Merge pull request #113 from 2491-NoMythic/3-20AutoWork

2491-NoMythic · Mar 22, 2024 · a4ce369 · a4ce369
2 parents cfb5941 + 1999701
commit a4ce369
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Showing 41 changed files with 409 additions and 254 deletions.
diff --git a/.pathplanner/settings.json b/.pathplanner/settings.json
@@ -9,9 +9,9 @@
     "to shooting pos"
   ],
   "autoFolders": [],
-  "defaultMaxVel": 5.0,
-  "defaultMaxAccel": 4.0,
+  "defaultMaxVel": 10.0,
+  "defaultMaxAccel": 15.0,
   "defaultMaxAngVel": 540.0,
-  "defaultMaxAngAccel": 720.0,
+  "defaultMaxAngAccel": 800.0,
   "maxModuleSpeed": 4.5
 }
diff --git a/src/main/deploy/pathplanner/autos/(AP)StartAmpScore3Close.auto b/src/main/deploy/pathplanner/autos/(AP)StartAmpScore3Close.auto
@@ -35,6 +35,12 @@
             "name": "autoPickup"
           }
         },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 0.5
+          }
+        },
         {
           "type": "named",
           "data": {
@@ -44,7 +50,7 @@
         {
           "type": "path",
           "data": {
-            "pathName": "CloseAmpPickupFromMidAuto"
+            "pathName": " CloseMidPickupFromAmpAuto"
           }
         },
         {
@@ -53,6 +59,12 @@
             "name": "autoPickup"
           }
         },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 0.5
+          }
+        },
         {
           "type": "named",
           "data": {
@@ -71,6 +83,12 @@
             "name": "autoPickup"
           }
         },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 0.5
+          }
+        },
         {
           "type": "named",
           "data": {

diff --git a/src/main/deploy/pathplanner/autos/(AP)StartAmpScore3FarAmp.auto b/src/main/deploy/pathplanner/autos/(AP)StartAmpScore3FarAmp.auto
@@ -2,8 +2,8 @@
   "version": 1.0,
   "startingPose": {
     "position": {
-      "x": 0.9487339076459329,
-      "y": 6.7470807715152326
+      "x": 0.6842044526319189,
+      "y": 6.690138362483131
     },
     "rotation": -118.30075576600639
   },
@@ -35,6 +35,12 @@
             "name": "autoPickup"
           }
         },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 0.5
+          }
+        },
         {
           "type": "path",
           "data": {
@@ -59,6 +65,12 @@
             "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
@@ -2,10 +2,10 @@
   "version": 1.0,
   "startingPose": {
     "position": {
-      "x": 0.9905114975624361,
-      "y": 4.3344249538371855
+      "x": 1.3171869760109631,
+      "y": 5.55
     },
-    "rotation": -179.13194855025444
+    "rotation": 180.0
   },
   "command": {
     "type": "sequential",
@@ -35,6 +35,12 @@
             "name": "autoPickup"
           }
         },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 0.4
+          }
+        },
         {
           "type": "named",
           "data": {
@@ -53,6 +59,12 @@
             "name": "autoPickup"
           }
         },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 0.4
+          }
+        },
         {
           "type": "named",
           "data": {
@@ -71,6 +83,12 @@
             "name": "autoPickup"
           }
         },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 0.4
+          }
+        },
         {
           "type": "named",
           "data": {

diff --git a/src/main/deploy/pathplanner/autos/(AP)StartSourceScore3Close.auto b/src/main/deploy/pathplanner/autos/(AP)StartSourceScore3Close.auto
@@ -2,10 +2,10 @@
   "version": 1.0,
   "startingPose": {
     "position": {
-      "x": 0.7294015605842922,
-      "y": 6.611303604286598
+      "x": 0.6549898746298092,
+      "y": 4.421139470985942
     },
-    "rotation": -120.52000000000001
+    "rotation": 120.0
   },
   "command": {
     "type": "sequential",
@@ -35,6 +35,12 @@
             "name": "autoPickup"
           }
         },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 0.5
+          }
+        },
         {
           "type": "named",
           "data": {
@@ -53,6 +59,12 @@
             "name": "autoPickup"
           }
         },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 0.5
+          }
+        },
         {
           "type": "named",
           "data": {
@@ -71,6 +83,12 @@
             "name": "autoPickup"
           }
         },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 0.5
+          }
+        },
         {
           "type": "named",
           "data": {

