Merge branch 'main' into realTestSpeakerAngleMovingMath

2491-NoMythic · Jan 27, 2024 · a8df79a · a8df79a
2 parents 2ede4a6 + 46aa8b6
commit a8df79a
Show file tree

Hide file tree

Showing 14 changed files with 466 additions and 19 deletions.
diff --git a/src/main/deploy/pathplanner/paths/Blue1AutoPickup.path b/src/main/deploy/pathplanner/paths/Blue1AutoPickup.path
@@ -0,0 +1,55 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 6.837327548528971,
+        "y": 7.488209571013737
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 7.042370324056887,
+        "y": 7.495952997604001
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 7.311335876233006,
+        "y": 7.488209571013737
+      },
+      "prevControl": {
+        "x": 7.124229405153969,
+        "y": 7.4842588431615615
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": "CollectNote1Blue"
+    }
+  ],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 1,
+      "rotationDegrees": 0,
+      "rotateFast": false
+    }
+  ],
+  "constraintZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 0,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": "Collect Notes",
+  "previewStartingState": null,
+  "useDefaultConstraints": false
+}
diff --git a/src/main/deploy/pathplanner/paths/Blue1Pickup.path b/src/main/deploy/pathplanner/paths/Blue1Pickup.path
@@ -16,11 +16,11 @@
     },
     {
       "anchor": {
-        "x": 7.826510788156711,
+        "x": 7.311335876233006,
         "y": 7.488209571013737
       },
       "prevControl": {
-        "x": 7.37352033262625,
+        "x": 6.858345420702545,
         "y": 7.4697201646655556
       },
       "nextControl": null,

diff --git a/src/main/deploy/pathplanner/paths/Blue2AutoPickup.path b/src/main/deploy/pathplanner/paths/Blue2AutoPickup.path
@@ -0,0 +1,60 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 6.652433485047149,
+        "y": 6.240174642511447
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 6.9020404707476075,
+        "y": 6.162819391165848
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 7.428277420657405,
+        "y": 6.034183692299009
+      },
+      "prevControl": {
+        "x": 7.100841096269087,
+        "y": 6.104348618953648
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": "CollectNote2Blue"
+    }
+  ],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 1,
+      "rotationDegrees": -12.380756928807017,
+      "rotateFast": true
+    },
+    {
+      "waypointRelativePos": 0,
+      "rotationDegrees": -13.172553423326905,
+      "rotateFast": false
+    }
+  ],
+  "constraintZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": -16.460014812039997,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": "Collect Notes",
+  "previewStartingState": null,
+  "useDefaultConstraints": false
+}
diff --git a/src/main/deploy/pathplanner/paths/Blue2Pickup.path b/src/main/deploy/pathplanner/paths/Blue2Pickup.path
@@ -8,20 +8,20 @@
       },
       "prevControl": null,
       "nextControl": {
-        "x": 7.068445127881247,
-        "y": 6.101504094900082
+        "x": 7.323030030675445,
+        "y": 6.0692661556263285
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 7.808021381808529,
-        "y": 5.898120625070079
+        "x": 7.428277420657405,
+        "y": 6.034183692299009
       },
       "prevControl": {
-        "x": 7.410499145322615,
-        "y": 6.018301766333263
+        "x": 6.890346316305168,
+        "y": 6.139431082280968
       },
       "nextControl": null,
       "isLocked": false,

diff --git a/src/main/deploy/pathplanner/paths/Blue3AutoPickupAmpSide.path b/src/main/deploy/pathplanner/paths/Blue3AutoPickupAmpSide.path
@@ -0,0 +1,55 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 4.276544769305755,
+        "y": 6.378845190122813
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 7.6323720215007995,
+        "y": 6.5729839567787245
+      },
+      "isLocked": false,
+      "linkedName": "SourceSideShoot"
+    },
+    {
+      "anchor": {
+        "x": 7.627078046178885,
+        "y": 5.005098101364294
+      },
+      "prevControl": {
+        "x": 7.118619371603878,
+        "y": 5.800142574336119
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 1,
+      "rotationDegrees": -52.028396238949526,
+      "rotateFast": true
+    }
+  ],
+  "constraintZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 4.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": -54.688786560367,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": "Collect Notes",
+  "previewStartingState": null,
+  "useDefaultConstraints": false
+}
diff --git a/src/main/deploy/pathplanner/paths/Blue3AutoUnderStageAmp.path b/src/main/deploy/pathplanner/paths/Blue3AutoUnderStageAmp.path
@@ -0,0 +1,55 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 4.276544769305755,
+        "y": 6.378845190122813
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 3.9896948365325304,
+        "y": 3.2543996516564464
+      },
+      "isLocked": false,
+      "linkedName": "SourceSideShoot"
+    },
+    {
+      "anchor": {
+        "x": 7.369806648445205,
+        "y": 4.057871591526659
+      },
+      "prevControl": {
+        "x": 6.255687848779034,
+        "y": 3.9259364705135598
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 1,
+      "rotationDegrees": 0.0,
+      "rotateFast": true
+    }
+  ],
+  "constraintZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 4.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 4.1058976263956195,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": "Collect Notes",
+  "previewStartingState": null,
+  "useDefaultConstraints": false
+}
diff --git a/src/main/deploy/pathplanner/paths/Blue3AutoUnderStageSource.path b/src/main/deploy/pathplanner/paths/Blue3AutoUnderStageSource.path
@@ -0,0 +1,55 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 3.9896948365325304,
+        "y": 2.433470009797163
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 4.165608331216663,
+        "y": 4.661707609129505
+      },
+      "isLocked": false,
+      "linkedName": "SourceSideBlueShoot"
+    },
+    {
+      "anchor": {
+        "x": 7.311335876233006,
+        "y": 4.1046482092964185
+      },
+      "prevControl": {
+        "x": 6.138579245005459,
+        "y": 4.133967125077106
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 1,
+      "rotationDegrees": 0.0,
+      "rotateFast": true
+    }
+  ],
+  "constraintZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 4.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 1.5911402711946643,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": "Collect Notes",
+  "previewStartingState": null,
+  "useDefaultConstraints": false
+}
diff --git a/src/main/deploy/pathplanner/paths/Blue4AutoPickupSourceSide.path b/src/main/deploy/pathplanner/paths/Blue4AutoPickupSourceSide.path
@@ -0,0 +1,55 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 3.9896948365325304,
+        "y": 2.433470009797163
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 5.690191951812475,
+        "y": 1.0115025944337612
+      },
+      "isLocked": false,
+      "linkedName": "SourceSideBlueShoot"
+    },
+    {
+      "anchor": {
+        "x": 7.393194957330086,
+        "y": 1.9646179463299098
+      },
+      "prevControl": {
+        "x": 6.191119410321849,
+        "y": 1.4955152938388905
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 1,
+      "rotationDegrees": 22.988716802080663,
+      "rotateFast": true
+    }
+  ],
+  "constraintZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 5.0,
+    "maxAcceleration": 4.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 20.136303428248127,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": "Collect Notes",
+  "previewStartingState": null,
+  "useDefaultConstraints": true
+}