diff --git a/.pathplanner/settings.json b/.pathplanner/settings.json index e6e704e4..93640a82 100644 --- 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 } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/(AP)StartAmpScore3Close.auto b/src/main/deploy/pathplanner/autos/(AP)StartAmpScore3Close.auto index 59aa7ac0..0cec27e6 100644 --- 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 index 61e67d6f..84c43085 100644 --- 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 index 2bdfbd18..e139b89e 100644 --- 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 index ba8eec2b..eeb9efcb 100644 --- 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 index db65a070..5677731c 100644 --- 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 index d179b0d9..1b65ce53 100644 --- 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 index 3a821c42..05887e19 100644 --- 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 index 21eb5486..116aa2ee 100644 --- 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, diff --git a/src/main/deploy/pathplanner/paths/Blue2AutoPickup.path b/src/main/deploy/pathplanner/paths/Blue2AutoPickup.path index eb7d9501..8f76add6 100644 --- a/src/main/deploy/pathplanner/paths/Blue2AutoPickup.path +++ b/src/main/deploy/pathplanner/paths/Blue2AutoPickup.path @@ -8,20 +8,20 @@ }, "prevControl": null, "nextControl": { - "x": 6.950152453299708, - "y": 6.074742183490601 + "x": 6.829004025742334, + "y": 6.115584995108306 }, "isLocked": false, "linkedName": null }, { "anchor": { - "x": 7.491201127123489, - "y": 5.940297527095648 + "x": 7.140626191098172, + "y": 6.008464875767237 }, "prevControl": { - "x": 7.16376480273517, - "y": 6.0104624537502875 + "x": 6.906909567081294, + "y": 6.096108609773567 }, "nextControl": null, "isLocked": false, diff --git a/src/main/deploy/pathplanner/paths/Blue3AutoPickupAmpSide.path b/src/main/deploy/pathplanner/paths/Blue3AutoPickupAmpSide.path index 5e4b3e80..a09b8057 100644 --- a/src/main/deploy/pathplanner/paths/Blue3AutoPickupAmpSide.path +++ b/src/main/deploy/pathplanner/paths/Blue3AutoPickupAmpSide.path @@ -3,25 +3,25 @@ "waypoints": [ { "anchor": { - "x": 5.309845969632628, - "y": 7.001760527838968 + "x": 4.3068121248935265, + "y": 6.027941261101977 }, "prevControl": null, "nextControl": { - "x": 7.748036666556794, - "y": 6.2457496925171965 + "x": 6.7450028218176925, + "y": 5.271930425780205 }, "isLocked": false, "linkedName": "SourceSideShoot" }, { "anchor": { - "x": 7.627078046178885, - "y": 5.005098101364294 + "x": 7.481462934456118, + "y": 5.141765728371315 }, "prevControl": { - "x": 7.118619371603878, - "y": 5.800142574336119 + "x": 6.973004259881112, + "y": 5.93681020134314 }, "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/Blue3AutoPickupFromStart.path b/src/main/deploy/pathplanner/paths/Blue3AutoPickupFromStart.path index 2f54b9e8..a92210ba 100644 --- a/src/main/deploy/pathplanner/paths/Blue3AutoPickupFromStart.path +++ b/src/main/deploy/pathplanner/paths/Blue3AutoPickupFromStart.path @@ -16,12 +16,12 @@ }, { "anchor": { - "x": 7.225816792600507, - "y": 4.031537426942538 + "x": 7.023767879089733, + "y": 4.0413499569585145 }, "prevControl": { - "x": 4.961396816286908, - "y": 3.711976165500859 + "x": 4.759347902776134, + "y": 3.7217886955168353 }, "nextControl": null, "isLocked": false, diff --git