Red F" } ], - "rotationTargets": [ - { - "waypointRelativePos": 0.5, - "rotationDegrees": 40.376097780771914 - } - ], + "rotationTargets": [], "constraintZones": [], - "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { "maxVelocity": 3.0, @@ -45,13 +39,11 @@ }, "goalEndState": { "velocity": 0, - "rotation": 0.0 + "rotation": 58.01029952008381, + "rotateFast": false }, "reversed": false, - "folder": "Red To Note", - "idealStartingState": { - "velocity": 0, - "rotation": -40.84105469095527 - }, + "folder": null, + "previewStartingState": null, "useDefaultConstraints": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Red G Shoot to H.path b/src/main/deploy/pathplanner/paths/Red G Shoot to H.path index 7ed9c5b..4eb35f9 100644 --- a/src/main/deploy/pathplanner/paths/Red G Shoot to H.path +++ b/src/main/deploy/pathplanner/paths/Red G Shoot to H.path @@ -3,25 +3,25 @@ "waypoints": [ { "anchor": { - "x": 2.365670654890417, - "y": 3.567518045564365 + "x": 3.2534642847063466, + "y": 2.6311847495489866 }, "prevControl": null, "nextControl": { - "x": 3.287158947348484, - "y": 2.4072769107971963 + "x": 4.174952577164413, + "y": 1.470943614781818 }, "isLocked": false, "linkedName": "Red HG Shoot Pose" }, { "anchor": { - "x": 7.416583266214966, - "y": 1.3565219153230341 + "x": 8.276506153086713, + "y": 0.7616823697189053 }, "prevControl": { - "x": 4.957734392898985, - "y": 1.2700678383977868 + "x": 5.8176572797707315, + "y": 0.675228292793658 }, "nextControl": null, "isLocked": false, @@ -31,27 +31,25 @@ "rotationTargets": [ { "waypointRelativePos": 0.1, - "rotationDegrees": 0.0 + "rotationDegrees": 0.0, + "rotateFast": false } ], "constraintZones": [], - "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { - "maxVelocity": 3.0, - "maxAcceleration": 3.0, + "maxVelocity": 3.75, + "maxAcceleration": 3.5, "maxAngularVelocity": 540.0, "maxAngularAcceleration": 720.0 }, "goalEndState": { "velocity": 0, - "rotation": 0.0 + "rotation": 0.0, + "rotateFast": false }, "reversed": false, - "folder": "Red To Note", - "idealStartingState": { - "velocity": 0, - "rotation": -40.21562048161929 - }, - "useDefaultConstraints": true + "folder": null, + "previewStartingState": null, + "useDefaultConstraints": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Red G to F Reroute.path b/src/main/deploy/pathplanner/paths/Red G to F Reroute.path index d05cd52..233399c 100644 --- a/src/main/deploy/pathplanner/paths/Red G to F Reroute.path +++ b/src/main/deploy/pathplanner/paths/Red G to F Reroute.path @@ -3,13 +3,13 @@ "waypoints": [ { "anchor": { - "x": 7.454, - "y": 2.759 + "x": 8.292274406349408, + "y": 2.449077764598981 }, "prevControl": null, "nextControl": { - "x": 7.4396599440383335, - "y": 3.2550581479653826 + "x": 8.277934350387742, + "y": 2.9451359125643637 }, "isLocked": false, "linkedName": "Red G" diff --git a/src/main/deploy/pathplanner/paths/Red G to F Shoot.path b/src/main/deploy/pathplanner/paths/Red G to F Shoot.path index 7d37be6..964940d 100644 --- a/src/main/deploy/pathplanner/paths/Red G to F Shoot.path +++ b/src/main/deploy/pathplanner/paths/Red G to F Shoot.path @@ -3,13 +3,13 @@ "waypoints": [ { "anchor": { - "x": 