From 17be74b57db44a61f1e09f05510f5e751f10f685 Mon Sep 17 00:00:00 2001 From: Rand0mAsianKid <144396869+Rand0mAsianKid@users.noreply.github.com> Date: Sat, 20 Jul 2024 00:42:54 -0700 Subject: [PATCH 1/6] New Autons --- .../Center Field Limelight(No Preload).auto | 88 +------- .../autos/Center Field Limelight.auto | 115 ++-------- .../pathplanner/autos/Center Forward.auto | 31 +++ .../autos/Center Limelight 4 Piece.auto | 8 +- .../pathplanner/autos/Left Forward.auto | 31 +++ .../autos/Left Limelight 4 Piece.auto | 206 ++---------------- .../pathplanner/autos/Right Forward.auto | 31 +++ .../autos/Right Limelight 1 Piece.auto | 73 ++----- .../autos/Right Limelight 4 Piece.auto | 206 ++---------------- .../paths/Center Field Limelight 1.path | 12 +- .../paths/Center Field Limelight 4.path | 8 +- .../paths/Center Field Limelight 6.path | 8 +- .../pathplanner/paths/Center Forward.path | 52 +++++ .../pathplanner/paths/Center Limelight 1.path | 10 +- .../pathplanner/paths/Center Limelight 2.path | 8 +- .../pathplanner/paths/Center Limelight 3.path | 14 +- .../pathplanner/paths/Center Limelight 4.path | 8 +- .../pathplanner/paths/Center Limelight 6.path | 8 +- .../pathplanner/paths/Left Forward.path | 52 +++++ .../pathplanner/paths/Left Limelight 1.path | 12 +- .../pathplanner/paths/Left Limelight 2.path | 12 +- .../pathplanner/paths/Left Limelight 3.path | 12 +- .../pathplanner/paths/Left Limelight 4.path | 8 +- .../pathplanner/paths/Left Limelight 5.path | 10 +- .../pathplanner/paths/Left Limelight 6.path | 30 +-- .../pathplanner/paths/Left-Auto Ruiner.path | 69 +++--- .../pathplanner/paths/Right Forward.path | 52 +++++ .../pathplanner/paths/Right Limelight 1.path | 12 +- .../pathplanner/paths/Right Limelight 2.path | 12 +- .../pathplanner/paths/Right Limelight 3.path | 12 +- .../pathplanner/paths/Right Limelight 4.path | 16 +- .../pathplanner/paths/Right Limelight 5.path | 10 +- .../pathplanner/paths/Right Limelight 6.path | 22 +- .../pathplanner/paths/Right-Auto Ruiner.path | 36 +-- .../org/carlmontrobotics/RobotContainer.java | 10 +- .../commands/AlignDrivetrain.java | 47 ++++ 36 files changed, 576 insertions(+), 775 deletions(-) create mode 100644 src/main/deploy/pathplanner/autos/Center Forward.auto create mode 100644 src/main/deploy/pathplanner/autos/Left Forward.auto create mode 100644 src/main/deploy/pathplanner/autos/Right Forward.auto create mode 100644 src/main/deploy/pathplanner/paths/Center Forward.path create mode 100644 src/main/deploy/pathplanner/paths/Left Forward.path create mode 100644 src/main/deploy/pathplanner/paths/Right Forward.path create mode 100644 src/main/java/org/carlmontrobotics/commands/AlignDrivetrain.java diff --git a/src/main/deploy/pathplanner/autos/Center Field Limelight(No Preload).auto b/src/main/deploy/pathplanner/autos/Center Field Limelight(No Preload).auto index ff797653..74c6cdce 100644 --- a/src/main/deploy/pathplanner/autos/Center Field Limelight(No Preload).auto +++ b/src/main/deploy/pathplanner/autos/Center Field Limelight(No Preload).auto @@ -24,22 +24,9 @@ } }, { - "type": "deadline", + "type": "named", "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "Center Field Limelight 2" - } - }, - { - "type": "named", - "data": { - "name": "Intake" - } - } - ] + "name": "Limelight Intake CW" } }, { @@ -48,54 +35,22 @@ "pathName": "Center Field Limelight 3" } }, - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "AlignToAprilTagMegaTag2" - } - }, - { - "type": "named", - "data": { - "name": "AimArmSpeakerMT2" - } - } - ] - } - }, { "type": "named", "data": { - "name": "PassToOuttake" + "name": "Shoot" } }, { - "type": "named", + "type": "path", "data": { - "name": "ArmToGround" + "pathName": "Center Field Limelight 4" } }, { - "type": "deadline", + "type": "named", "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "Center Field Limelight 4" - } - }, - { - "type": "named", - "data": { - "name": "Intake" - } - } - ] + "name": "Limelight Intake CW" } }, { @@ -104,41 +59,22 @@ "pathName": "Center Field Limelight 5" } }, - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "AlignToAprilTagMegaTag2" - } - }, - { - "type": "named", - "data": { - "name": "AimArmSpeakerMT2" - } - } - ] - } - }, { "type": "named", "data": { - "name": "PassToOuttake" + "name": "Shoot" } }, { - "type": "named", + "type": "path", "data": { - "name": "ArmToGround" + "pathName": "Center Field Limelight 6" } }, { - "type": "path", + "type": "named", "data": { - "pathName": "Center Field Limelight 6" + "name": "Limelight Intake CW" } } ] diff --git a/src/main/deploy/pathplanner/autos/Center Field Limelight.auto b/src/main/deploy/pathplanner/autos/Center Field Limelight.auto index efc39c42..1034fc2e 100644 --- a/src/main/deploy/pathplanner/autos/Center Field Limelight.auto +++ b/src/main/deploy/pathplanner/autos/Center Field Limelight.auto @@ -11,35 +11,10 @@ "type": "sequential", "data": { "commands": [ - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "AlignToAprilTagMegaTag2" - } - }, - { - "type": "named", - "data": { - "name": "AimArmSpeakerMT2" - } - } - ] - } - }, - { - "type": "named", - "data": { - "name": "PassToOuttake" - } - }, { "type": "named", "data": { - "name": "ArmToGround" + "name": "Shoot" } }, { @@ -49,22 +24,9 @@ } }, { - "type": "deadline", + "type": "named", "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "Center Field Limelight 2" - } - }, - { - "type": "named", - "data": { - "name": "Intake" - } - } - ] + "name": "Limelight Intake CW" } }, { @@ -73,54 +35,22 @@ "pathName": "Center Field Limelight 3" } }, - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "AlignToAprilTagMegaTag2" - } - }, - { - "type": "named", - "data": { - "name": "AimArmSpeakerMT2" - } - } - ] - } - }, { "type": "named", "data": { - "name": "PassToOuttake" + "name": "Shoot" } }, { - "type": "named", + "type": "path", "data": { - "name": "ArmToGround" + "pathName": "Center Field Limelight 4" } }, { - "type": "deadline", + "type": "named", "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "Center Field Limelight 4" - } - }, - { - "type": "named", - "data": { - "name": "Intake" - } - } - ] + "name": "Limelight Intake CW" } }, { @@ -129,41 +59,22 @@ "pathName": "Center Field Limelight 5" } }, - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "AlignToAprilTagMegaTag2" - } - }, - { - "type": "named", - "data": { - "name": "AimArmSpeakerMT2" - } - } - ] - } - }, { "type": "named", "data": { - "name": "PassToOuttake" + "name": "Shoot" } }, { - "type": "named", + "type": "path", "data": { - "name": "ArmToGround" + "pathName": "Center Field Limelight 6" } }, { - "type": "path", + "type": "named", "data": { - "pathName": "Center Field Limelight 6" + "name": "Limelight Intake CW" } } ] diff --git a/src/main/deploy/pathplanner/autos/Center Forward.auto b/src/main/deploy/pathplanner/autos/Center Forward.auto new file mode 100644 index 00000000..54e89612 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/Center Forward.auto @@ -0,0 +1,31 @@ +{ + "version": 1.0, + "startingPose": { + "position": { + "x": 1.335176614373586, + "y": 5.535530663936646 + }, + "rotation": 0 + }, + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "Shoot" + } + }, + { + "type": "path", + "data": { + "pathName": "Center Forward" + } + } + ] + } + }, + "folder": null, + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Center Limelight 4 Piece.auto b/src/main/deploy/pathplanner/autos/Center Limelight 4 Piece.auto index b535d0e4..83de7c0c 100644 --- a/src/main/deploy/pathplanner/autos/Center Limelight 4 Piece.auto +++ b/src/main/deploy/pathplanner/autos/Center