a/src/main/deploy/pathplanner/paths/Blue3AutoPickupSourceSide.path b/src/main/deploy/pathplanner/paths/Blue3AutoPickupSourceSide.path index 3283e2f1..645c8834 100644 --- a/src/main/deploy/pathplanner/paths/Blue3AutoPickupSourceSide.path +++ b/src/main/deploy/pathplanner/paths/Blue3AutoPickupSourceSide.path @@ -3,25 +3,25 @@ "waypoints": [ { "anchor": { - "x": 5.212464042958929, - "y": 1.665230946120256 + "x": 3.615400445510263, + "y": 3.018839726884674 }, "prevControl": null, "nextControl": { - "x": 6.526042161499081, - "y": 1.765103173972251 + "x": 4.928978564050416, + "y": 3.118711954736669 }, "isLocked": false, "linkedName": "SourceSideBlueShoot" }, { "anchor": { - "x": 7.706259076640292, - "y": 3.3108740008828614 + "x": 7.461986549121379, + "y": 3.1843890022299624 }, "prevControl": { - "x": 7.300941851611077, - "y": 2.4377596730475175 + "x": 7.056669324092164, + "y": 2.3112746743946184 }, "nextControl": null, "isLocked": false, @@ -56,10 +56,10 @@ } ], "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/Blue3AutoUnderStageAmp.path b/src/main/deploy/pathplanner/paths/Blue3AutoUnderStageAmp.path index d93ebee8..7b298687 100644 --- a/src/main/deploy/pathplanner/paths/Blue3AutoUnderStageAmp.path +++ b/src/main/deploy/pathplanner/paths/Blue3AutoUnderStageAmp.path @@ -3,25 +3,25 @@ "waypoints": [ { "anchor": { - "x": 5.309845969632628, - "y": 7.001760527838968 + "x": 4.3068121248935265, + "y": 6.027941261101977 }, "prevControl": null, "nextControl": { - "x": 2.3981263620890236, - "y": 3.866062488945856 + "x": 1.3950925173499225, + "y": 2.8922432222088648 }, "isLocked": false, "linkedName": "SourceSideShoot" }, { "anchor": { - "x": 7.369806648445205, - "y": 4.057871591526659 + "x": 7.072458842426581, + "y": 4.021873571623774 }, "prevControl": { - "x": 6.255687848779034, - "y": 3.9259364705135598 + "x": 5.95834004276041, + "y": 3.889938450610675 }, "nextControl": null, "isLocked": false, diff --git a/src/main/deploy/pathplanner/paths/Blue3AutoUnderStageSource.path b/src/main/deploy/pathplanner/paths/Blue3AutoUnderStageSource.path index d628a4ab..60b69385 100644 --- a/src/main/deploy/pathplanner/paths/Blue3AutoUnderStageSource.path +++ b/src/main/deploy/pathplanner/paths/Blue3AutoUnderStageSource.path @@ -3,25 +3,25 @@ "waypoints": [ { "anchor": { - "x": 5.212464042958929, - "y": 1.665230946120256 + "x": 3.615400445510263, + "y": 3.018839726884674 }, "prevControl": null, "nextControl": { - "x": 2.8168686467859296, - "y": 4.002397186289035 + "x": 1.219805049337264, + "y": 5.356005967053453 }, "isLocked": false, "linkedName": "SourceSideBlueShoot" }, { "anchor": { - "x": 7.311335876233006, - "y": 4.1046482092964185 + "x": 7.0140296864223615, + "y": 4.0900409202953645 }, "prevControl": { - "x": 6.138579245005459, - "y": 4.133967125077106 + "x": 5.841273055194814, + "y": 4.119359836076052 }, "nextControl": null, "isLocked": false, diff --git a/src/main/deploy/pathplanner/paths/Blue4AutoPickupSourceSide.path b/src/main/deploy/pathplanner/paths/Blue4AutoPickupSourceSide.path index 85dec0dc..26ef97c1 100644 --- a/src/main/deploy/pathplanner/paths/Blue4AutoPickupSourceSide.path +++ b/src/main/deploy/pathplanner/paths/Blue4AutoPickupSourceSide.path @@ -3,25 +3,25 @@ "waypoints": [ { "anchor": { - "x": 5.212464042958929, - "y": 1.665230946120256 + "x": 4.608696097581994, + "y": 1.8210420287981743 }, "prevControl": null, "nextControl": { - "x": 5.659157170731644, - "y": 1.765103173972251 + "x": 5.942828493011672, + "y": 1.606801790116036 }, "isLocked": false, - "linkedName": "SourceSideBlueShoot" + "linkedName": null }, { "anchor": { - "x": 7.131817215288375, - "y": 2.067990700866898 + "x": 7.043244264424471, + "y": 2.0937114234845327 }, "prevControl": { - "x": 6.107998457270485, - "y": 1.9729199033004963 + "x": 5.933090300344303, + "y": 1.6554927534528867 }, "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/Blue4AutoPickupUnderStage.path b/src/main/deploy/pathplanner/paths/Blue4AutoPickupUnderStage.path index 48ef5db0..8b4a3f03 100644 --- a/src/main/deploy/pathplanner/paths/Blue4AutoPickupUnderStage.path +++ b/src/main/deploy/pathplanner/paths/Blue4AutoPickupUnderStage.path @@ -3,25 +3,25 @@ "waypoints": [ { "anchor": { - "x": 5.309845969632628, - "y": 7.001760527838968 + "x": 4.3068121248935265, + "y": 6.027941261101977 }, "prevControl": null, "nextControl": { - "x": 2.4064733843753405, - "y": 3.1957618200950693 + "x": 3.6446150235123724, + "y": 3.807633332941637 }, "isLocked": false, "linkedName": "SourceSideShoot" }, { "anchor": { - "x": 7.595921477557241, - "y": 3.049167241191626 + "x": 7.208793539769761, + "y": 3.1162216535583727 }, "prevControl": { - "x": 6.27657026742625, - "y": 4.64704815123916 + "x": 5.88944232963877, + "y": 4.7141025636059055 }, "nextControl": null, "isLocked": false, @@ -30,7 +30,7 @@ ], "rotationTargets": [ { - "waypointRelativePos": 1.0, + "waypointRelativePos": 0.75, "rotationDegrees": 145.3, "rotateFast": true } @@ -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/Blue5AutoPickupSourceSide.path b/src/main/deploy/pathplanner/paths/Blue5AutoPickupSourceSide.path index 0cfb2465..0cdafa8a 100644 --- a/src/main/deploy/pathplanner/paths/Blue5AutoPickupSourceSide.path +++ b/src/main/deploy/pathplanner/paths/Blue5AutoPickupSourceSide.path @@ -3,25 +3,25 @@ "waypoints": [ { "anchor": { - "x": 5.212464042958929, - "y": 1.665230946120256 + "x": 3.615400445510263, + "y": 3.018839726884674 }, "prevControl": null, "nextControl": { - "x": 5.878489517793285, - "y": 1.4413268521193536 + "x": 4.2814259203446206, + "y": 2.794935632883772 }, "isLocked": false, "linkedName": "SourceSideBlueShoot" }, { "anchor": { - "x": 7.334279751694896, - "y": 0.9944753381193234 + "x": 6.994553301087623, + "y": 1.051724808075951 }, "prevControl": { - "x": 6.338043006874818, - "y": 1.232438902536838 + "x": 5.998316556267545, + "y": 1.2896883724934654 }, "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/BlueAmpShoot1.path b/src/main/deploy/pathplanner/paths/BlueAmpShoot1.path index 0670dc1e..4db601ed 100644 --- a/src/main/deploy/pathplanner/paths/BlueAmpShoot1.path +++ b/src/main/deploy/pathplanner/paths/BlueAmpShoot1.path @@ -3,25 +3,25 @@ "waypoints": [ { "anchor": { - "x": 7.455593537141273, - "y": 7.488209571013737 + "x": 1.1516377006722949, + "y": 7.69317220721581 }, "prevControl": null, "nextControl": { - "x": 7.232100858870184, - "y": 7.410764619868505 + "x": 0.9281450224012058, + "y": 7.615727256070579 }, "isLocked": false, "linkedName": "CollectNote1Blue" }, { "anchor": { - "x": 5.309845969632628, - "y": 7.001760527838968 + "x": 4.3068121248935265, + "y": 6.027941261101977 }, "prevControl": { - "x": 5.679897290992685, - "y": 7.099142454512667 + "x": 