7.454, - "y": 2.759 + "x": 8.292274406349408, + "y": 2.449077764598981 }, "prevControl": null, "nextControl": { - "x": 6.055144410250129, - "y": 4.402407737150295 + "x": 6.893418816599538, + "y": 4.092485501749276 }, "isLocked": false, "linkedName": "Red G" diff --git a/src/main/deploy/pathplanner/paths/Red G to Shoot.path b/src/main/deploy/pathplanner/paths/Red G to Shoot.path index 2a5a2c3..8a2716e 100644 --- a/src/main/deploy/pathplanner/paths/Red G to Shoot.path +++ b/src/main/deploy/pathplanner/paths/Red G to Shoot.path @@ -3,25 +3,25 @@ "waypoints": [ { "anchor": { - "x": 7.454, - "y": 2.759 + "x": 8.292274406349408, + "y": 2.449077764598981 }, "prevControl": null, "nextControl": { - "x": 6.0473116670698905, - "y": 0.380240570457389 + "x": 7.099136282611852, + "y": 0.49050773227439204 }, "isLocked": false, "linkedName": "Red G" }, { "anchor": { - "x": 2.365670654890417, - "y": 3.567518045564365 + "x": 3.2534642847063466, + "y": 2.6311847495489866 }, "prevControl": { - "x": 4.48136818794819, - "y": 1.3348234139043176 + "x": 5.4254930976999844, + "y": 1.277710961872244 }, "nextControl": null, "isLocked": false, @@ -30,23 +30,20 @@ ], "rotationTargets": [], "constraintZones": [], - "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { - "maxVelocity": 2.5, - "maxAcceleration": 2.5, + "maxVelocity": 3.75, + "maxAcceleration": 3.5, "maxAngularVelocity": 540.0, "maxAngularAcceleration": 720.0 }, "goalEndState": { "velocity": 0, - "rotation": -46.65527786297665 + "rotation": -42.27928539008777, + "rotateFast": false }, "reversed": false, - "folder": "Red To Shoot", - "idealStartingState": { - "velocity": 0, - "rotation": 0.0 - }, + "folder": null, + "previewStartingState": null, "useDefaultConstraints": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Red GF Shoot to H.path b/src/main/deploy/pathplanner/paths/Red GF Shoot to H.path index 9121a15..d03ef5f 100644 --- a/src/main/deploy/pathplanner/paths/Red GF Shoot to H.path +++ b/src/main/deploy/pathplanner/paths/Red GF Shoot to H.path @@ -32,12 +32,12 @@ }, { "anchor": { - "x": 7.416583266214966, - "y": 1.3565219153230341 + "x": 8.276506153086713, + "y": 0.7616823697189053 }, "prevControl": { - "x": 6.6316650272078155, - "y": 3.0688869518701107 + "x": 7.491587914079562, + "y": 2.474047406265982 }, "nextControl": null, "isLocked": false, diff --git a/src/main/deploy/pathplanner/paths/Red H Shoot to G.path b/src/main/deploy/pathplanner/paths/Red H Shoot to G.path index 10280d2..4859d19 100644 --- a/src/main/deploy/pathplanner/paths/Red H Shoot to G.path +++ b/src/main/deploy/pathplanner/paths/Red H Shoot to G.path @@ -3,25 +3,25 @@ "waypoints": [ { "anchor": { - "x": 2.365670654890417, - "y": 3.567518045564365 + "x": 3.2534642847063466, + "y": 2.6311847495489866 }, "prevControl": null, "nextControl": { - "x": 5.473965828084752, - "y": 1.2612497754380816 + "x": 6.361759457900681, + "y": 0.3249164794227033 }, "isLocked": false, "linkedName": "Red HG Shoot Pose" }, { "anchor": { - "x": 7.454, - "y": 2.759 + "x": 8.292274406349408, + "y": 2.449077764598981 }, "prevControl": { - "x": 5.370106238787976, - "y": 0.8653674287405564 + "x": 6.208380645137384, + "y": 0.5554451933395375 }, "nextControl": null, "isLocked": false, @@ -31,27 +31,25 @@ "rotationTargets": [ { "waypointRelativePos": 0.6, - "rotationDegrees": 38.202090103962774 + "rotationDegrees": 38.202090103962774, + "rotateFast": false } ], "constraintZones": [], - "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { - "maxVelocity": 2.5, - "maxAcceleration": 2.5, + "maxVelocity": 3.75, + "maxAcceleration": 3.5, "maxAngularVelocity": 540.0, "maxAngularAcceleration": 720.0 }, "goalEndState": { "velocity": 0, - "rotation": 37.583 + "rotation": 37.583, + "rotateFast": false }, "reversed": false, - "folder": "Red To Note", - "idealStartingState": { - "velocity": 0, - "rotation": -41.72613849556501 - }, + "folder": null, + "previewStartingState": null, "useDefaultConstraints": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Red H to F Shoot.path b/src/main/deploy/pathplanner/paths/Red H to F Shoot.path index ae956e1..4cd51c4 100644 --- a/src/main/deploy/pathplanner/paths/Red H to F Shoot.path +++ b/src/main/deploy/pathplanner/paths/Red H to F Shoot.path @@ -3,13 +3,13 @@ "waypoints": [ { "anchor": { - "x": 7.416583266214966, - "y": 1.3565219153230341 + "x": 8.276506153086713, + "y": 0.7616823697189053 }, "prevControl": null, "nextControl": { - "x": 6.402977280955835, - "y": 3.7934574188681864 + "x": 7.262900167827582, + "y": 3.1986178732640576 }, "isLocked": false, "linkedName": "Red H" diff --git a/src/main/deploy/pathplanner/paths/Red H to G Reroute.path b/src/main/deploy/pathplanner/paths/Red H to G Reroute.path index ff2d788..122f63d 100644 --- a/src/main/deploy/pathplanner/paths/Red H to G Reroute.path +++ b/src/main/deploy/pathplanner/paths/Red H to G Reroute.path @@ -3,25 +3,25 @@ "waypoints": [ { "anchor": { - "x": 7.416583266214966, - "y": 1.3565219153230341 + "x": 8.276506153086713, + "y": 0.7616823697189053 }, "prevControl": null, "nextControl": { - "x": 7.41240974611586, - "y": 1.6492070007921242 + "x": 8.272332632987606, + "y": 1.0543674551879954 }, "isLocked": false, "linkedName": "Red H" }, { "anchor": { - "x": 7.454, - "y": 2.759 + "x": 8.292274406349408, + "y": 2.449077764598981 }, "prevControl": { - "x": 7.450961379164252, - "y": 1.8038036477528148 + "x": 8.289235785513661, + "y": 1.4938814123517958 }, "nextControl": null, "isLocked": false, diff --git a/src/main/deploy/pathplanner/paths/Red H to Shoot.path b/src/main/deploy/pathplanner/paths/Red H to Shoot.path index a7a9b9c..46878ce 100644 --- a/src/main/deploy/pathplanner/paths/Red H to Shoot.path +++ b/src/main/deploy/pathplanner/paths/Red H to Shoot.path @@ -3,25 +3,25 @@ "waypoints": [ { "anchor": { - "x": 7.416583266214966, - "y": 1.3565219153230341 + "x": 8.276506153086713, + "y": 0.7616823697189053 }, "prevControl": null, "nextControl": { - "x": 3.9047098620610936, - "y": 1.581054652064661 + "x": 4.984199142187458, + "y": 1.2863569886683932 }, "isLocked": false, "linkedName": "Red H" }, { "anchor": { - "x": 2.365670654890417, - "y": 3.567518045564365 + "x": 3.2534642847063466, + "y": 2.6311847495489866 }, "prevControl": { - "x": 3.464785210820422, - "y": 2.154528716609517 + "x": 5.159611458824057, + "y": 1.3448277608805934 }, "nextControl": null, "isLocked": false, @@ -30,23 +30,20 @@ ], "rotationTargets": [], "constraintZones": [], - "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { - "maxVelocity": 2.5, - "maxAcceleration": 2.5, + "maxVelocity": 3.75, + "maxAcceleration": 3.5, "maxAngularVelocity": 540.0, "maxAngularAcceleration": 720.0 }, "goalEndState": { "velocity": 0, - "rotation": -42.377464368931555 + "rotation": -42.377464368931555, + "rotateFast": false }, "reversed": false, - "folder": "Red To Shoot", - "idealStartingState": { - "velocity": 0, - "rotation": 0.0 - }, + "folder": null, + "previewStartingState": null, "useDefaultConstraints": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Red Midline Waypoints.path b/src/main/deploy/pathplanner/paths/Red Midline Waypoints.path index 23fe29b..42967eb 100644 --- a/src/main/deploy/pathplanner/paths/Red Midline Waypoints.path +++ b/src/main/deploy/pathplanner/paths/Red Midline Waypoints.path @@ -16,16 +16,16 @@ }, { "anchor": { - "x": 8.398526797053595, - "y": 5.762294601512281 + "x": 8.298956684408905, + "y": 5.788149614803694 }, "prevControl": { - "x": 8.622136392049091, - "y": 5.650496797303296 + "x": 8.522566279404401, + "y": 5.676351810594709 }, "nextControl": { - "x": 8.174917202058099, - "y": 5.874092405721266 + "x": 8.075347089413409, + "y": 5.899947419012679 }, "isLocked": false, "linkedName": "Red E" @@ -48,48 +48,48 @@ }, { "anchor": { - "x": 7.454, - "y": 2.759 + "x": 8.292274406349408, + "y": 2.449077764598981 }, "prevControl": { - "x": 7.677635528792998, - "y": 2.6472540816786747 + "x": 8.515909935142407, + "y": 2.337331846277656 }, "nextControl": { - "x": 7.230364471207001, - "y": 2.870745918321325 + "x": 8.06863887755641, + "y": 2.560823682920306 }, "isLocked": false, "linkedName": "Red G" }, { "anchor": { - "x": 7.416583266214966, - "y": 1.3565219153230341 + "x": 8.276506153086713, + "y": 0.7616823697189053 }, "prevControl": { - "x": 7.640282691128518, - "y": 1.2449039629437417 + "x": 8.500205578000266, + "y": 0.650064417339613 }, "nextControl": { - "x": 7.192883841301399, - "y": 1.4681398677023207 + "x": 8.052806728173145, + "y": 0.873300322098192 }, "isLocked": false, "linkedName": "Red H" }, { "anchor": { - "x": 1.2654580294915574, - "y": 6.817692039942485 + "x": 0.7824995681613388, + "y": 6.781693792182228 }, "prevControl": { - "x": 1.4893685021131435, - "y": 6.706498064159721 + "x": 1.0064100407829248, + "y": 6.670499816399464 }, "nextControl": { - "x": 1.0415475568699717, - "y": 6.92888601572525 + "x": 0.5585890955397531, + "y": 6.892887767964993 }, "isLocked": false, "linkedName": "Red ADEF Starting Pose" diff --git a/src/main/deploy/pathplanner/paths/Red Source to G.path b/src/main/deploy/pathplanner/paths/Red Source to G.path index 9badcab..0e1521d 100644 --- a/src/main/deploy/pathplanner/paths/Red Source to G.path +++ b/src/main/deploy/pathplanner/paths/Red Source to G.path @@ -8,20 +8,20 @@ }, "prevControl": null, "nextControl": { - "x": 5.487047783212375, - "y": 0.6431784943341965 + "x": 1.7800008249589148, + "y": 0.5613194132371174 }, "isLocked": false, "linkedName": "Red HGF Starting Pose" }, { "anchor": { - "x": 7.454, - "y": 2.759 + "x": 8.292274406349408, + "y": 2.449077764598981 }, "prevControl": { - "x": 6.013284733122172, - "y": 0.9589206642800749 + "x": 5.241470539921136, + "y": 0.877061583182996 }, "nextControl": null, "isLocked": false, @@ -30,23 +30,20 @@ ], "rotationTargets": [], "constraintZones": [], - "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { - "maxVelocity": 3.0, - "maxAcceleration": 3.0, + "maxVelocity": 3.75, + "maxAcceleration": 3.5, "maxAngularVelocity": 540.0, "maxAngularAcceleration": 720.0 }, "goalEndState": { "velocity": 0, - "rotation": 45.820024158319185 + "rotation": 45.820024158319185, + "rotateFast": false }, "reversed": false, - "folder": "Red To Note", - "idealStartingState": { - "velocity": 0, - "rotation": 0.0 - }, - "useDefaultConstraints": true + "folder": null, + "previewStartingState": null, + "useDefaultConstraints": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Red Source to H.path b/src/main/deploy/pathplanner/paths/Red Source to H.path index 2e1d1cd..ae20963 100644 --- a/src/main/deploy/pathplanner/paths/Red Source to H.path +++ b/src/main/deploy/pathplanner/paths/Red Source to H.path @@ -8,20 +8,20 @@ }, "prevControl": null, "nextControl": { - "x": 3.0546636591848677, - "y": 0.9823089731649555 + "x": 0.8444684695637196, + "y": 0.1754123166365992 }, "isLocked": false, "linkedName": "Red HGF Starting Pose" }, { "anchor": { - "x": 7.416583266214966, - "y": 1.3565219153230341 + "x": 8.276506153086713, + "y": 0.7616823697189053 }, "prevControl": { - "x": 3.0294717209717748, - "y": 1.2682253151963656 + "x": 6.694584988872359, + "y": 0.7575480106317357 }, "nextControl": null, "isLocked": false, @@ -31,27 +31,28 @@ "rotationTargets": [ { "waypointRelativePos": 0.35, - "rotationDegrees": 0.0 + "rotationDegrees": 0.0, + "rotateFast": false } ], "constraintZones": [], - "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { - "maxVelocity": 2.5, - "maxAcceleration": 2.5, + "maxVelocity": 3.75, + "maxAcceleration": 3.5, "maxAngularVelocity": 540.0, "maxAngularAcceleration": 720.0 }, "goalEndState": { "velocity": 0, - "rotation": -1.59 + "rotation": -1.59, + "rotateFast": false }, "reversed": false, - "folder": "Red To Note", - "idealStartingState": { - "velocity": 0, - "rotation": 0.0 + "folder": null, + "previewStartingState": { + "rotation": -60.0, + "velocity": 0 }, "useDefaultConstraints": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/settings.json b/src/main/deploy/pathplanner/settings.json index 5effc93..b2960ff 100644 --- a/src/main/deploy/pathplanner/settings.json +++ b/src/main/deploy/pathplanner/settings.json @@ -14,7 +14,9 @@ ], "autoFolders": [ "Blue Autons", - "Red Autons" + "Blue Useable", + "Red Autons", + "Red Useable" ], "defaultMaxVel": 3.0, "defaultMaxAccel": 3.0, diff --git a/src/main/java/com/stuypulse/robot/RobotContainer.java b/src/main/java/com/stuypulse/robot/RobotContainer.java index 9e6a03f..08d0548 100644 --- a/src/main/java/com/stuypulse/robot/RobotContainer.java +++ b/src/main/java/com/stuypulse/robot/RobotContainer.java @@ -18,6 +18,7 @@ import com.stuypulse.robot.commands.auton.Mobility; import com.stuypulse.robot.commands.auton.RerouteTest; import com.stuypulse.robot.commands.auton.ADEF.FivePieceADEF; +import