Limelight 4 Piece.auto @@ -26,7 +26,7 @@ { "type": "named", "data": { - "name": "Limelight Intake CCW" + "name": "Limelight Intake Straight" } }, { @@ -44,7 +44,7 @@ { "type": "named", "data": { - "name": "Limelight Intake CW" + "name": "Limelight Intake CCW" } }, { @@ -62,7 +62,7 @@ { "type": "named", "data": { - "name": "Limelight Intake CCW" + "name": "Limelight Intake CW" } }, { @@ -104,7 +104,7 @@ { "type": "named", "data": { - "name": "Limelight Intake CCW" + "name": "Limelight Intake Straight" } } ] diff --git a/src/main/deploy/pathplanner/autos/Left Forward.auto b/src/main/deploy/pathplanner/autos/Left Forward.auto new file mode 100644 index 00000000..b11a61e3 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/Left Forward.auto @@ -0,0 +1,31 @@ +{ + "version": 1.0, + "startingPose": { + "position": { + "x": 0.6842044526319189, + "y": 6.6998765551505 + }, + "rotation": 63.19916505304543 + }, + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "Shoot" + } + }, + { + "type": "path", + "data": { + "pathName": "Left Forward" + } + } + ] + } + }, + "folder": null, + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Left Limelight 4 Piece.auto b/src/main/deploy/pathplanner/autos/Left Limelight 4 Piece.auto index c4731918..37109844 100644 --- a/src/main/deploy/pathplanner/autos/Left Limelight 4 Piece.auto +++ b/src/main/deploy/pathplanner/autos/Left Limelight 4 Piece.auto @@ -11,204 +11,76 @@ "type": "sequential", "data": { "commands": [ - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "AlignToAprilTagMegaTag2" - } - }, - { - "type": "named", - "data": { - "name": "AimArmSpeakerMT2" - } - } - ] - } - }, - { - "type": "named", - "data": { - "name": "PassToOuttake" - } - }, { "type": "named", "data": { - "name": "ArmToGround" - } - }, - { - "type": "deadline", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "Left Limelight 1" - } - }, - { - "type": "named", - "data": { - "name": "Intake" - } - } - ] + "name": "Shoot" } }, { - "type": "parallel", + "type": "path", "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "AlignToAprilTagMegaTag2" - } - }, - { - "type": "named", - "data": { - "name": "AimArmSpeakerMT2" - } - } - ] + "pathName": "Left Limelight 1" } }, { "type": "named", "data": { - "name": "PassToOuttake" + "name": "Limelight Intake Straight" } }, { "type": "named", "data": { - "name": "ArmToGround" + "name": "Shoot" } }, { - "type": "deadline", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "Left Limelight 2" - } - }, - { - "type": "named", - "data": { - "name": "Intake" - } - } - ] - } - }, - { - "type": "parallel", + "type": "path", "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "AlignToAprilTagMegaTag2" - } - }, - { - "type": "named", - "data": { - "name": "AimArmSpeakerMT2" - } - } - ] + "pathName": "Left Limelight 2" } }, { "type": "named", "data": { - "name": "PassToOuttake" + "name": "Limelight Intake Straight" } }, { "type": "named", "data": { - "name": "ArmToGround" + "name": "Shoot" } }, { - "type": "deadline", + "type": "path", "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "Left Limelight 3" - } - }, - { - "type": "named", - "data": { - "name": "Intake" - } - } - ] + "pathName": "Left Limelight 3" } }, { - "type": "parallel", + "type": "named", "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "AlignToAprilTagMegaTag2" - } - }, - { - "type": "named", - "data": { - "name": "AimArmSpeakerMT2" - } - } - ] + "name": "Limelight Intake Straight" } }, { "type": "named", "data": { - "name": "PassToOuttake" + "name": "Shoot" } }, { - "type": "named", + "type": "path", "data": { - "name": "ArmToGround" + "pathName": "Left Limelight 4" } }, { - "type": "deadline", + "type": "named", "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "Left Limelight 4" - } - }, - { - "type": "named", - "data": { - "name": "Intake" - } - } - ] + "name": "Limelight Intake CCW" } }, { @@ -217,54 +89,22 @@ "pathName": "Left Limelight 5" } }, - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "AlignToAprilTagMegaTag2" - } - }, - { - "type": "named", - "data": { - "name": "AimArmSpeakerMT2" - } - } - ] - } - }, { "type": "named", "data": { - "name": "PassToOuttake" + "name": "Shoot" } }, { - "type": "named", + "type": "path", "data": { - "name": "ArmToGround" + "pathName": "Left Limelight 6" } }, { - "type": "deadline", + "type": "named", "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "Left Limelight 6" - } - }, - { - "type": "named", - "data": { - "name": "Intake" - } - } - ] + "name": "Limelight Intake CCW" } } ] diff --git a/src/main/deploy/pathplanner/autos/Right Forward.auto b/src/main/deploy/pathplanner/autos/Right Forward.auto new file mode 100644 index 00000000..afbb601a --- /dev/null +++ b/src/main/deploy/pathplanner/autos/Right Forward.auto @@ -0,0 +1,31 @@ +{ + "version": 1.0, + "startingPose": { + "position": { + "x": 0.6842044526319189, + "y": 6.6998765551505 + }, + "rotation": -67.01128319791938 + }, + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "Shoot" + } + }, + { + "type": "path", + "data": { + "pathName": "Right Forward" + } + } + ] + } + }, + "folder": null, + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Right Limelight 1 Piece.auto b/src/main/deploy/pathplanner/autos/Right Limelight 1 Piece.auto index 0a803d43..ac8eadd5 100644 --- a/src/main/deploy/pathplanner/autos/Right Limelight 1 Piece.auto +++ b/src/main/deploy/pathplanner/autos/Right Limelight 1 Piece.auto @@ -2,8 +2,8 @@ "version": 1.0, "startingPose": { "position": { - "x": 1.4048307100172925, - "y": 5.570246205735591 + "x": 0.7134190306340287, + "y": 4.411401278318571 }, "rotation": -61.557071375636745 }, @@ -12,84 +12,39 @@ "data": { "commands": [ { - "type": "parallel", + "type": "path", "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "AlignToAprilTagMegaTag2" - } - }, - { - "type": "named", - "data": { - "name": "AimArmSpeakerMT2" - } - } - ] + "pathName": "Right Limelight 1" } }, { - "type": "named", + "type": "path", "data": { - "name": "PassToOuttake" + "pathName": "Right Limelight 2" } }, { - "type": "named", + "type": "path", "data": { - "name": "ArmToGround" + "pathName": "Right Limelight 3" } }, { - "type": "deadline", + "type": "path", "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "Right Limelight 1 Piece" - } - }, - { - "type": "named", - "data": { - "name": "Intake" - } - } - ] + "pathName": "Right Limelight 4" } }, { - "type": "parallel", + "type": "path", "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "AlignToAprilTagMegaTag2" - } - }, - { - "type": "named", - "data": { - "name": "AimArmSpeakerMT2" - } - } - ] + "pathName": "Right Limelight 5" } }, { - "type": "named", + "type": "path", "data": { - "name": "PassToOuttake" - } - }, - { - "type": "named", - "data": { - "name": "ArmToGround" + "pathName": "Right Limelight 6" } } ] diff --git a/src/main/deploy/pathplanner/autos/Right Limelight 4 Piece.auto b/src/main/deploy/pathplanner/autos/Right Limelight 4 Piece.auto index dfa0eb3a..bd95a568 100644 --- a/src/main/deploy/pathplanner/autos/Right Limelight 4 Piece.auto +++ b/src/main/deploy/pathplanner/autos/Right Limelight 4 Piece.auto @@ -11,204 +11,76 @@ "type": "sequential", "data": { "commands": [ - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "AlignToAprilTagMegaTag2" - } - }, - { - "type": "named", - "data": { - "name": "AimArmSpeakerMT2" - } - } - ] - } - }, - { - "type": "named", - "data": { - "name": "PassToOuttake" - } - }, { "type": "named", "data": { - "name": "ArmToGround" - } - }, - { - "type": "deadline", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "Right