Merge pull request #127 from 2491-NoMythic/orbitAmp4-2

orbit amp shot, callibration math, setpoints tuned, intake speed tuned
2491-NoMythic · Apr 3, 2024 · 2b95b4b · 2b95b4b
2 parents 47ae7d5 + e0d2eb8
commit 2b95b4b
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Showing 39 changed files with 668 additions and 220 deletions.
diff --git a/.pathplanner/settings.json b/.pathplanner/settings.json
@@ -9,9 +9,9 @@
     "to shooting pos"
   ],
   "autoFolders": [],
-  "defaultMaxVel": 4.5,
-  "defaultMaxAccel": 8.0,
-  "defaultMaxAngVel": 740.0,
-  "defaultMaxAngAccel": 1000.0,
+  "defaultMaxVel": 3.5,
+  "defaultMaxAccel": 2.3,
+  "defaultMaxAngVel": 650.0,
+  "defaultMaxAngAccel": 350.0,
   "maxModuleSpeed": 4.5
 }
diff --git a/src/main/deploy/pathplanner/autos/(AP)StartAmpScore3FarAmp.auto b/src/main/deploy/pathplanner/autos/(AP)StartAmpScore3FarAmp.auto
@@ -35,12 +35,6 @@
             "name": "autoPickup"
           }
         },
-        {
-          "type": "wait",
-          "data": {
-            "waitTime": 0.5
-          }
-        },
         {
           "type": "path",
           "data": {
@@ -65,12 +59,6 @@
             "name": "autoPickup"
           }
         },
-        {
-          "type": "wait",
-          "data": {
-            "waitTime": 0.5
-          }
-        },
         {
           "type": "path",
           "data": {

diff --git a/src/main/deploy/pathplanner/autos/(AP)StartMidScore3Close.auto b/src/main/deploy/pathplanner/autos/(AP)StartMidScore3Close.auto
@@ -32,13 +32,13 @@
         {
           "type": "named",
           "data": {
-            "name": "autoPickup"
+            "name": "hardStop"
           }
         },
         {
-          "type": "wait",
+          "type": "named",
           "data": {
-            "waitTime": 0.4
+            "name": "autoPickup"
           }
         },
         {
@@ -56,13 +56,13 @@
         {
           "type": "named",
           "data": {
-            "name": "autoPickup"
+            "name": "hardStop"
           }
         },
         {
-          "type": "wait",
+          "type": "named",
           "data": {
-            "waitTime": 0.4
+            "name": "autoPickup"
           }
         },
         {
@@ -74,19 +74,19 @@
         {
           "type": "path",
           "data": {
-            "pathName": "CloseSourcePickupAuto"
+            "pathName": "CloseSourcePickupFromAmpAuto"
           }
         },
         {
           "type": "named",
           "data": {
-            "name": "autoPickup"
+            "name": "podiumAutoPickup"
           }
         },
         {
-          "type": "wait",
+          "type": "named",
           "data": {
-            "waitTime": 0.4
+            "name": "awayFromPodium"
           }
         },
         {

diff --git a/src/main/deploy/pathplanner/autos/(AP)StartSourceScore3FarSource.auto b/src/main/deploy/pathplanner/autos/(AP)StartSourceScore3FarSource.auto
@@ -35,12 +35,6 @@
             "name": "autoPickup"
           }
         },
-        {
-          "type": "wait",
-          "data": {
-            "waitTime": 0.5
-          }
-        },
         {
           "type": "path",
           "data": {
@@ -65,12 +59,6 @@
             "name": "autoPickup"
           }
         },
-        {
-          "type": "wait",
-          "data": {
-            "waitTime": 0.5
-          }
-        },
         {
           "type": "path",
           "data": {