4.676863446253583, + "y": 6.125323187775676 }, "nextControl": null, "isLocked": false, diff --git a/src/main/deploy/pathplanner/paths/BlueAmpShoot2.path b/src/main/deploy/pathplanner/paths/BlueAmpShoot2.path index 785a489c..fd058514 100644 --- a/src/main/deploy/pathplanner/paths/BlueAmpShoot2.path +++ b/src/main/deploy/pathplanner/paths/BlueAmpShoot2.path @@ -16,12 +16,12 @@ }, { "anchor": { - "x": 5.309845969632628, - "y": 7.001760527838968 + "x": 4.3068121248935265, + "y": 6.027941261101977 }, "prevControl": { - "x": 6.7413602917360045, - "y": 6.534327279805212 + "x": 5.864922951672713, + "y": 7.167309803184257 }, "nextControl": null, "isLocked": false, diff --git a/src/main/deploy/pathplanner/paths/BlueSourceShoot4.path b/src/main/deploy/pathplanner/paths/BlueSourceShoot4.path index 1133b470..495bd88a 100644 --- a/src/main/deploy/pathplanner/paths/BlueSourceShoot4.path +++ b/src/main/deploy/pathplanner/paths/BlueSourceShoot4.path @@ -8,20 +8,20 @@ }, "prevControl": null, "nextControl": { - "x": 6.005304262860778, - "y": 1.682535977684569 + "x": 5.00796199694416, + "y": 1.0809393860780607 }, "isLocked": false, "linkedName": null }, { "anchor": { - "x": 5.212464042958929, - "y": 1.665230946120256 + "x": 3.615400445510263, + "y": 3.018839726884674 }, "prevControl": { - "x": 6.0499486123527415, - "y": 1.5775872121139263 + "x": 4.793721758262027, + "y": 2.37611901083826 }, "nextControl": null, "isLocked": false, diff --git a/src/main/deploy/pathplanner/paths/BlueSourceShoot4UnderStage.path b/src/main/deploy/pathplanner/paths/BlueSourceShoot4UnderStage.path new file mode 100644 index 00000000..e34b8194 --- /dev/null +++ b/src/main/deploy/pathplanner/paths/BlueSourceShoot4UnderStage.path @@ -0,0 +1,55 @@ +{ + "version": 1.0, + "waypoints": [ + { + "anchor": { + "x": 8.029894257986713, + "y": 2.4960698570045796 + }, + "prevControl": null, + "nextControl": { + "x": 6.634240172394935, + "y": 4.48930681965753 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 4.511314170908295, + "y": 4.7814525996786275 + }, + "prevControl": { + "x": 5.7772792176663845, + "y": 3.7784187549395263 + }, + "nextControl": null, + "isLocked": false, + "linkedName": "ShootUnderStage" + } + ], + "rotationTargets": [ + { + "waypointRelativePos": 0.5, + "rotationDegrees": 146.98388319699862, + "rotateFast": false + } + ], + "constraintZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 4.0, + "maxAcceleration": 3.0, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0 + }, + "goalEndState": { + "velocity": 0, + "rotation": 163.61045966596527, + "rotateFast": false + }, + "reversed": false, + "folder": null, + "previewStartingState": null, + "useDefaultConstraints": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/BlueSourceShoot5.path b/src/main/deploy/pathplanner/paths/BlueSourceShoot5.path index dc226559..702766e7 100644 --- a/src/main/deploy/pathplanner/paths/BlueSourceShoot5.path +++ b/src/main/deploy/pathplanner/paths/BlueSourceShoot5.path @@ -16,12 +16,12 @@ }, { "anchor": { - "x": 5.212464042958929, - "y": 1.665230946120256 + "x": 3.615400445510263, + "y": 3.018839726884674 }, "prevControl": { - "x": 6.303603151878073, - "y": 0.9974992425744809 + "x": 4.706539554429408, + "y": 2.3511080233388992 }, "nextControl": null, "isLocked": false, diff --git a/src/main/deploy/pathplanner/paths/CloseAmpPickupAuto.path