Limelight 1" - } - }, - { - "type": "named", - "data": { - "name": "Intake" - } - } - ] + "name": "Shoot" } }, { - "type": "parallel", + "type": "path", "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "AlignToAprilTagMegaTag2" - } - }, - { - "type": "named", - "data": { - "name": "AimArmSpeakerMT2" - } - } - ] + "pathName": "Right Limelight 1" } }, { "type": "named", "data": { - "name": "PassToOuttake" + "name": "Limelight Intake Straight" } }, { "type": "named", "data": { - "name": "ArmToGround" + "name": "Shoot" } }, { - "type": "deadline", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "Right Limelight 2" - } - }, - { - "type": "named", - "data": { - "name": "Intake" - } - } - ] - } - }, - { - "type": "parallel", + "type": "path", "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "AlignToAprilTagMegaTag2" - } - }, - { - "type": "named", - "data": { - "name": "AimArmSpeakerMT2" - } - } - ] + "pathName": "Right Limelight 2" } }, { "type": "named", "data": { - "name": "PassToOuttake" + "name": "Limelight Intake Straight" } }, { "type": "named", "data": { - "name": "ArmToGround" + "name": "Shoot" } }, { - "type": "deadline", + "type": "path", "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "Right Limelight 3" - } - }, - { - "type": "named", - "data": { - "name": "Intake" - } - } - ] + "pathName": "Right Limelight 3" } }, { - "type": "parallel", + "type": "named", "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "AlignToAprilTagMegaTag2" - } - }, - { - "type": "named", - "data": { - "name": "AimArmSpeakerMT2" - } - } - ] + "name": "Limelight Intake Straight" } }, { "type": "named", "data": { - "name": "PassToOuttake" + "name": "Shoot" } }, { - "type": "named", + "type": "path", "data": { - "name": "ArmToGround" + "pathName": "Right Limelight 4" } }, { - "type": "deadline", + "type": "named", "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "Right Limelight 4" - } - }, - { - "type": "named", - "data": { - "name": "Intake" - } - } - ] + "name": "Limelight Intake CCW" } }, { @@ -217,54 +89,22 @@ "pathName": "Right Limelight 5" } }, - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "AlignToAprilTagMegaTag2" - } - }, - { - "type": "named", - "data": { - "name": "AimArmSpeakerMT2" - } - } - ] - } - }, { "type": "named", "data": { - "name": "PassToOuttake" + "name": "Shoot" } }, { - "type": "named", + "type": "path", "data": { - "name": "ArmToGround" + "pathName": "Right Limelight 6" } }, { - "type": "deadline", + "type": "named", "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "Right Limelight 6" - } - }, - { - "type": "named", - "data": { - "name": "Intake" - } - } - ] + "name": "Limelight Intake CCW" } } ] diff --git a/src/main/deploy/pathplanner/paths/Center Field Limelight 1.path b/src/main/deploy/pathplanner/paths/Center Field Limelight 1.path index c1073fe9..69196ddb 100644 --- a/src/main/deploy/pathplanner/paths/Center Field Limelight 1.path +++ b/src/main/deploy/pathplanner/paths/Center Field Limelight 1.path @@ -8,20 +8,20 @@ }, "prevControl": null, "nextControl": { - "x": 2.358727567327909, - "y": 6.694858784119604 + "x": 2.3796163622861606, + "y": 6.92463552866037 }, "isLocked": false, "linkedName": null }, { "anchor": { - "x": 5.6904903631690225, - "y": 6.496415232016215 + "x": 7.372038357308267, + "y": 6.0055285504973055 }, "prevControl": { - "x": 3.298723340449227, - "y": 6.569526014370095 + "x": 5.001160129546722, + "y": 6.903746733702119 }, "nextControl": null, "isLocked": false, diff --git a/src/main/deploy/pathplanner/paths/Center Field Limelight 4.path b/src/main/deploy/pathplanner/paths/Center Field Limelight 4.path index fd315072..5b389ff3 100644 --- a/src/main/deploy/pathplanner/paths/Center Field Limelight 4.path +++ b/src/main/deploy/pathplanner/paths/Center Field Limelight 4.path @@ -32,12 +32,12 @@ }, { "anchor": { - "x": 7.894258231264555, - "y": 4.073315016859041 + "x": 7.403371549745644, + "y": 4.219536581566802 }, "prevControl": { - "x": 7.100484022850999, - "y": 4.1777589916502995 + "x": 6.609597341332088, + "y": 4.32398055635806 }, "nextControl": null, "isLocked": false, diff --git a/src/main/deploy/pathplanner/paths/Center Field Limelight 6.path b/src/main/deploy/pathplanner/paths/Center Field Limelight 6.path index f76dfe9a..70123210 100644 --- a/src/main/deploy/pathplanner/paths/Center Field Limelight 6.path +++ b/src/main/deploy/pathplanner/paths/Center Field Limelight 6.path @@ -32,12 +32,12 @@ }, { "anchor": { - "x": 7.862925038827178, - "y": 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a/src/main/deploy/pathplanner/paths/Center Limelight 3.path +++ b/src/main/deploy/pathplanner/paths/Center Limelight 3.path @@ -8,20 +8,20 @@ }, "prevControl": null, "nextControl": { - "x": 2.0475514260637064, - "y": 6.368778004459924 + "x": 2.4527271446400407, + "y": 6.3188604748710775 }, "isLocked": false, "linkedName": null }, { "anchor": { - "x": 1.899297827031673, - "y": 4.960593807443538 + "x": 2.108062027828891, + "y": 4.3344249538371855 }, "prevControl": { - "x": 1.3247444596568483, - "y": 5.272215972799375 + "x": 2.1602840152245197, + "y": 4.96108880258473 }, "nextControl": null, "isLocked": false, @@ -39,7 +39,7 @@ }, "goalEndState": { "velocity": 0, - "rotation": -43.36342295838326, + "rotation": -12.804266065286738, "rotateFast": false }, "reversed": false, diff --git a/src/main/deploy/pathplanner/paths/Center Limelight 4.path b/src/main/deploy/pathplanner/paths/Center Limelight 4.path index f5f7661f..ff245aae 100644 --- a/src/main/deploy/pathplanner/paths/Center Limelight 4.path +++ b/src/main/deploy/pathplanner/paths/Center Limelight 4.path @@ -16,12 +16,12 @@ }, { "anchor": { - "x": 7.064151379487593, - "y": 2.344123740380181 + "x": 7.413815947224771, + "y": 2.391767022719796 }, "prevControl": { - "x": 5.759233562060025, - "y": 1.3995190516453007 + "x": 6.108898129797203, + "y": 1.4471623339849158 }, "nextControl": null, "isLocked": false, diff --git a/src/main/deploy/pathplanner/paths/Center Limelight 6.path b/src/main/deploy/pathplanner/paths/Center Limelight 6.path index b20b0955..25c3ba2b 100644 --- a/src/main/deploy/pathplanner/paths/Center Limelight 6.path +++ b/src/main/deploy/pathplanner/paths/Center Limelight 6.path @@ -16,12 +16,12 @@ }, { "anchor": { - "x": 7.696383923573536, - "y": 3.063896175185714 + "x": 7.915147026222807, + "y": 3.3839847832367425 }, "prevControl": { - "x": 7.297118024211369, - "y": 1.690811009086556 + "x": 7.5158811268606405, + "y": 2.0108996171375844 }, "nextControl": null, "isLocked": false, diff --git a/src/main/deploy/pathplanner/paths/Left Forward.path b/src/main/deploy/pathplanner/paths/Left Forward.path new file mode 100644 index 00000000..084fe010 --- /dev/null +++ b/src/main/deploy/pathplanner/paths/Left Forward.path @@ -0,0 +1,52 @@ +{ + "version": 1.0, + "waypoints": [ + { + "anchor": { + "x": 0.6842044526319189, + "y": 6.6998765551505 + }, + "prevControl": null, + "nextControl": { + "x": 5.00796199694416, + "y": 6.865425830495789 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 8.766904366548946, + "y": 6.8946404084978985 + }, + "prevControl": { + "x": 7.766904366548946, + "y": 6.8946404084978985 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [], + "constraintZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 3.0, + "maxAcceleration": 3.0, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0 + }, + "goalEndState": { + "velocity": 0, + "rotation": 50.355825042855095, + "rotateFast": false + }, + "reversed": false, + "folder": null, + "previewStartingState": { + "rotation": 