diff --git a/src/main/deploy/pathplanner/autos/rotateTest.auto b/src/main/deploy/pathplanner/autos/rotateTest.auto
@@ -0,0 +1,25 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 3.0,
+      "y": 7.0
+    },
+    "rotation": 0
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "rotate path"
+          }
+        }
+      ]
+    }
+  },
+  "folder": null,
+  "choreoAuto": false
+}
diff --git a/src/main/deploy/pathplanner/paths/ CloseMidPickupFromAmpAuto.path b/src/main/deploy/pathplanner/paths/ CloseMidPickupFromAmpAuto.path
@@ -38,10 +38,10 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 4.5,
-    "maxAcceleration": 8.0,
-    "maxAngularVelocity": 740.0,
-    "maxAngularAcceleration": 1000.0
+    "maxVelocity": 3.5,
+    "maxAcceleration": 2.3,
+    "maxAngularVelocity": 650.0,
+    "maxAngularAcceleration": 350.0
   },
   "goalEndState": {
     "velocity": 0,

diff --git a/src/main/deploy/pathplanner/paths/Blue1AutoPickup.path b/src/main/deploy/pathplanner/paths/Blue1AutoPickup.path
@@ -16,12 +16,12 @@
     },
     {
       "anchor": {
-        "x": 1.1516377006722949,
-        "y": 7.69317220721581
+        "x": 2.2091145416858735,
+        "y": 7.761753795112528
       },
       "prevControl": {
-        "x": 0.964531229593258,
-        "y": 7.689221479363635
+        "x": 2.0220080706068364,
+        "y": 7.757803067260353
       },
       "nextControl": null,
       "isLocked": false,
@@ -38,10 +38,10 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 4.5,
-    "maxAcceleration": 8.0,
-    "maxAngularVelocity": 740.0,
-    "maxAngularAcceleration": 1000.0
+    "maxVelocity": 3.5,
+    "maxAcceleration": 2.3,
+    "maxAngularVelocity": 650.0,
+    "maxAngularAcceleration": 350.0
   },
   "goalEndState": {
     "velocity": 0,

diff --git a/src/main/deploy/pathplanner/paths/Blue1AutoPickupFromStart.path b/src/main/deploy/pathplanner/paths/Blue1AutoPickupFromStart.path
@@ -3,41 +3,41 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 0.9763502326596363,
-        "y": 6.972545949830438
+        "x": 1.0581473014797882,
+        "y": 7.409038027952599
       },
       "prevControl": null,
       "nextControl": {
-        "x": 1.1813930081875528,
-        "y": 6.980289376420702
+        "x": 1.263190077007704,
+        "y": 7.416781454542863
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 1.1516377006722949,
-        "y": 7.69317220721581
+        "x": 2.2091145416858735,
+        "y": 7.761753795112528
       },
       "prevControl": {
-        "x": 1.0469668045790654,
-        "y": 7.686496767413758
+        "x": 1.4065244211409311,
+        "y": 7.7560004609150734
       },
       "nextControl": {
-        "x": 4.9690092262746814,
-        "y": 7.936627023906479
+        "x": 4.798790832149566,
+        "y": 7.780317782857788
       },
       "isLocked": false,
       "linkedName": "CollectNote1Blue"
     },
     {
       "anchor": {
-        "x": 7.035751355453329,
-        "y": 7.613241893150453
+        "x": 6.507643667719127,
+        "y": 7.449717390537984
       },
       "prevControl": {
-        "x": 5.454285114449193,
-        "y": 7.569825337801377
+        "x": 4.9261774267149905,
+        "y": 7.406300835188908
       },
       "nextControl": null,
       "isLocked": false,
@@ -46,18 +46,18 @@
   ],
   "rotationTargets": [
     {
-      "waypointRelativePos": 1,
+      "waypointRelativePos": 0.25,
       "rotationDegrees": 180.0,
-      "rotateFast": false
+      "rotateFast": true
     }
   ],
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 4.5,
-    "maxAcceleration": 8.0,
-    "maxAngularVelocity": 740.0,
-    "maxAngularAcceleration": 1000.0
+    "maxVelocity": 3.5,
+    "maxAcceleration": 2.3,
+    "maxAngularVelocity": 650.0,
+    "maxAngularAcceleration": 350.0
   },
   "goalEndState": {
     "velocity": 0,
@@ -67,7 +67,7 @@
   "reversed": false,
   "folder": "Collect Notes",
   "previewStartingState": {
-    "rotation": 180.0,
+    "rotation": -128.02709091266487,
     "velocity": 0
   },
   "useDefaultConstraints": true