b/src/main/deploy/pathplanner/paths/CloseAmpPickupAuto.path index 2581c414..69f228b3 100644 --- a/src/main/deploy/pathplanner/paths/CloseAmpPickupAuto.path +++ b/src/main/deploy/pathplanner/paths/CloseAmpPickupAuto.path @@ -3,25 +3,25 @@ "waypoints": [ { "anchor": { - "x": 1.9200628732046272, - "y": 6.350193667308456 + "x": 1.823572994714199, + "y": 6.329825233790444 }, "prevControl": null, "nextControl": { - "x": 1.9933601626563484, - "y": 6.438150414650522 + "x": 1.8968702841659202, + "y": 6.417781981132511 }, "isLocked": false, "linkedName": null }, { "anchor": { - "x": 2.191617207661897, - "y": 6.590414809328347 + "x": 1.940431306722638, + "y": 6.417468967796773 }, "prevControl": { - "x": 2.2960611824531547, - "y": 6.606081405547034 + "x": 2.044875281513896, + "y": 6.43313556401546 }, "nextControl": null, "isLocked": false, @@ -32,10 +32,10 @@ "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/CloseAmpPickupFromMidAuto.path b/src/main/deploy/pathplanner/paths/CloseAmpPickupFromMidAuto.path index d0580a35..fa6bc357 100644 --- a/src/main/deploy/pathplanner/paths/CloseAmpPickupFromMidAuto.path +++ b/src/main/deploy/pathplanner/paths/CloseAmpPickupFromMidAuto.path @@ -3,43 +3,49 @@ "waypoints": [ { "anchor": { - "x": 2.87050304380507, - "y": 5.514641868978395 + "x": 3.157705390143877, + "y": 5.5410316277334815 }, "prevControl": null, "nextControl": { - "x": 2.9438003332567915, - "y": 5.602598616320462 + "x": 3.2310026795955986, + "y": 5.628988375075548 }, "isLocked": false, "linkedName": null }, { "anchor": { - "x": 2.87050304380507, - "y": 6.183083307642443 + "x": 2.7000103347774913, + "y": 5.872130178424058 }, "prevControl": { - "x": 2.880947441284196, - "y": 5.963750960580801 + "x": 2.7104547322566175, + "y": 5.652797831362416 }, "nextControl": null, "isLocked": false, "linkedName": null } ], - "rotationTargets": [], + "rotationTargets": [ + { + "waypointRelativePos": 0.2, + "rotationDegrees": -80.0, + "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": -90.0, + "rotation": -100.53918372862825, "rotateFast": false }, "reversed": false, diff --git a/src/main/deploy/pathplanner/paths/CloseMidPickupAuto.path b/src/main/deploy/pathplanner/paths/CloseMidPickupAuto.path index 3b840f68..d9d2536e 100644 --- a/src/main/deploy/pathplanner/paths/CloseMidPickupAuto.path +++ b/src/main/deploy/pathplanner/paths/CloseMidPickupAuto.path @@ -16,12 +16,12 @@ }, { "anchor": { - "x": 1.9096184757255017, - "y": 5.531293435066112 + "x": 1.6288091413668007, + "y": 5.502078857064002 }, "prevControl": { - "x": 1.5154388965660415, - "y": 5.531293435066112 + "x": 1.4827362513562519, + "y": 5.482602471729262 }, "nextControl": null, "isLocked": false, @@ -32,10 +32,10 @@ "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/CloseMidPickupFromSourceAuto.path b/src/main/deploy/pathplanner/paths/CloseMidPickupFromSourceAuto.path index 72d6f0c8..3d0c1b88 100644 --- a/src/main/deploy/pathplanner/paths/CloseMidPickupFromSourceAuto.path +++ b/src/main/deploy/pathplanner/paths/CloseMidPickupFromSourceAuto.path @@ -16,12 +16,12 @@ }, { "anchor": { - "x": 2.4527271446400407, - "y": 4.856644827793473 + "x": 1.7456674533752394, + "y": 5.141765728371315 }, "prevControl": { - "x": 2.4213939522026635, - "y": 4.898422417709976 + "x": 1.7143342609378622, + "y": 5.183543318287818 }, "nextControl": null, "isLocked": false, @@ -31,21 +31,21 @@ "rotationTargets": [ { "waypointRelativePos": 0.5, - "rotationDegrees": -126.87, + "rotationDegrees": -170.0, "rotateFast": false } ], "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": -120.65066795705286, + "rotation": -155.29756977222863, "rotateFast": false }, "reversed": false, diff --git a/src/main/deploy/pathplanner/paths/CloseSourcePickupAuto.path b/src/main/deploy/pathplanner/paths/CloseSourcePickupAuto.path index 16873b99..68a86df4 100644 --- a/src/main/deploy/pathplanner/paths/CloseSourcePickupAuto.path +++ b/src/main/deploy/pathplanner/paths/CloseSourcePickupAuto.path @@ -3,25 +3,25 @@ "waypoints": [ { "anchor": { - "x": 1.6067309488308548, - "y": 4.919311212668227 + "x": 1.7554056460426093, + "y": 4.52825959032701 }, "prevControl": null, "nextControl": { - "x": 2.031855227650841, - "y": 4.582143681190307 + "x": 1.901478536053158, + "y": 4.333495736979611 }, "isLocked": false, "linkedName": null }, { "anchor": { - "x": 2.0767288353915134, - "y": 4.240425376525054 + "x": 1.9112167287205282, + "y": 4.177684654301693 }, "prevControl": { - "x": 2.021755868302722, - "y": 4.22576591863471 + "x": 1.8562437616317367, + "y": 4.163025196411349 }, "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/CloseSourcePickupFromMiddle.path b/src/main/deploy/pathplanner/paths/CloseSourcePickupFromMiddle.path index 496d1313..603f9ac1 100644 --- a/src/main/deploy/pathplanner/paths/CloseSourcePickupFromMiddle.path +++ b/src/main/deploy/pathplanner/paths/CloseSourcePickupFromMiddle.path @@ -3,13 +3,13 @@ "waypoints": [ { "anchor": { - "x": 1.8917403433857882, - "y": 5.083336572367095 + "x": 1.9306931140552677, + "y": 4.499045012324901 }, "prevControl": null, "nextControl": { - "x": 1.6580237193689102, - "y": 4.479568626990161 + "x": 2.0865041967331863, + "y": 4.275066580975393 }, "isLocked": false, "linkedName": null diff --git a/src/main/deploy/pathplanner/paths/Obsolete/Blue1Pickup.path b/src/main/deploy/pathplanner/paths/Obsolete/Blue1Pickup.path index 304ad967..c51500fe 100644 --- a/src/main/deploy/pathplanner/paths/Obsolete/Blue1Pickup.path +++ b/src/main/deploy/pathplanner/paths/Obsolete/Blue1Pickup.path @@ -16,12 +16,12 @@ }, { "anchor": { - "x": 7.455593537141273, - "y": 7.488209571013737 + "x": 1.1516377006722949, + "y": 7.69317220721581 }, "prevControl": { - "x": 7.002603081610812, - "y": 7.4697201646655556 + "x": 0.698647245141834, + "y": 7.674682800867629 }, "nextControl": null, "isLocked": false, diff --git a/src/main/deploy/pathplanner/paths/Obsolete/Blue3PickupAmpSide.path b/src/main/deploy/pathplanner/paths/Obsolete/Blue3PickupAmpSide.path index be5c2503..5c732e2a 100644 --- a/src/main/deploy/pathplanner/paths/Obsolete/Blue3PickupAmpSide.path +++ b/src/main/deploy/pathplanner/paths/Obsolete/Blue3PickupAmpSide.path @@ -3,13 +3,13 @@ "waypoints": [ { "anchor": { - "x": 5.309845969632628, - "y": 7.001760527838968 + "x": 4.3068121248935265, + "y": 6.027941261101977 }, "prevControl": null, "nextControl": { - "x": 8.240937624732393, - "y": 5.731848035124642 + "x": 7.2379037799932915, + "y": 4.758028768387651 }, "isLocked": false, "linkedName": "SourceSideShoot" diff --git a/src/main/deploy/pathplanner/paths/Obsolete/Blue3PickupUnderStageAmp.path b/src/main/deploy/pathplanner/paths/Obsolete/Blue3PickupUnderStageAmp.path index