AUTO

Coconuts2486-FRC · Oct 18, 2024 · 96af7fc · 96af7fc
1 parent 45fd8ee
commit 96af7fc
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Showing 32 changed files with 338 additions and 143 deletions.
diff --git a/.pathplanner/settings.json b/.pathplanner/settings.json
@@ -17,9 +17,9 @@
     "get it working",
     "making things work"
   ],
-  "defaultMaxVel": 5.0,
+  "defaultMaxVel": 4.9,
   "defaultMaxAccel": 4.0,
   "defaultMaxAngVel": 540.0,
   "defaultMaxAngAccel": 720.0,
-  "maxModuleSpeed": 5.03
+  "maxModuleSpeed": 5.0
 }
diff --git a/src/main/deploy/pathplanner/autos/ARL Champs Amp side.auto b/src/main/deploy/pathplanner/autos/ARL Champs Amp side.auto
@@ -2,7 +2,7 @@
   "version": 1.0,
   "startingPose": {
     "position": {
-      "x": 1.3846958253084245,
+      "x": 1.35,
       "y": 6.4692244859132115
     },
     "rotation": 0
@@ -12,45 +12,87 @@
     "data": {
       "commands": [
         {
-          "type": "path",
+          "type": "sequential",
           "data": {
-            "pathName": "ARL Auto Start"
+            "commands": [
+              {
+                "type": "parallel",
+                "data": {
+                  "commands": [
+                    {
+                      "type": "path",
+                      "data": {
+                        "pathName": "ARL Auto Start"
+                      }
+                    }
+                  ]
+                }
+              }
+            ]
           }
         },
         {
-          "type": "path",
+          "type": "parallel",
           "data": {
-            "pathName": "ARL Centerline note 1"
+            "commands": [
+              {
+                "type": "sequential",
+                "data": {
+                  "commands": [
+                    {
+                      "type": "path",
+                      "data": {
+                        "pathName": "ARL Centerline note 1"
+                      }
+                    },
+                    {
+                      "type": "path",
+                      "data": {
+                        "pathName": "ARL Centerline Shoot 1"
+                      }
+                    }
+                  ]
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "runIntake"
+                }
+              }
+            ]
           }
         },
         {
-          "type": "path",
+          "type": "parallel",
           "data": {
-            "pathName": "ARL Centerline Shoot 1"
-          }
-        },
-        {
-          "type": "path",
-          "data": {
-            "pathName": "ARL Centerline note 2"
-          }
-        },
-        {
-          "type": "path",
-          "data": {
-            "pathName": "ARL Centerline Shoot 2"
-          }
-        },
-        {
-          "type": "path",
-          "data": {
-            "pathName": "ARL Centerline note 3"
-          }
-        },
-        {
-          "type": "path",
-          "data": {
-            "pathName": "ARL Centerline Shoot 3"
+            "commands": [
+              {
+                "type": "sequential",
+                "data": {
+                  "commands": [
+                    {
+                      "type": "path",
+                      "data": {
+                        "pathName": "ARL Centerline note 2"
+                      }
+                    },
+                    {
+                      "type": "path",
+                      "data": {
+                        "pathName": "ARL Centerline Shoot 2"
+                      }
+                    }
+                  ]
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "runIntake"
+                }
+              }
+            ]
           }
         }
       ]

diff --git a/src/main/deploy/pathplanner/paths/5 note red.path b/src/main/deploy/pathplanner/paths/5 note red.path
@@ -32,7 +32,7 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 5.0,
+    "maxVelocity": 4.9,
     "maxAcceleration": 4.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0

diff --git a/src/main/deploy/pathplanner/paths/5 note.path b/src/main/deploy/pathplanner/paths/5 note.path
@@ -32,7 +32,7 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 5.0,
+    "maxVelocity": 4.9,
     "maxAcceleration": 4.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0