diff --git a/src/main/deploy/pathplanner/paths/Blue2AutoPickup.path b/src/main/deploy/pathplanner/paths/Blue2AutoPickup.path
@@ -16,12 +16,12 @@
     },
     {
       "anchor": {
-        "x": 7.140626191098172,
-        "y": 6.008464875767237
+        "x": 6.682931135731786,
+        "y": 6.125323187775677
       },
       "prevControl": {
-        "x": 6.906909567081294,
-        "y": 6.096108609773567
+        "x": 6.449214511714907,
+        "y": 6.212966921782006
       },
       "nextControl": null,
       "isLocked": false,

diff --git a/src/main/deploy/pathplanner/paths/Blue3AutoPickupAmpSide.path b/src/main/deploy/pathplanner/paths/Blue3AutoPickupAmpSide.path
@@ -38,10 +38,10 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 4.5,
-    "maxAcceleration": 8.0,
-    "maxAngularVelocity": 740.0,
-    "maxAngularAcceleration": 1000.0
+    "maxVelocity": 3.5,
+    "maxAcceleration": 2.3,
+    "maxAngularVelocity": 650.0,
+    "maxAngularAcceleration": 350.0
   },
   "goalEndState": {
     "velocity": 0,

diff --git a/src/main/deploy/pathplanner/paths/Blue3AutoPickupSourceSide.path b/src/main/deploy/pathplanner/paths/Blue3AutoPickupSourceSide.path
@@ -56,10 +56,10 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 4.5,
-    "maxAcceleration": 8.0,
-    "maxAngularVelocity": 740.0,
-    "maxAngularAcceleration": 1000.0
+    "maxVelocity": 3.5,
+    "maxAcceleration": 2.3,
+    "maxAngularVelocity": 650.0,
+    "maxAngularAcceleration": 350.0
   },
   "goalEndState": {
     "velocity": 0,

diff --git a/src/main/deploy/pathplanner/paths/Blue4AutoPickupSourceSide.path b/src/main/deploy/pathplanner/paths/Blue4AutoPickupSourceSide.path
@@ -38,10 +38,10 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 4.5,
-    "maxAcceleration": 8.0,
-    "maxAngularVelocity": 540.0,
-    "maxAngularAcceleration": 800.0
+    "maxVelocity": 3.5,
+    "maxAcceleration": 2.3,
+    "maxAngularVelocity": 650.0,
+    "maxAngularAcceleration": 350.0
   },
   "goalEndState": {
     "velocity": 0,

diff --git a/src/main/deploy/pathplanner/paths/Blue4AutoPickupUnderStage.path b/src/main/deploy/pathplanner/paths/Blue4AutoPickupUnderStage.path
@@ -38,10 +38,10 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 4.5,
-    "maxAcceleration": 8.0,
-    "maxAngularVelocity": 740.0,
-    "maxAngularAcceleration": 1000.0
+    "maxVelocity": 3.5,
+    "maxAcceleration": 2.3,
+    "maxAngularVelocity": 650.0,
+    "maxAngularAcceleration": 350.0
   },
   "goalEndState": {
     "velocity": 0,

diff --git a/src/main/deploy/pathplanner/paths/Blue5AutoPickupFromStart.path b/src/main/deploy/pathplanner/paths/Blue5AutoPickupFromStart.path
@@ -3,13 +3,13 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 0.863225430154564,
-        "y": 4.132494190914308
+        "x": 1.7748820313773495,
+        "y": 3.7492041769374174
       },
       "prevControl": null,
       "nextControl": {
-        "x": 5.0401226728379385,
-        "y": 1.9976356002094713
+        "x": 5.951779274060725,
+        "y": 1.6143455862325808
       },
       "isLocked": false,
       "linkedName": null
@@ -38,10 +38,10 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 4.5,
-    "maxAcceleration": 8.0,
-    "maxAngularVelocity": 740.0,
-    "maxAngularAcceleration": 1000.0
+    "maxVelocity": 3.5,
+    "maxAcceleration": 2.3,
+    "maxAngularVelocity": 650.0,
+    "maxAngularAcceleration": 350.0
   },
   "goalEndState": {
     "velocity": 0,