bf9ad7fd..f3459ac6 100644 --- a/src/main/deploy/pathplanner/paths/Obsolete/Blue3PickupUnderStageAmp.path +++ b/src/main/deploy/pathplanner/paths/Obsolete/Blue3PickupUnderStageAmp.path @@ -3,13 +3,13 @@ "waypoints": [ { "anchor": { - "x": 5.309845969632628, - "y": 7.001760527838968 + "x": 4.3068121248935265, + "y": 6.027941261101977 }, "prevControl": null, "nextControl": { - "x": 3.011632500133328, - "y": 2.9896251488825647 + "x": 2.008598655394227, + "y": 2.0158058821455733 }, "isLocked": false, "linkedName": "SourceSideShoot" diff --git a/src/main/deploy/pathplanner/paths/Obsolete/Blue3PickupUnderStageSource.path b/src/main/deploy/pathplanner/paths/Obsolete/Blue3PickupUnderStageSource.path index f5a70388..88094450 100644 --- a/src/main/deploy/pathplanner/paths/Obsolete/Blue3PickupUnderStageSource.path +++ b/src/main/deploy/pathplanner/paths/Obsolete/Blue3PickupUnderStageSource.path @@ -3,13 +3,13 @@ "waypoints": [ { "anchor": { - "x": 5.212464042958929, - "y": 1.665230946120256 + "x": 3.615400445510263, + "y": 3.018839726884674 }, "prevControl": null, "nextControl": { - "x": 2.748701298114341, - "y": 4.7814525996786275 + "x": 1.1516377006656753, + "y": 6.135061380443045 }, "isLocked": false, "linkedName": "SourceSideBlueShoot" diff --git a/src/main/deploy/pathplanner/paths/Obsolete/Blue4PickupSourceSide.path b/src/main/deploy/pathplanner/paths/Obsolete/Blue4PickupSourceSide.path index c1963e6b..ebb291bd 100644 --- a/src/main/deploy/pathplanner/paths/Obsolete/Blue4PickupSourceSide.path +++ b/src/main/deploy/pathplanner/paths/Obsolete/Blue4PickupSourceSide.path @@ -3,13 +3,13 @@ "waypoints": [ { "anchor": { - "x": 5.212464042958929, - "y": 1.665230946120256 + "x": 3.615400445510263, + "y": 3.018839726884674 }, "prevControl": null, "nextControl": { - "x": 7.346710693421388, - "y": 1.7444754889509784 + "x": 5.749647095972723, + "y": 3.0980842697153963 }, "isLocked": false, "linkedName": "SourceSideBlueShoot" @@ -61,10 +61,10 @@ } ], "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/Obsolete/Blue4PickupUnderStage.path b/src/main/deploy/pathplanner/paths/Obsolete/Blue4PickupUnderStage.path index cddeb13a..c62fe81d 100644 --- a/src/main/deploy/pathplanner/paths/Obsolete/Blue4PickupUnderStage.path +++ b/src/main/deploy/pathplanner/paths/Obsolete/Blue4PickupUnderStage.path @@ -3,13 +3,13 @@ "waypoints": [ { "anchor": { - "x": 5.309845969632628, - "y": 7.001760527838968 + "x": 4.3068121248935265, + "y": 6.027941261101977 }, "prevControl": null, "nextControl": { - "x": 2.9018362362424472, - "y": 4.188203389129424 + "x": 1.898802391503346, + "y": 3.214384122392433 }, "isLocked": false, "linkedName": "SourceSideShoot" @@ -56,10 +56,10 @@ } ], "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/Obsolete/Blue5PickupSourceSide.path b/src/main/deploy/pathplanner/paths/Obsolete/Blue5PickupSourceSide.path index f3a41246..6caa6e16 100644 --- a/src/main/deploy/pathplanner/paths/Obsolete/Blue5PickupSourceSide.path +++ b/src/main/deploy/pathplanner/paths/Obsolete/Blue5PickupSourceSide.path @@ -3,13 +3,13 @@ "waypoints": [ { "anchor": { - "x": 5.212464042958929, - "y": 1.665230946120256 + "x": 3.615400445510263, + "y": 3.018839726884674 }, "prevControl": null, "nextControl": { - "x": 7.250128689716793, - "y": 0.5364526885637415 + "x": 5.653065092268129, + "y": 1.8900614693281597 }, "isLocked": false, "linkedName": "SourceSideBlueShoot" @@ -56,10 +56,10 @@ } ], "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/Obsolete/CloseAmpPickupFromMid.path b/src/main/deploy/pathplanner/paths/Obsolete/CloseAmpPickupFromMid.path index f75e6db6..b26327f9 100644 --- a/src/main/deploy/pathplanner/paths/Obsolete/CloseAmpPickupFromMid.path +++ b/src/main/deploy/pathplanner/paths/Obsolete/CloseAmpPickupFromMid.path @@ -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/OneMeterPath.path b/src/main/deploy/pathplanner/paths/OneMeterPath.path index 50cec7ee..494a8195 100644 --- a/src/main/deploy/pathplanner/paths/OneMeterPath.path +++ b/src/main/deploy/pathplanner/paths/OneMeterPath.path @@ -32,10 +32,10 @@ "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/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 38e88a91..78582170 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -196,9 +196,9 @@ public RobotContainer() { if(indexerExists) {indexInit();} if(intakeExists && shooterExists && indexerExists && angleShooterExists) {indexCommandInst();} Limelight.useDetectorLimelight(useDetectorLimelight); + configureBindings(); autoInit(); // Configure the trigger bindings - configureBindings(); } private void climbSpotChooserInit() { climbSpotChooser = new SendableChooser(); @@ -321,7 +321,7 @@ private void configureBindings() { new Trigger(GroundIntakeSup).whileTrue(new GroundIntake(intake, indexer)); } if(intakeExists&&indexerExists) { - new Trigger(intake::isNoteSeen).and(()->!intake.isNoteHeld()).onTrue(new IndexerNoteAlign(indexer, intake).withInterruptBehavior(InterruptionBehavior.kCancelIncoming)); + new Trigger(intake::isNoteSeen).and(()->!intake.isNoteHeld()).and(DriverStation::isTeleop).onTrue(new IndexerNoteAlign(indexer, intake).withInterruptBehavior(InterruptionBehavior.kCancelIncoming)); } if(indexerExists&&shooterExists&&angleShooterExists) { SequentialCommandGroup scoreAmp = new SequentialCommandGroup( @@ -528,7 +528,7 @@ public void logPower(){ } } public void robotPeriodic() { - logPower(); + // logPower(); } public void disabledPeriodic() { diff --git a/src/main/java/frc/robot/settings/Constants.java b/src/main/java/frc/robot/settings/Constants.java index 7d1b2696..5d3af226 100644 --- a/src/main/java/frc/robot/settings/Constants.java +++ b/src/main/java/frc/robot/settings/Constants.java @@ -284,7 +284,7 @@ public static final class AdjustEquation { /** * the value that the encoder thinks is zero. when the shooter is resting on the bottom stop, the encoder should read 11.63 */ - public static final double CompBotZeroOffset = 155.57;//before rebuild was 334.7 + public static final double CompBotZeroOffset = 155.2;//before rebuild was 334.7. After rebuild right away was 155.57 public static final double PracBotZeroOffset = 328; diff --git a/src/main/java/frc/robot/subsystems/IntakeSubsystem.java b/src/main/java/frc/robot/subsystems/IntakeSubsystem.java index f311faaf..a9761f04 100644 --- a/src/main/java/frc/robot/subsystems/IntakeSubsystem.java +++ b/src/main/java/frc/robot/subsystems/IntakeSubsystem.java @@ -63,7 +63,7 @@ public IntakeSubsystem() { * @param intakeRunSpeed percentage of full power, from -1 to 1 */ public void intakeYes(double intakeRunSpeed) { - intake1.set(intakeRunSpeed); + intake1.set(intakeRunSpeed*0.75); intake2.set(intakeRunSpeed); } /**