59.470294100065814, + "velocity": 0 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Left Limelight 1.path b/src/main/deploy/pathplanner/paths/Left Limelight 1.path index d23205ec..27bcf5cc 100644 --- a/src/main/deploy/pathplanner/paths/Left Limelight 1.path +++ b/src/main/deploy/pathplanner/paths/Left Limelight 1.path @@ -8,20 +8,20 @@ }, "prevControl": null, "nextControl": { - "x": 1.7067146827057598, - "y": 6.836211252493681 + "x": 1.564953358914352, + "y": 6.976857516056 }, "isLocked": false, "linkedName": null }, { "anchor": { - "x": 2.583152022769052, - "y": 6.9920223351715975 + "x": 2.0036180530376333, + "y": 7.008190708493376 }, "prevControl": { - "x": 1.5411654073604717, - "y": 6.875164023163159 + "x": 0.959178305125059, + "y": 6.809747156384766 }, "nextControl": null, "isLocked": false, diff --git a/src/main/deploy/pathplanner/paths/Left Limelight 2.path b/src/main/deploy/pathplanner/paths/Left Limelight 2.path index c5addb31..20c763cd 100644 --- a/src/main/deploy/pathplanner/paths/Left Limelight 2.path +++ b/src/main/deploy/pathplanner/paths/Left Limelight 2.path @@ -8,20 +8,20 @@ }, "prevControl": null, "nextControl": { - "x": 1.463259866021512, - "y": 6.485636316468363 + "x": 2.1707284127036455, + "y": 6.015972947981653 }, "isLocked": false, "linkedName": null }, { "anchor": { - "x": 2.583152022769052, - "y": 5.502078857064002 + "x": 2.0036180530376333, + "y": 5.598197048816623 }, "prevControl": { - "x": 2.144933352737406, - "y": 5.443649701059782 + "x": 2.0976176303497653, + "y": 5.974195358065149 }, "nextControl": null, "isLocked": false, diff --git a/src/main/deploy/pathplanner/paths/Left Limelight 3.path b/src/main/deploy/pathplanner/paths/Left Limelight 3.path index 518b26d1..162e3dfd 100644 --- a/src/main/deploy/pathplanner/paths/Left Limelight 3.path +++ b/src/main/deploy/pathplanner/paths/Left Limelight 3.path @@ -8,20 +8,20 @@ }, "prevControl": null, "nextControl": { - "x": 1.3464015540130732, - "y": 4.771714407011259 + "x": 2.118506425308017, + "y": 4.773089647960467 }, "isLocked": false, "linkedName": null }, { "anchor": { - "x": 2.583152022769052, - "y": 4.0413499569585145 + "x": 2.097617630349765, + "y": 4.031537426942538 }, "prevControl": { - "x": 2.144933352737406, - "y": 3.982920800954295 + "x": 2.181172810182771, + "y": 4.61642368577358 }, "nextControl": null, "isLocked": false, diff --git a/src/main/deploy/pathplanner/paths/Left Limelight 4.path b/src/main/deploy/pathplanner/paths/Left Limelight 4.path index d0b3e0fa..421a19c9 100644 --- a/src/main/deploy/pathplanner/paths/Left Limelight 4.path +++ b/src/main/deploy/pathplanner/paths/Left Limelight 4.path @@ -16,12 +16,12 @@ }, { "anchor": { - "x": 8.017063531161464, - "y": 2.356642625503519 + "x": 7.549593114453406, + "y": 2.036657508429521 }, "prevControl": { - "x": 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b/src/main/deploy/pathplanner/paths/Left Limelight 6.path index 6bb7a742..e2a5cfac 100644 --- a/src/main/deploy/pathplanner/paths/Left Limelight 6.path +++ b/src/main/deploy/pathplanner/paths/Left Limelight 6.path @@ -3,41 +3,41 @@ "waypoints": [ { "anchor": { - "x": 3.1090144268009174, - "y": 2.3176898548345597 + "x": 2.442282747160915, + "y": 2.778209729447448 }, "prevControl": null, "nextControl": { - "x": 4.452885014904075, - "y": 3.3402000849078815 + "x": 3.9044983942385194, + "y": 3.4466511681114964 }, "isLocked": false, "linkedName": null }, { "anchor": { - "x": 5.144296694287339, - "y": 3.768680562272157 + "x": 4.844494167359836, + "y": 3.7182055025687664 }, "prevControl": { - "x": 4.480206191370604, - "y": 3.540399451894529 + "x": 4.3358036908498185, + "y": 2.9157338243683215 }, "nextControl": { - "x": 6.079163190354851, - "y": 4.0900409202953645 + "x": 5.3737648046055755, + "y": 4.553142888082103 }, "isLocked": false, "linkedName": null }, { "anchor": { - "x": 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"waypointRelativePos": 5.0, "rotationDegrees": 0, "rotateFast": false } @@ -130,7 +145,7 @@ }, "goalEndState": { "velocity": 100.0, - "rotation": 0.5926760044409363, + "rotation": 146.84146577760032, "rotateFast": false }, "reversed": false, diff --git a/src/main/deploy/pathplanner/paths/Right Forward.path b/src/main/deploy/pathplanner/paths/Right Forward.path new file mode 100644 index 00000000..fe62d665 --- /dev/null +++ b/src/main/deploy/pathplanner/paths/Right Forward.path @@ -0,0 +1,52 @@ +{ + "version": 1.0, + "waypoints": [ + { + "anchor": { + "x": 0.7815863793056181, + "y": 4.450354048988052 + }, + "prevControl": null, + "nextControl": { + "x": 1.2977105906762236, + "y": 1.2367504687559792 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 8.893500871224756, + "y": 1.3049178174275693 + }, + "prevControl": { + "x": 7.893500871224756, + "y": 1.3049178174275693 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + 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"anchor": { - "x": 2.5052464814300928, - "y": 4.0900409202953645 + "x": 2.0453956429541362, + "y": 4.135981401733796 }, "prevControl": { - "x": 1.5052464814300928, - "y": 4.0900409202953645 + "x": 1.0218446899998135, + "y": 4.376202543753688 }, "nextControl": null, "isLocked": false, diff --git a/src/main/deploy/pathplanner/paths/Right Limelight 2.path b/src/main/deploy/pathplanner/paths/Right Limelight 2.path index 6ccfa7cb..25eae395 100644 --- a/src/main/deploy/pathplanner/paths/Right Limelight 2.path +++ b/src/main/deploy/pathplanner/paths/Right Limelight 2.path @@ -8,20 +8,20 @@ }, "prevControl": null, "nextControl": { - "x": 1.3171869760109631, - "y": 4.294542966310132 + "x": 2.2647279900157775, + "y": 4.699978865606586 }, "isLocked": false, "linkedName": null }, { "anchor": { - "x": 2.5052464814300928, - "y": 5.531293435066112 + "x": 1.9513960656420046, + "y": 5.566863856374023 }, "prevControl": { - "x": 1.5052464814300928, - "y": 5.531293435066112 + "x": 2.170728412703646, + "y": 4.710423263085711 }, "nextControl": null, "isLocked": false, diff --git a/src/main/deploy/pathplanner/paths/Right Limelight 3.path b/src/main/deploy/pathplanner/paths/Right Limelight 3.path index 7328a0d1..1c04842e 100644 --- a/src/main/deploy/pathplanner/paths/Right Limelight 3.path +++ b/src/main/deploy/pathplanner/paths/Right Limelight 3.path @@ -8,20 +8,20 @@ }, "prevControl": null, "nextControl": { - "x": 1.3171869760109631, - "y": 5.7357954810808796 + "x": 2.2542835925366513, + "y": 6.2457496925171965 }, "isLocked": false, "linkedName": null }, { "anchor": { - "x": 2.5052464814300928, - "y": 6.962807757169489 + "x": 1.9513960656420046, + "y": 7.008190708493376 }, "prevControl": { - "x": 1.5052464814300928, - "y": 6.962807757169489 + "x": 2.3691719648070344, + "y": 5.94286216562255 }, "nextControl": null, "isLocked": false, diff --git a/src/main/deploy/pathplanner/paths/Right Limelight 4.path b/src/main/deploy/pathplanner/paths/Right Limelight 4.path index 81c68e07..79b2940e 100644 --- a/src/main/deploy/pathplanner/paths/Right Limelight 4.path +++ b/src/main/deploy/pathplanner/paths/Right Limelight 4.path @@ -3,25 +3,25 @@ "waypoints": [ { "anchor": { - "x": 2.5052464814300928, - "y": 6.962807757169489 + "x": 3.225612558095346, + "y": 7.0186351059725025 }, "prevControl": null, "nextControl": { - "x": 3.7809497208555514, - "y": 7.371811849199025 + "x": 4.501315797520807, + "y": 7.427639198002039 }, "isLocked": false, "linkedName": null }, { "anchor": { - "x": 7.812561485146696, - "y": 5.794224637085098 + "x": 7.455593537141273, + "y": 5.786196203435664 }, "prevControl": { - "x": 6.8874331817465535, - "y": 6.174014151112526 + "x": 6.530465233741131, + "y": 