Merge pull request #132 from 2491-NoMythic/4-27LateNight

Autos tuning and big adjustments, Amp shot adjustments, both work!
2491-NoMythic · Apr 30, 2024 · 5fa5d43 · 5fa5d43
2 parents 130eb12 + 6cbf980
commit 5fa5d43
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Showing 32 changed files with 482 additions and 224 deletions.
diff --git a/src/main/deploy/pathplanner/autos/(AP)StartAmpScore3FarAmp.auto b/src/main/deploy/pathplanner/autos/(AP)StartAmpScore3FarAmp.auto
@@ -5,12 +5,18 @@
       "x": 0.6842044526319189,
       "y": 6.690138362483131
     },
-    "rotation": -125.0
+    "rotation": -125.5
   },
   "command": {
     "type": "sequential",
     "data": {
       "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "initialShot"
+          }
+        },
         {
           "type": "named",
           "data": {
@@ -55,7 +61,7 @@
               {
                 "type": "named",
                 "data": {
-                  "name": "autoAimAtSpeaker"
+                  "name": "midAmpSideShooterAngle"
                 }
               },
               {
@@ -67,12 +73,6 @@
             ]
           }
         },
-        {
-          "type": "named",
-          "data": {
-            "name": "shootNote"
-          }
-        },
         {
           "type": "path",
           "data": {
@@ -98,7 +98,7 @@
               {
                 "type": "named",
                 "data": {
-                  "name": "autoAimAtSpeaker"
+                  "name": "midAmpSideShooterAngle"
                 }
               },
               {
@@ -109,12 +109,6 @@
               }
             ]
           }
-        },
-        {
-          "type": "named",
-          "data": {
-            "name": "shootNote"
-          }
         }
       ]
     }

diff --git a/src/main/deploy/pathplanner/autos/(AP)StartMidScore3Close.auto b/src/main/deploy/pathplanner/autos/(AP)StartMidScore3Close.auto
@@ -92,6 +92,12 @@
             "name": "shootNote"
           }
         },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 0.1
+          }
+        },
         {
           "type": "named",
           "data": {

diff --git a/src/main/deploy/pathplanner/autos/(AP)StartSourceScore3FarSource.auto b/src/main/deploy/pathplanner/autos/(AP)StartSourceScore3FarSource.auto
@@ -2,10 +2,10 @@
   "version": 1.0,
   "startingPose": {
     "position": {
-      "x": 0.7607347530216694,
-      "y": 4.480646518544946
+      "x": 0.7523718013035084,
+      "y": 4.450354048988052
     },
-    "rotation": 116.0
+    "rotation": 119.3
   },
   "command": {
     "type": "sequential",
@@ -24,9 +24,22 @@
           }
         },
         {
-          "type": "path",
+          "type": "race",
           "data": {
-            "pathName": "Blue5AutoPickupFromStart"
+            "commands": [
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "Blue5AutoPickupFromStart"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "autoAimAtSpeaker"
+                }
+              }
+            ]
           }
         },
         {
@@ -36,15 +49,34 @@
           }
         },
         {
-          "type": "path",
+          "type": "race",
           "data": {
-            "pathName": "BlueSourceShoot5"
+            "commands": [
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "BlueSourceShoot5"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "autoAimAtSpeaker"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "note isn't held"
+                }
+              }
+            ]
           }
         },
         {
           "type": "named",
           "data": {
-            "name": "autoShootNote"
+            "name": "sourceSideLongShot"
           }
         },
         {
@@ -60,15 +92,28 @@
           }
         },
         {
-          "type": "path",
-          "data": {
-            "pathName": "BlueSourceShoot4"
-          }
-        },
-        {
-          "type": "named",
+          "type": "race",
           "data": {
-            "name": "autoShootNote"
+            "commands": [
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "BlueSourceShoot4UnderStage"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "lowAmpSideShooterAngle"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "note isn't held"
+                }
+              }
+            ]
           }
         }
       ]

diff --git a/src/main/deploy/pathplanner/autos/AmpShotPathTest.auto b/src/main/deploy/pathplanner/autos/AmpShotPathTest.auto
@@ -0,0 +1,68 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 4.696339831588324,
+      "y": 7.478931968540094
+    },
+    "rotation": 178.8308606720925
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Blue1AutoPickupFromStart"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "autoPickup"
+          }
+        },
+        {
+          "type": "race",
+          "data": {
+            "commands": [
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "BlueAmpShoot1"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "autoAimAtSpeaker"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "note isn't held"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Blue2AutoPickup"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "autoPickup"
+          }
+        }
+      ]
+    }
+  },
+  "folder": null,
+  "choreoAuto": false
+}
diff --git a/src/main/deploy/pathplanner/paths/Blue1AutoPickupFromStart.path b/src/main/deploy/pathplanner/paths/Blue1AutoPickupFromStart.path
@@ -3,45 +3,29 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 1.0581473014797882,
-        "y": 7.409038027952599
+        "x": 1.1126849299961952,
+        "y": 7.108880647180037
       },
       "prevControl": null,
       "nextControl": {
-        "x": 1.263190077007704,
-        "y": 7.416781454542863
+        "x": 1.9209549213878978,
+        "y": 7.352335463864286
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 2.2091145416858735,
-        "y": 7.761753795112528
+        "x": 2.79739226145119,
+        "y": 7.741863170559082
       },
       "prevControl": {
-        "x": 1.4065244211409311,
-        "y": 7.7560004609150734
+        "x": 2.057289618731077,
+        "y": 7.741863170559082
       },
       "nextControl": {
-        "x": 4.798790832149566,
-        "y": 7.780317782857788
-      },
-      "isLocked": false,
-      "linkedName": null
-    },
-    {
-      "anchor": {
-        "x": 4.852150914266242,
-        "y": 7.45
-      },
-      "prevControl": {
-        "x": 4.719085501741837,
-        "y": 7.479677359878633
-      },
-      "nextControl": {
-        "x": 5.202725850291558,
-        "y": 7.371811849199025
+        "x": 4.170511959714229,
+        "y": 7.741863170559082
       },
       "isLocked": false,
       "linkedName": null
@@ -52,8 +36,8 @@
         "y": 7.225738959188476
       },
       "prevControl": {
-        "x": 4.986149852656257,
-        "y": 7.181901774728098
+        "x": 5.212464042958929,
+        "y": 6.953069564502119
       },
       "nextControl": null,
       "isLocked": false,
@@ -68,33 +52,15 @@
     }
   ],
   "constraintZones": [],
-  "eventMarkers": [
-    {
-      "name": "New Event Marker",
-      "waypointRelativePos": 1.9,
-      "command": {
-        "type": "parallel",
-        "data": {
-          "commands": [
-            {
-              "type": "named",
-              "data": {
-                "name": "shootNote"
-              }
-            }
-          ]
-        }
-      }
-    }
-  ],
+  "eventMarkers": [],
   "globalConstraints": {
     "maxVelocity": 3.5,
     "maxAcceleration": 2.3,
     "maxAngularVelocity": 650.0,
     "maxAngularAcceleration": 350.0
   },
   "goalEndState": {
-    "velocity": 0,
+    "velocity": 2.0,
     "rotation": 180.0,
     "rotateFast": false
   },