diff --git a/src/main/deploy/pathplanner/paths/ARL Auto Start.path b/src/main/deploy/pathplanner/paths/ARL Auto Start.path
@@ -16,11 +16,11 @@
     },
     {
       "anchor": {
-        "x": 4.65133393205668,
+        "x": 4.65,
         "y": 6.23
       },
       "prevControl": {
-        "x": 3.65133393205668,
+        "x": 3.6500000000000004,
         "y": 6.23
       },
       "nextControl": null,
@@ -29,24 +29,60 @@
     }
   ],
   "rotationTargets": [],
-  "constraintZones": [],
-  "eventMarkers": [],
+  "constraintZones": [
+    {
+      "name": "New Constraints Zone",
+      "minWaypointRelativePos": 0.6,
+      "maxWaypointRelativePos": 1.0,
+      "constraints": {
+        "maxVelocity": 3.0,
+        "maxAcceleration": 2.0,
+        "maxAngularVelocity": 540.0,
+        "maxAngularAcceleration": 720.0
+      }
+    }
+  ],
+  "eventMarkers": [
+    {
+      "name": "New Event Marker",
+      "waypointRelativePos": 0.1,
+      "command": {
+        "type": "race",
+        "data": {
+          "commands": [
+            {
+              "type": "named",
+              "data": {
+                "name": "regress1"
+              }
+            },
+            {
+              "type": "named",
+              "data": {
+                "name": "shoot1"
+              }
+            }
+          ]
+        }
+      }
+    }
+  ],
   "globalConstraints": {
     "maxVelocity": 5.0,
-    "maxAcceleration": 4.0,
+    "maxAcceleration": 3.9,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": 4.659999999999997,
-    "rotateFast": false
+    "rotation": 11.5,
+    "rotateFast": true
   },
   "reversed": false,
   "folder": "ARL Champ Amp Side",
   "previewStartingState": {
     "rotation": 0,
     "velocity": 0
   },
-  "useDefaultConstraints": true
+  "useDefaultConstraints": false
 }
diff --git a/src/main/deploy/pathplanner/paths/ARL Centerline Shoot 1.path b/src/main/deploy/pathplanner/paths/ARL Centerline Shoot 1.path
@@ -3,25 +3,25 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 7.82,
-        "y": 7.44
+        "x": 7.852480641348053,
+        "y": 7.467744197574909
       },
       "prevControl": null,
       "nextControl": {
-        "x": 6.434107016458507,
-        "y": 7.419325111732148
+        "x": 5.680045965689897,
+        "y": 7.070857093368131
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 4.5,
-        "y": 6.5
+        "x": 4.65,
+        "y": 6.23
       },
       "prevControl": {
-        "x": 5.556853505124436,
-        "y": 7.1298419879024415
+        "x": 5.706853505124436,
+        "y": 6.859841987902442
       },
       "nextControl": null,
       "isLocked": false,
@@ -30,23 +30,47 @@
   ],
   "rotationTargets": [],
   "constraintZones": [],
-  "eventMarkers": [],
+  "eventMarkers": [
+    {
+      "name": "New Event Marker",
+      "waypointRelativePos": 0.05,
+      "command": {
+        "type": "race",
+        "data": {
+          "commands": [
+            {
+              "type": "named",
+              "data": {
+                "name": "shoot2"
+              }
+            },
+            {
+              "type": "named",
+              "data": {
+                "name": "regress2"
+              }
+            }
+          ]
+        }
+      }
+    }
+  ],
   "globalConstraints": {
-    "maxVelocity": 5.0,
-    "maxAcceleration": 4.0,
+    "maxVelocity": 4.9,
+    "maxAcceleration": 3.8,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": 6.8300000000000125,
-    "rotateFast": false
+    "rotation": 14.0,
+    "rotateFast": true
   },
   "reversed": false,
   "folder": "ARL Champ Amp Side",
   "previewStartingState": {
     "rotation": 0,
     "velocity": 0
   },
-  "useDefaultConstraints": true
+  "useDefaultConstraints": false
 }