6.165985717463092 }, "nextControl": null, "isLocked": false, diff --git a/src/main/deploy/pathplanner/paths/Right Limelight 5.path b/src/main/deploy/pathplanner/paths/Right Limelight 5.path index 0f6295fc..ba0165e5 100644 --- a/src/main/deploy/pathplanner/paths/Right Limelight 5.path +++ b/src/main/deploy/pathplanner/paths/Right Limelight 5.path @@ -16,12 +16,12 @@ }, { "anchor": { - "x": 3.849117069527141, - "y": 6.641447399146282 + "x": 3.0271690059919565, + "y": 6.14130571772594 }, "prevControl": { - "x": 4.472361400238816, - "y": 6.75830571115472 + "x": 3.650413336703628, + "y": 6.258164029734378 }, "nextControl": null, "isLocked": false, @@ -39,7 +39,7 @@ }, "goalEndState": { "velocity": 0, - "rotation": 0, + "rotation": 13.706961004079655, "rotateFast": false }, "reversed": false, diff --git a/src/main/deploy/pathplanner/paths/Right Limelight 6.path b/src/main/deploy/pathplanner/paths/Right Limelight 6.path index b5bff3fd..aef4c03f 100644 --- a/src/main/deploy/pathplanner/paths/Right Limelight 6.path +++ b/src/main/deploy/pathplanner/paths/Right Limelight 6.path @@ -3,13 +3,13 @@ "waypoints": [ { "anchor": { - "x": 3.849117069527141, - "y": 6.641447399146282 + "x": 3.1316129807832143, + "y": 6.06819493537206 }, "prevControl": null, "nextControl": { - "x": 4.186497126174914, - "y": 6.01597294797643 + "x": 3.643388457260376, + "y": 5.504197471499269 }, "isLocked": false, "linkedName": null @@ -20,24 +20,24 @@ "y": 4.135981401733796 }, "prevControl": { - "x": 3.8764479639557194, - "y": 4.221287541874861 + "x": 4.228274716091418, + "y": 5.086421572334239 }, "nextControl": { - "x": 6.954262458143235, - "y": 4.062870619379916 + "x": 5.855356212845234, + "y": 3.901906242697459 }, "isLocked": false, "linkedName": null }, { "anchor": { - "x": 7.946480218660184, + "x": 7.424260344703896, "y": 4.135981401733796 }, "prevControl": { - "x": 7.413815947224771, - "y": 4.115092606775545 + "x": 7.445149139662148, + "y": 4.1777589916502995 }, "nextControl": null, "isLocked": false, diff --git a/src/main/deploy/pathplanner/paths/Right-Auto Ruiner.path b/src/main/deploy/pathplanner/paths/Right-Auto Ruiner.path index 3c66c3dd..a4a23e22 100644 --- a/src/main/deploy/pathplanner/paths/Right-Auto Ruiner.path +++ b/src/main/deploy/pathplanner/paths/Right-Auto Ruiner.path @@ -16,48 +16,48 @@ }, { "anchor": { - "x": 8.116213463908409, - "y": 0.886175532730662 + "x": 8.34816208185204, + "y": 0.8277463767264434 }, "prevControl": { - "x": 7.685460491538737, - "y": 0.7277380121519171 + "x": 7.917409109482368, + "y": 0.6693088561476985 }, "nextControl": { - "x": 9.394501771274664, - "y": 1.3563494908806235 + "x": 9.626450389218295, + "y": 1.297920334876405 }, "isLocked": false, "linkedName": null }, { "anchor": { - "x": 7.873369436306303, - "y": 2.3079516621666696 + "x": 8.116213463908409, + "y": 2.2982134694993004 }, "prevControl": { - "x": 6.12222005788186, - "y": 1.299856480100275 + "x": 6.365064085483965, + "y": 1.2901182874329058 }, "nextControl": { - "x": 9.175908458578483, - "y": 3.057792497554153 + "x": 9.41875248618059, + "y": 3.048054304886784 }, "isLocked": false, "linkedName": null }, { "anchor": { - "x": 7.873369436306303, - "y": 4.0803006143049325 + "x": 7.987848953159354, + "y": 4.070564534960625 }, "prevControl": { - "x": 5.942839192834933, - "y": 3.539283038444537 + "x": 5.989185465829067, + "y": 3.9124781574316763 }, "nextControl": { - "x": 9.020097375900564, - "y": 4.401663085651201 + "x": 9.711509055283829, + "y": 4.206899232303804 }, "isLocked": false, "linkedName": null diff --git a/src/main/java/org/carlmontrobotics/RobotContainer.java b/src/main/java/org/carlmontrobotics/RobotContainer.java index d9ddb660..37ee2f9d 100644 --- a/src/main/java/org/carlmontrobotics/RobotContainer.java +++ b/src/main/java/org/carlmontrobotics/RobotContainer.java @@ -361,7 +361,10 @@ private void registerAutoCommands() { NamedCommands.registerCommand("AlignToAprilTagMegaTag2", new AlignToApriltag(drivetrain, limelight)); NamedCommands.registerCommand("Shoot", new SequentialCommandGroup( - new ParallelCommandGroup(new AlignToApriltag(drivetrain, limelight), + new ParallelCommandGroup( + // TODO: Use Align To Drivetrain + new AlignDrivetrain(drivetrain), + // new AlignToApriltag(drivetrain, limelight), new AimArmSpeaker(arm, limelight), new RampRPMAuton(intakeShooter)), new PassToOuttake(intakeShooter), @@ -375,6 +378,11 @@ private void registerAutoCommands() { new AutoMATICALLYGetNote(drivetrain, limelight, intakeShooter, -1))); + NamedCommands.registerCommand("Limelight Intake Straight", + new ParallelCommandGroup(new Intake(intakeShooter), + new AutoMATICALLYGetNote(drivetrain, limelight, + intakeShooter, 0))); + NamedCommands.registerCommand("StopIntake", new InstantCommand(intakeShooter::stopIntake)); NamedCommands.registerCommand("StopOutake", diff --git a/src/main/java/org/carlmontrobotics/commands/AlignDrivetrain.java b/src/main/java/org/carlmontrobotics/commands/AlignDrivetrain.java new file mode 100644 index 00000000..4718754c --- /dev/null +++ b/src/main/java/org/carlmontrobotics/commands/AlignDrivetrain.java @@ -0,0 +1,47 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +package org.carlmontrobotics.commands; + +import java.util.Optional; + +import org.carlmontrobotics.subsystems.Drivetrain; + +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.wpilibj.DriverStation.Alliance; +import edu.wpi.first.wpilibj2.command.InstantCommand; +import edu.wpi.first.wpilibj2.command.ProxyCommand; +import edu.wpi.first.wpilibj.DriverStation; + +/** Add your docs here. */ +public class AlignDrivetrain extends ProxyCommand { + static double blueSpeakerX = 0.14; + static double blueSpeakerY = 5.54; + + static double redSpeakerX = 16.36; + static double redSpeakerY = 5.51; + + public AlignDrivetrain(Drivetrain dt) { + super(() -> { + Optional allianceSide = DriverStation.getAlliance(); + if (allianceSide.get() == Alliance.Red) { + // double redAngle = Math.atan2(redSpeakerY-dt.getPose().getY(), + // dt.getPose().getX()); + return new RotateToFieldRelativeAngle(new Rotation2d( + dt.getPose().getX(), blueSpeakerY - dt.getPose().getY()), dt); + + } else if (allianceSide.get() == Alliance.Blue) { + // double blueAngle = Math.atan2(blueSpeakerY-dt.getPose().getY(), + // dt.getPose().getX()); + return new RotateToFieldRelativeAngle( + new Rotation2d(redSpeakerX - dt.getPose().getX(), + redSpeakerY - dt.getPose().getY()), + dt); + + } + // create an if statement based on alliance side + return new InstantCommand(); + }); + } +} From 664a700b5116d658c66f0d0a8d0fd9f0a5c1f31c Mon Sep 17 00:00:00 2001 From: Rand0mAsianKid <144396869+Rand0mAsianKid@users.noreply.github.com> Date: Sat, 20 Jul 2024 01:02:10 -0700 Subject: [PATCH 2/6] Registered autos and created 1 pieces --- .../pathplanner/autos/Backup-Right.auto | 55 +++++++++++++++ .../autos/Center Limelight 1 Piece.auto | 67 ++---------------- .../autos/Left Limelight 1 Piece.auto | 69 ++----------------- .../autos/Right Limelight 1 Piece.auto | 26 ++----- .../paths/Center Limelight 1 Piece.path | 10 +-- .../paths/Left Limelight 1 Piece.path | 12 ++-- .../paths/Right Limelight 1 Piece.path | 12 ++-- .../pathplanner/paths/RightBackup1.path | 52 ++++++++++++++ .../pathplanner/paths/RightBackup2.path | 52 ++++++++++++++ .../pathplanner/paths/RightBackup3.path | 52 ++++++++++++++ .../pathplanner/paths/RightBackup4.path | 52 ++++++++++++++ .../pathplanner/paths/RightBackup5.path | 52 ++++++++++++++ .../org/carlmontrobotics/RobotContainer.java | 6 ++ 13 files changed, 356 insertions(+), 161 deletions(-) create mode 