com.stuypulse.robot.commands.auton.ADEF.FourPieceMidlineDash; import com.stuypulse.robot.commands.auton.BCA.FourPieceBCA; import com.stuypulse.robot.commands.auton.BCA.RightAngleFourPieceBCA; import com.stuypulse.robot.commands.auton.BF_Series.FivePieceBFGH; @@ -98,6 +99,7 @@ public class RobotContainer { // Autons private static SendableChooser autonChooser = new SendableChooser<>(); + public static SendableChooser delayChooser = new SendableChooser<>(); // Robot container @@ -172,7 +174,11 @@ private void configureDriverBindings() { .whileTrue(new LEDSet(LEDInstructions.DEACQUIRING)) .onFalse(new IntakeStop()) .onFalse(new ShooterFeederStop()); - + // manual unstuck note between intake and shooter + driver.getDPadDown() + .onTrue(new IntakeDeacquire().alongWith(new ShooterFeederAcquire())) + .onFalse(new IntakeStop().alongWith(new ShooterFeederStop())); + // speaker align and score // score amp driver.getRightBumper() @@ -293,6 +299,11 @@ private void configureOperatorBindings() { public void configureAutons() { autonChooser.addOption("Do Nothing", new DoNothingAuton()); + for (double i = 0.0; i < 16.0; i++){ + delayChooser.addOption(i + " Seconds", i); + } + + // Mobility AutonConfig MOBILITY_BLUE = new AutonConfig("Mobility", Mobility::new, "Mobility"); AutonConfig MOBILITY_RED = new AutonConfig("Mobility", Mobility::new, "Mobility"); @@ -345,6 +356,12 @@ public void configureAutons() { AutonConfig BFCAD_RED = new AutonConfig("6 BFCAD", SixPieceBFCAD::new, "Red Center to B", "Red B to F", "Red F to Close C Shoot", "Red FC Shoot to C", "Red C to Shoot Before A", "Red Center to A", "Red A to Center", "Red A Shoot to D", "Red D to Shoot"); + // Midline Notes + AutonConfig DEF_BLUE = new AutonConfig("4 DEF", FourPieceMidlineDash:: new, + "Blue Amp to D", "Blue D to Shoot Alt", "Blue D Shoot to E Alt", "Blue E to Shoot Alt", "Blue E Shoot to F Alt", "Blue F to Shoot"); + AutonConfig DEF_RED = new AutonConfig("4 DEF", FourPieceMidlineDash:: new, + "Red Amp to D", "Red D to Shoot Alt", "Red D Shoot to E Alt", "Red E to Shoot Alt", "Red E Shoot to F Alt", "Red F to Shoot"); + // BFGH AutonConfig BFGH_BLUE = new AutonConfig("5 BFGH", FivePieceBFGH:: new, "Blue Center to B", "Blue B to F", "Blue F to Shoot", "Blue F Shoot to G", "Blue G to F Shoot", "Blue GF Shoot to H", "Blue H to F Shoot"); @@ -372,25 +389,28 @@ public void configureAutons() { One_Piece_Mobility_Amp_Side_Blue.registerBlue(autonChooser); - Straight_Line.registerBlue(autonChooser); + //Straight_Line.registerBlue(autonChooser); MOBILITY_BLUE.registerBlue(autonChooser); MOBILITY_RED.registerRed(autonChooser); - BCA_BLUE.registerDefaultBlue(autonChooser); - BCA_RED.registerDefaultRed(autonChooser); + DEF_BLUE.registerBlue(autonChooser); + DEF_RED.registerRed(autonChooser); + + //BCA_BLUE.registerDefaultBlue(autonChooser); + //BCA_RED.registerDefaultRed(autonChooser); New_BCA_Blue.registerDefaultBlue(autonChooser); New_BCA_Red.registerDefaultRed(autonChooser); - BDEFA_BLUE.registerBlue(autonChooser); - BDEFA_RED.registerRed(autonChooser); + //BDEFA_BLUE.registerBlue(autonChooser); + //BDEFA_RED.registerRed(autonChooser); - BFCAD_BLUE.registerBlue(autonChooser); - BFCAD_RED.registerRed(autonChooser); + //BFCAD_BLUE.registerBlue(autonChooser); + //BFCAD_RED.registerRed(autonChooser); - BFGH_BLUE.registerBlue(autonChooser); - BFGH_RED.registerRed(autonChooser); + //BFGH_BLUE.registerBlue(autonChooser); + //BFGH_RED.registerRed(autonChooser); HGF_BLUE.registerBlue(autonChooser); HGF_RED.registerRed(autonChooser); @@ -424,4 +444,15 @@ public static String getAutonomousCommandNameStatic() { return autonChooser.getSelected().getName(); } + + public void getDefaultDelay() { + delayChooser.setDefaultOption("Zero Second", 0.0); + } + public double getDelaySeconds() { + return delayChooser.getSelected(); + } + + public Command delayWaitCommand() { + return new WaitCommand(delayChooser.getSelected()); + } } \ No newline at end of file diff --git a/src/main/java/com/stuypulse/robot/commands/auton/ADEF/FourPieceMidlineDash.java b/src/main/java/com/stuypulse/robot/commands/auton/ADEF/FourPieceMidlineDash.java new file mode 100644 index 0000000..8629b75 --- /dev/null +++ b/src/main/java/com/stuypulse/robot/commands/auton/ADEF/FourPieceMidlineDash.java @@ -0,0 +1,43 @@ +package com.stuypulse.robot.commands.auton.ADEF; + +import com.pathplanner.lib.path.PathPlannerPath; +import com.stuypulse.robot.commands.arm.ArmToFeed; +import com.stuypulse.robot.commands.auton.FollowPathThenShoot; +import com.stuypulse.robot.commands.auton.ShootRoutine; +import com.stuypulse.robot.commands.intake.IntakeSetAcquire; +import com.stuypulse.robot.subsystems.shooter.Shooter; +import com.stuypulse.robot.subsystems.swerve.SwerveDrive; + +import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; +import edu.wpi.first.wpilibj2.command.WaitCommand; + +public class FourPieceMidlineDash extends SequentialCommandGroup { + + public FourPieceMidlineDash(PathPlannerPath... paths) { + + addCommands( + // Preload Shot + ShootRoutine.fromAnywhere(), + new ArmToFeed(), + + // Drive to D + Shoot D + new IntakeSetAcquire(), + SwerveDrive.getInstance().followPathCommand(paths[0]), + new FollowPathThenShoot(paths[1], false), + new ArmToFeed(), + + // Drive to E + Shoot E + new IntakeSetAcquire(), + SwerveDrive.getInstance().followPathCommand(paths[2]), + new FollowPathThenShoot(paths[3], false), + new ArmToFeed(), + + // Drive to F + Shoot F + new IntakeSetAcquire(), + SwerveDrive.getInstance().followPathCommand(paths[4]), + new FollowPathThenShoot(paths[5], true), + new ArmToFeed() + ); + } + +} diff --git a/src/main/java/com/stuypulse/robot/commands/auton/BCA/FourPieceBCA.java b/src/main/java/com/stuypulse/robot/commands/auton/BCA/FourPieceBCA.java index cfdc89e..e6926aa 100644 --- a/src/main/java/com/stuypulse/robot/commands/auton/BCA/FourPieceBCA.java +++ b/src/main/java/com/stuypulse/robot/commands/auton/BCA/FourPieceBCA.java @@ -12,17 +12,17 @@ import com.stuypulse.robot.subsystems.arm.Arm; import com.stuypulse.robot.subsystems.shooter.Shooter; import com.stuypulse.robot.subsystems.swerve.SwerveDrive; - +import com.stuypulse.robot.RobotContainer; import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; import edu.wpi.first.wpilibj2.command.WaitCommand; public class FourPieceBCA extends SequentialCommandGroup { - public FourPieceBCA(PathPlannerPath... paths) { addCommands( // Preload Shot ShootRoutine.fromSubwoofer(), new ArmToFeed(), + new RobotContainer().delayWaitCommand(), // Drive to B + Shoot B new IntakeSetAcquire(), diff --git a/src/main/java/com/stuypulse/robot/commands/auton/HGF/ThreePieceGH.java b/src/main/java/com/stuypulse/robot/commands/auton/HGF/ThreePieceGH.java index 8e197e5..86aa0cc 100644 --- a/src/main/java/com/stuypulse/robot/commands/auton/HGF/ThreePieceGH.java +++ b/src/main/java/com/stuypulse/robot/commands/auton/HGF/ThreePieceGH.java @@ -21,7 +21,7 @@ public ThreePieceGH(PathPlannerPath... paths) { ShootRoutine.fromSubwoofer(), new ArmToFeed(), - new WaitCommand(2.5), + // new WaitCommand(2.5), // Drive to G + Shoot G new IntakeSetAcquire(), diff --git a/src/main/java/com/stuypulse/robot/commands/auton/HGF/ThreePieceHG.java b/src/main/java/com/stuypulse/robot/commands/auton/HGF/ThreePieceHG.java index 62c0273..df3ef56 100644 --- a/src/main/java/com/stuypulse/robot/commands/auton/HGF/ThreePieceHG.java +++ b/src/main/java/com/stuypulse/robot/commands/auton/HGF/ThreePieceHG.java @@ -21,7 +21,7 @@ public ThreePieceHG(PathPlannerPath... paths) { ShootRoutine.fromSubwoofer(), new ArmToFeed(), - new WaitCommand(2.5), + // new WaitCommand(2.5), // Drive to H + Shoot H new IntakeSetAcquire(), diff --git a/src/main/java/com/stuypulse/robot/commands/auton/ShootRoutine.java b/src/main/java/com/stuypulse/robot/commands/auton/ShootRoutine.java index 83613bf..e1a898c 100644 --- a/src/main/java/com/stuypulse/robot/commands/auton/ShootRoutine.java +++ b/src/main/java/com/stuypulse/robot/commands/auton/ShootRoutine.java @@ -42,7 +42,7 @@ public static Command fromAnywhere() { new ShooterWaitForTarget().withTimeout(Settings.Shooter.MAX_WAIT_TO_REACH_TARGET) ), new ShooterFeederShoot(), - new WaitUntilCommand(() -> !Shooter.getInstance().hasNote()).alongWith(new WaitCommand(0.5)), + new WaitUntilCommand(() -> !Shooter.getInstance().hasNote()).alongWith(new WaitCommand(0.75)), new ShooterFeederStop() ); } diff --git a/src/main/java/com/stuypulse/robot/constants/Cameras.java b/src/main/java/com/stuypulse/robot/constants/Cameras.java index 5de7d52..c63f3c8 100644 --- a/src/main/java/com/stuypulse/robot/constants/Cameras.java +++ b/src/main/java/com/stuypulse/robot/constants/Cameras.java @@ -32,7 +32,8 @@ public interface Limelight { ), "11", 3000 - ), //10.6.94.11:5800/#/dashboard + ), + //10.6.94.11:5800/#/dashboard new CameraConfig( "plate-cam", diff --git a/src/main/java/com/stuypulse/robot/subsystems/arm/ArmImpl.java b/src/main/java/com/stuypulse/robot/subsystems/arm/ArmImpl.java index 7284fa6..77f7202 100644 --- a/src/main/java/com/stuypulse/robot/subsystems/arm/ArmImpl.java +++ b/src/main/java/com/stuypulse/robot/subsystems/arm/ArmImpl.java @@ -137,7 +137,7 @@ private double getSpeakerAngleElin() { double targetAngle = SpeakerAngleElinInterpolation.getAngleInDegrees(distanceToSpeaker); if (distanceToSpeaker > 120) { - targetAngle += (distanceToSpeaker - 120) * (1.34 / 80) * (1.2); + targetAngle += (distanceToSpeaker - 120) * (1.34 / 80) * (1.25); } SmartDashboard.putNumber("Distance to speaker", distanceToSpeaker);