diff --git a/src/main/deploy/pathplanner/autos/(AP)StartSourceScore3FarSource.auto b/src/main/deploy/pathplanner/autos/(AP)StartSourceScore3FarSource.auto
@@ -35,6 +35,12 @@
             "name": "autoPickup"
           }
         },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 0.5
+          }
+        },
         {
           "type": "path",
           "data": {
@@ -59,10 +65,16 @@
             "name": "autoPickup"
           }
         },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 0.5
+          }
+        },
         {
           "type": "path",
           "data": {
-            "pathName": "BlueSourceShoot4"
+            "pathName": "BlueSourceShoot4UnderStage"
           }
         },
         {

diff --git a/src/main/deploy/pathplanner/paths/ CloseMidPickupFromAmpAuto.path b/src/main/deploy/pathplanner/paths/ CloseMidPickupFromAmpAuto.path
@@ -3,25 +3,25 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 2.9122806337215734,
-        "y": 6.830635951348238
+        "x": 2.6415811787732717,
+        "y": 7.108880647180037
       },
       "prevControl": null,
       "nextControl": {
-        "x": 2.891391838763322,
-        "y": 6.600859206807472
+        "x": 2.6513193714406422,
+        "y": 6.933593179167378
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 2.9122806337215734,
-        "y": 6.371082462266705
+        "x": 1.8138348020468287,
+        "y": 5.901344756426168
       },
       "prevControl": {
-        "x": 2.880947441284196,
-        "y": 6.412860052183208
+        "x": 1.7825016096094515,
+        "y": 5.943122346342671
       },
       "nextControl": null,
       "isLocked": false,
@@ -31,21 +31,21 @@
   "rotationTargets": [
     {
       "waypointRelativePos": 0.5,
-      "rotationDegrees": 90.0,
-      "rotateFast": false
+      "rotationDegrees": 170.0,
+      "rotateFast": true
     }
   ],
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 5.0,
-    "maxAcceleration": 4.0,
+    "maxVelocity": 10.0,
+    "maxAcceleration": 15.0,
     "maxAngularVelocity": 540.0,
-    "maxAngularAcceleration": 720.0
+    "maxAngularAcceleration": 800.0
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": 93.01278750418334,
+    "rotation": 167.957424857115,
     "rotateFast": false
   },
   "reversed": false,

diff --git a/src/main/deploy/pathplanner/paths/Blue1AutoPickup.path b/src/main/deploy/pathplanner/paths/Blue1AutoPickup.path
@@ -16,12 +16,12 @@
     },
     {
       "anchor": {
-        "x": 7.455593537141273,
-        "y": 7.488209571013737
+        "x": 1.1516377006722949,
+        "y": 7.69317220721581
       },
       "prevControl": {
-        "x": 7.268487066062236,
-        "y": 7.4842588431615615
+        "x": 0.964531229593258,
+        "y": 7.689221479363635
       },
       "nextControl": null,
       "isLocked": false,
@@ -38,10 +38,10 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 5.0,
-    "maxAcceleration": 4.0,
+    "maxVelocity": 10.0,
+    "maxAcceleration": 15.0,
     "maxAngularVelocity": 540.0,
-    "maxAngularAcceleration": 720.0
+    "maxAngularAcceleration": 800.0
   },
   "goalEndState": {
     "velocity": 0,

diff --git a/src/main/deploy/pathplanner/paths/Blue1AutoPickupFromStart.path b/src/main/deploy/pathplanner/paths/Blue1AutoPickupFromStart.path
@@ -3,29 +3,45 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 2.849614248846819,
-        "y": 6.2875272824337
+        "x": 0.9763502326596363,
+        "y": 6.972545949830438
       },
       "prevControl": null,
       "nextControl": {
-        "x": 3.054657024374737,
-        "y": 6.295270709023964
+        "x": 1.1813930081875528,
+        "y": 6.980289376420702
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 7.455593537141273,
-        "y": 7.488209571013737
+        "x": 1.1516377006722949,
+        "y": 7.69317220721581
       },
       "prevControl": {
-        "x": 7.268487066062236,
-        "y": 7.4842588431615615
+        "x": 1.0469668045790654,
+        "y": 7.686496767413758
+      },
+      "nextControl": {
+        "x": 4.9690092262746814,
+        "y": 7.936627023906479
       },
-      "nextControl": null,
       "isLocked": false,
       "linkedName": "CollectNote1Blue"
+    },
+    {
+      "anchor": {
+        "x": 7.354866429779824,
+        "y": 7.5081465465374535
+      },
+      "prevControl": {
+        "x": 6.059686805013007,
+        "y": 7.2257389591901475
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
     }
   ],
   "rotationTargets": [
@@ -38,10 +54,10 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 5.0,
-    "maxAcceleration": 4.0,
+    "maxVelocity": 10.0,
+    "maxAcceleration": 15.0,
     "maxAngularVelocity": 540.0,
-    "maxAngularAcceleration": 720.0
+    "maxAngularAcceleration": 800.0
   },
   "goalEndState": {
     "velocity": 0,