100644 src/main/deploy/pathplanner/autos/Backup-Right.auto create mode 100644 src/main/deploy/pathplanner/paths/RightBackup1.path create mode 100644 src/main/deploy/pathplanner/paths/RightBackup2.path create mode 100644 src/main/deploy/pathplanner/paths/RightBackup3.path create mode 100644 src/main/deploy/pathplanner/paths/RightBackup4.path create mode 100644 src/main/deploy/pathplanner/paths/RightBackup5.path diff --git a/src/main/deploy/pathplanner/autos/Backup-Right.auto b/src/main/deploy/pathplanner/autos/Backup-Right.auto new file mode 100644 index 00000000..02cc92fa --- /dev/null +++ b/src/main/deploy/pathplanner/autos/Backup-Right.auto @@ -0,0 +1,55 @@ +{ + "version": 1.0, + "startingPose": { + "position": { + "x": 0.7189571631051666, + "y": 4.417980133670191 + }, + "rotation": -59.30027744918559 + }, + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "RightBackup1" + } + }, + { + "type": "path", + "data": { + "pathName": null + } + }, + { + "type": "path", + "data": { + "pathName": null + } + }, + { + "type": "path", + "data": { + "pathName": null + } + }, + { + "type": "path", + "data": { + "pathName": null + } + }, + { + "type": "path", + "data": { + "pathName": null + } + } + ] + } + }, + "folder": null, + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Center Limelight 1 Piece.auto b/src/main/deploy/pathplanner/autos/Center Limelight 1 Piece.auto index da04ec0a..2febbb3f 100644 --- a/src/main/deploy/pathplanner/autos/Center Limelight 1 Piece.auto +++ b/src/main/deploy/pathplanner/autos/Center Limelight 1 Piece.auto @@ -11,85 +11,28 @@ "type": "sequential", "data": { "commands": [ - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "AlignToAprilTagMegaTag2" - } - }, - { - "type": "named", - "data": { - "name": "AimArmSpeakerMT2" - } - } - ] - } - }, { "type": "named", "data": { - "name": "PassToOuttake" - } - }, - { - "type": "named", - "data": { - "name": "ArmToGround" - } - }, - { - "type": "deadline", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "Center Limelight 1 Piece" - } - }, - { - "type": "named", - "data": { - "name": "Intake" - } - } - ] + "name": "Shoot" } }, { - "type": "parallel", + "type": "path", "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "AlignToAprilTagMegaTag2" - } - }, - { - "type": "named", - "data": { - "name": "AimArmSpeakerMT2" - } - } - ] + "pathName": "Center Limelight 1 Piece" } }, { "type": "named", "data": { - "name": "PassToOuttake" + "name": "Limelight Intake Straight" } }, { "type": "named", "data": { - "name": "ArmToGround" + "name": "Shoot" } } ] diff --git a/src/main/deploy/pathplanner/autos/Left Limelight 1 Piece.auto b/src/main/deploy/pathplanner/autos/Left Limelight 1 Piece.auto index 74c88149..47da779f 100644 --- a/src/main/deploy/pathplanner/autos/Left Limelight 1 Piece.auto +++ b/src/main/deploy/pathplanner/autos/Left Limelight 1 Piece.auto @@ -3,7 +3,7 @@ "startingPose": { "position": { "x": 0.6452516819624394, - "y": 4.499045012324901 + "y": 6.6706619771483915 }, "rotation": 60.60256482955589 }, @@ -11,85 +11,28 @@ "type": "sequential", "data": { "commands": [ - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "AlignToAprilTagMegaTag2" - } - }, - { - "type": "named", - "data": { - "name": "AimArmSpeakerMT2" - } - } - ] - } - }, { "type": "named", "data": { - "name": "PassToOuttake" - } - }, - { - "type": "named", - "data": { - "name": "ArmToGround" - } - }, - { - "type": "deadline", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "Left Limelight 1 Piece" - } - }, - { - "type": "named", - "data": { - "name": "Intake" - } - } - ] + "name": "Shoot" } }, { - "type": "parallel", + "type": "path", "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "AlignToAprilTagMegaTag2" - } - }, - { - "type": "named", - "data": { - "name": "AimArmSpeakerMT2" - } - } - ] + "pathName": "Left Limelight 1 Piece" } }, { "type": "named", "data": { - "name": "PassToOuttake" + "name": "Limelight Intake Straight" } }, { "type": "named", "data": { - "name": "ArmToGround" + "name": "Shoot" } } ] diff --git a/src/main/deploy/pathplanner/autos/Right Limelight 1 Piece.auto b/src/main/deploy/pathplanner/autos/Right Limelight 1 Piece.auto index ac8eadd5..c325d661 100644 --- a/src/main/deploy/pathplanner/autos/Right Limelight 1 Piece.auto +++ b/src/main/deploy/pathplanner/autos/Right Limelight 1 Piece.auto @@ -12,39 +12,27 @@ "data": { "commands": [ { - "type": "path", + "type": "named", "data": { - "pathName": "Right Limelight 1" + "name": "Shoot" } }, { "type": "path", "data": { - "pathName": "Right Limelight 2" + "pathName": "Right Limelight 1 Piece" } }, { - "type": "path", - "data": { - "pathName": "Right Limelight 3" - } - }, - { - "type": "path", + "type": "named", "data": { - "pathName": "Right Limelight 4" + "name": "Limelight Intake Straight" } }, { - "type": "path", - "data": { - "pathName": "Right Limelight 5" - } - }, - { - "type": "path", + "type": "named", "data": { - "pathName": "Right Limelight 6" + "name": "Shoot" } } ] diff --git a/src/main/deploy/pathplanner/paths/Center Limelight 1 Piece.path b/src/main/deploy/pathplanner/paths/Center Limelight 1 Piece.path index e0f6b1e5..8ee1d2ae 100644 --- a/src/main/deploy/pathplanner/paths/Center Limelight 1 Piece.path +++ b/src/main/deploy/pathplanner/paths/Center Limelight 1 Piece.path @@ -8,20 +8,20 @@ }, "prevControl": null, "nextControl": { - "x": 2.404830710017292, - "y": 5.570246205735591 + "x": 1.867840885808999, + "y": 5.566863856374023 }, "isLocked": false, "linkedName": null }, { "anchor": { - "x": 2.7389631054469707, + "x": 2.0245068479958848, "y": 5.570246205735591 }, "prevControl": { - "x": 1.7389631054469707, - "y": 5.570246205735591 + "x": 1.5545089614352265, + "y": 5.566863856374023 }, "nextControl": null, "isLocked": false, diff --git a/src/main/deploy/pathplanner/paths/Left Limelight 1 Piece.path b/src/main/deploy/pathplanner/paths/Left Limelight 1 Piece.path index 179326b4..3f3da511 100644 --- a/src/main/deploy/pathplanner/paths/Left Limelight 1 Piece.path +++ b/src/main/deploy/pathplanner/paths/Left Limelight 1 Piece.path @@ -8,20 +8,20 @@ }, "prevControl": null, "nextControl": { - "x": 1.5995945633646906, - "y": 6.865425830495789 + "x": 1.241177037061454, + "y": 6.914191131181245 }, "isLocked": false, "linkedName": null }, { "anchor": { - "x": 2.534461059432202, - "y": 6.962807757169489 + "x": 2.0767288353915134, + "y": 6.987301913535124 }, "prevControl": { - "x": 1.5606417926952114, - "y": 6.8946404084978985 + "x": 1.241177037061454, + "y": 6.945524323618622 }, "nextControl": null, "isLocked": false, diff --git a/src/main/deploy/pathplanner/paths/Right Limelight 1 Piece.path b/src/main/deploy/pathplanner/paths/Right Limelight 1 Piece.path index 1db08d9d..f3ea322b 100644 --- a/src/main/deploy/pathplanner/paths/Right Limelight 1 Piece.path +++ b/src/main/deploy/pathplanner/paths/Right Limelight 1 Piece.path @@ -8,20 +8,20 @@ }, "prevControl": null, "nextControl": { - "x": 1.5022126366909918, - "y": 4.245852002973283 + "x": 1.335176614373586, + "y": 4.146425799212922 }, "isLocked": false, "linkedName": null }, { "anchor": { - "x": 2.534461059432202, - "y": 4.138731883632214 + "x": 2.0453956429541362, + "y": 4.12553700425467 }, "prevControl": { - "x": 1.5344610594322021, - "y": 4.138731883632214 + "x": 1.335176614373586, + "y": 4.146425799212922 }, "nextControl": null, "isLocked": false, diff --git a/src/main/deploy/pathplanner/paths/RightBackup1.path b/src/main/deploy/pathplanner/paths/RightBackup1.path new file mode 100644 index 00000000..875e2e86 --- /dev/null +++ b/src/main/deploy/pathplanner/paths/RightBackup1.path @@ -0,0 +1,52 @@ +{ + "version": 1.0, + "waypoints": [ + { + "anchor": { + "x": 0.7189571631051666, + "y": 4.417980133670191 + }, + "prevControl": null, + "nextControl": { + "x": 1.718957163105165, + "y": 4.417980133670191 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 2.6407262992643044, + "y": 4.146425799212922 + }, + "prevControl": { + "x": 1.6407262992643044, + "y": 4.146425799212922 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [], + "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": null, + "previewStartingState": { + "rotation": -60.42216131873871, + "velocity": 0 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/RightBackup2.path b/src/main/deploy/pathplanner/paths/RightBackup2.path new file mode 100644 index 00000000..aa192fdc --- /dev/null +++ b/src/main/deploy/pathplanner/paths/RightBackup2.path @@ -0,0 +1,52 @@ +{ + "version": 1.0, + "waypoints": [ + { + "anchor": { + "x": 2.6407262992643044, + "y": 4.146425799212922 + }, + "prevControl": null, + "nextControl": { + "x": 1.3247322168944597, + "y": 4.835756032835222 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 3.236056955574472, + "y": 5.514641868978395 + }, + "prevControl": { + "x": 1.8260632958924967, + "y": 5.713085421081786 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [], + "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": null, + "previewStartingState": { + "rotation": 2.544804379813093, + "velocity": 0 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/RightBackup3.path b/src/main/deploy/pathplanner/paths/RightBackup3.path new file mode 100644 index 00000000..86de1d1d --- /dev/null +++ b/src/main/deploy/pathplanner/paths/RightBackup3.path @@ -0,0 +1,52 @@ +{ + "version": 1.0, + "waypoints": [ + { + "anchor": { + "x": 3.236056955574472, + "y": 5.514641868978395 + }, + "prevControl": null, + "nextControl": { + "x": 1.9200628732046274, + "y": 6.203972102600694 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 3.518055687510867, + "y": 7.008190708493376 + }, + "prevControl": { + "x": 2.1080620278288915, + "y": 7.206634260596767 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [], + "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": null, + "previewStartingState": { + "rotation": 2.544804379813093, + "velocity": 0 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/RightBackup4.path b/src/main/deploy/pathplanner/paths/RightBackup4.path new file mode 100644 index 00000000..d4f205a0 --- /dev/null +++ b/src/main/deploy/pathplanner/paths/RightBackup4.path @@ -0,0 +1,52 @@ +{ + "version": 1.0, + "waypoints": [ + { + "anchor": { + "x": 3.518055687510867, + "y": 7.008190708493376 + }, + "prevControl": null, + "nextControl": { + "x": 3.1525017757414653, + "y": 6.945524323618622 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 2.4005051572444116, + "y": 6.7053031815987305 + }, + "prevControl": { + "x": 2.828725453888568, + "y": 6.85152474630649 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [], + "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": null, + "previewStartingState": { + "rotation": 2.544804379813093, + "velocity": 0 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/RightBackup5.path b/src/main/deploy/pathplanner/paths/RightBackup5.path new file mode 100644 index 00000000..638aedee --- /dev/null +++ b/src/main/deploy/pathplanner/paths/RightBackup5.path @@ -0,0 +1,52 @@ +{ + "version": 1.0, + "waypoints": [ + { + "anchor": { + "x": 2.4005051572444116, + "y": 6.7053031815987305 + }, + "prevControl": null, + "nextControl": { + "x": 3.9044983942385194, + "y": 7.300633837908898 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 8.10314618084707, + "y": 5.744418613519161 + }, + "prevControl": { + "x": 8.531366477491224, + "y": 5.890640178226921 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [], + "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": null, + "previewStartingState": { + "rotation": 2.544804379813093, + "velocity": 0 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/src/main/java/org/carlmontrobotics/RobotContainer.java b/src/main/java/org/carlmontrobotics/RobotContainer.java index 37ee2f9d..f55d3e86 100644 --- a/src/main/java/org/carlmontrobotics/RobotContainer.java +++ b/src/main/java/org/carlmontrobotics/RobotContainer.java @@ -112,6 +112,12 @@ public class RobotContainer { "Center Limelight 4 Piece", "Center Limelight 4 Piece Path Following", "Left-Amp", + + "Center Limelight 1 Piece", "Left Limelight 1 Piece", + "Right Limelight 1 Piece", "Center Field Limelight", + "Center Field Limelight(No Preload)", "Center Forward", + "Right Forward", "Left Forward", + }; DigitalInput[] autoSelectors = new DigitalInput[Math.min(autoNames.length, 10)]; From 21535e4173b26607ad6979acfbb60b52cb4f9564 Mon Sep 17 00:00:00 2001 From: Rand0mAsianKid <144396869+Rand0mAsianKid@users.noreply.github.com> Date: Sat, 20 Jul 2024 01:22:10 -0700 Subject: [PATCH 3/6] Finished rest of autos --- .../pathplanner/autos/Backup-Center.auto | 131 ++++++++++++++++++ .../deploy/pathplanner/autos/Backup-Left.auto | 131 ++++++++++++++++++ .../pathplanner/autos/Backup-Right.auto | 121 ++++++++++++++-- .../pathplanner/paths/CenterBackup1.path | 52 +++++++ .../pathplanner/paths/CenterBackup2.path | 52 +++++++ .../pathplanner/paths/CenterBackup3.path | 52 +++++++ .../pathplanner/paths/CenterBackup4.path | 52 +++++++ .../pathplanner/paths/CenterBackup5.path | 52 +++++++ .../deploy/pathplanner/paths/LeftBackup1.path | 52 +++++++ .../deploy/pathplanner/paths/LeftBackup2.path | 52 +++++++ .../deploy/pathplanner/paths/LeftBackup3.path | 52 +++++++ .../deploy/pathplanner/paths/LeftBackup4.path | 52 +++++++ .../deploy/pathplanner/paths/LeftBackup5.path | 52 +++++++ .../pathplanner/paths/RightBackup5.path | 8 +- .../pathplanner/paths/RightBackup6.path | 52 +++++++ .../pathplanner/paths/RightBackup7.path | 68 +++++++++ .../org/carlmontrobotics/RobotContainer.java | 1 + 17 files changed, 1018 insertions(+), 14 deletions(-) create mode 100644 src/main/deploy/pathplanner/autos/Backup-Center.auto create mode 100644 src/main/deploy/pathplanner/autos/Backup-Left.auto create mode 100644 src/main/deploy/pathplanner/paths/CenterBackup1.path create mode 100644 src/main/deploy/pathplanner/paths/CenterBackup2.path create mode 100644 src/main/deploy/pathplanner/paths/CenterBackup3.path create mode 100644 src/main/deploy/pathplanner/paths/CenterBackup4.path create mode 100644 src/main/deploy/pathplanner/paths/CenterBackup5.path create mode 100644 src/main/deploy/pathplanner/paths/LeftBackup1.path create mode 100644 src/main/deploy/pathplanner/paths/LeftBackup2.path create mode 100644 src/main/deploy/pathplanner/paths/LeftBackup3.path create mode 100644 src/main/deploy/pathplanner/paths/LeftBackup4.path create mode 100644 src/main/deploy/pathplanner/paths/LeftBackup5.path create mode 100644 src/main/deploy/pathplanner/paths/RightBackup6.path create mode 100644 src/main/deploy/pathplanner/paths/RightBackup7.path diff --git a/src/main/deploy/pathplanner/autos/Backup-Center.auto b/src/main/deploy/pathplanner/autos/Backup-Center.auto new file mode 100644 index 00000000..f5781867 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/Backup-Center.auto @@ -0,0 +1,131 @@ +{ + "version": 1.0, + "startingPose": { + "position": { + "x": 1.3464015540130732, + "y": 5.57998439840296 + }, + "rotation": 0 + }, + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "ArmToGround" + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "CenterBackup1" + } + }, + { + "type": "named", + "data": { + "name": "Intake" + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "Shoot" + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "CenterBackup2" + } + }, + { + "type": "named", + "data": { + "name": "Intake" + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "Shoot" + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "CenterBackup3" + } + }, + { + "type": "named", + "data": { + "name": "Intake" + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "Shoot" + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "CenterBackup4" + } + }, + { + "type": "named", + "data": { + "name": "Intake" + } + } + ] + } + }, + { + "type": "path", + "data": { + "pathName": "CenterBackup5" + } + }, + { + "type": "named", + "data": { + "name": "Shoot" + } + } + ] + } + }, + "folder": null, + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Backup-Left.auto b/src/main/deploy/pathplanner/autos/Backup-Left.auto new file mode 100644 index 00000000..0dd7e8c5 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/Backup-Left.auto @@ -0,0 +1,131 @@ +{ + "version": 1.0, + "startingPose": { + "position": { + "x": 0.7134190306340287, + "y": 6.660923784481021 + }, + "rotation": 61.975499467929716 + }, + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "ArmToGround" + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "LeftBackup1" + } + }, + { + "type": "named", + "data": { + "name": "Intake" + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "Shoot" + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "LeftBackup2" + } + }, + { + "type": "named", + "data": { + "name": "Intake" + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "Shoot" + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "LeftBackup3" + } + }, + { + "type": "named", + "data": { + "name": "Intake" + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "Shoot" + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "LeftBackup4" + } + }, + { + "type": "named", + "data": { + "name": "Intake" + } + } + ] + } + }, + { + "type": "path", + "data": { + "pathName": "LeftBackup5" + } + }, + { + "type": "named", + "data": { + "name": "Shoot" + } + } + ] + } + }, + "folder": null, + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Backup-Right.auto b/src/main/deploy/pathplanner/autos/Backup-Right.auto index 02cc92fa..d7d95300 100644 --- a/src/main/deploy/pathplanner/autos/Backup-Right.auto +++ b/src/main/deploy/pathplanner/autos/Backup-Right.auto @@ -12,39 +12,140 @@ "data": { "commands": [ { - "type": "path", + "type": "named", "data": { - "pathName": "RightBackup1" + "name": "ArmToGround" } }, { - "type": "path", + "type": "parallel", "data": { - "pathName": null + "commands": [ + { + "type": "path", + "data": { + "pathName": "RightBackup1" + } + }, + { + "type": "named", + "data": { + "name": "Intake" + } + } + ] } }, { - "type": "path", + "type": "named", "data": { - "pathName": null + "name": "Shoot" } }, { - "type": "path", + "type": "parallel", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "RightBackup2" + } + }, + { + "type": "named", + "data": { + "name": "Intake" + } + } + ] + } + }, + { + "type": "named", "data": { - "pathName": null + "name": "Shoot" + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "RightBackup3" + } + }, + { + "type": "named", + "data": { + "name": "Intake" + } + } + ] } }, { "type": "path", "data": { - "pathName": null + "pathName": "RightBackup4" + } + }, + { + "type": "named", + "data": { + "name": "Shoot" + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "RightBackup5" + } + }, + { + "type": "named", + "data": { + "name": "Intake" + } + } + ] } }, { "type": "path", "data": { - "pathName": null + "pathName": "RightBackup6" + } + }, + { + "type": "named", + "data": { + "name": "Shoot" + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "RightBackup7" + } + }, + { + "type": "named", + "data": { + "name": "Intake" + } + } + ] } } ] diff --git a/src/main/deploy/pathplanner/paths/CenterBackup1.path b/src/main/deploy/pathplanner/paths/CenterBackup1.path new file mode 100644 index 00000000..d9f37c8f --- /dev/null +++ b/src/main/deploy/pathplanner/paths/CenterBackup1.path @@ -0,0 +1,52 @@ +{ + "version": 1.0, + "waypoints": [ + { + "anchor": { + "x": 1.3464015540130732, + "y": 5.57998439840296 + }, + "prevControl": null, + "nextControl": { + "x": 2.346401554013074, + "y": 5.57998439840296 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 3.4888039408344538, + "y": 5.57998439840296 + }, + "prevControl": { + "x": 2.4888039408344538, + "y": 5.57998439840296 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [], + "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": null, + "previewStartingState": { + "rotation": 0, + "velocity": 0 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/CenterBackup2.path b/src/main/deploy/pathplanner/paths/CenterBackup2.path new file mode 100644 index 00000000..4d300cd3 --- /dev/null +++ b/src/main/deploy/pathplanner/paths/CenterBackup2.path @@ -0,0 +1,52 @@ +{ + "version": 1.0, + "waypoints": [ + { + "anchor": { + "x": 3.420636592162865, + "y": 5.570246205735591 + }, + "prevControl": null, + "nextControl": { + "x": 1.68723829737102, + "y": 6.3785161971272935 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 3.420636592162865, + "y": 7.040713298508448 + }, + "prevControl": { + "x": 1.7554056460426093, + "y": 7.1380952251821475 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [], + "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": null, + "previewStartingState": { + "rotation": 0, + "velocity": 0 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/CenterBackup3.path b/src/main/deploy/pathplanner/paths/CenterBackup3.path new file mode 100644 index 00000000..5eb25efc --- /dev/null +++ b/src/main/deploy/pathplanner/paths/CenterBackup3.path @@ -0,0 +1,52 @@ +{ + "version": 1.0, + "waypoints": [ + { + "anchor": { + "x": 3.420636592162865, + "y": 7.040713298508448 + }, + "prevControl": null, + "nextControl": { + "x": 2.0280750407240986, + "y": 6.436945353131514 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 2.5636756374343124, + "y": 4.158208268966954 + }, + "prevControl": { + "x": 1.5636756374343124, + "y": 4.158208268966954 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [], + "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": null, + "previewStartingState": { + "rotation": 0, + "velocity": 0 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/CenterBackup4.path b/src/main/deploy/pathplanner/paths/CenterBackup4.path new file mode 100644 index 00000000..f9a88151 --- /dev/null +++ b/src/main/deploy/pathplanner/paths/CenterBackup4.path @@ -0,0 +1,52 @@ +{ + "version": 1.0, + "waypoints": [ + { + "anchor": { + "x": 2.5636756374343124, + "y": 4.158208268966954 + }, + "prevControl": null, + "nextControl": { + "x": 1.171114085995546, + "y": 3.5544403235900193 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 8.60135509120366, + "y": 2.697479368861467 + }, + "prevControl": { + "x": 6.410261741045428, + "y": -0.4966478260358644 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [], + "constraintZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 3.0, + "maxAcceleration": 3.0, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0 + }, + "goalEndState": { + "velocity": 0, + "rotation": 20.67442476087381, + "rotateFast": false + }, + "reversed": false, + "folder": null, + "previewStartingState": { + "rotation": 0, + "velocity": 0 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/CenterBackup5.path b/src/main/deploy/pathplanner/paths/CenterBackup5.path new file mode 100644 index 00000000..9edb6de5 --- /dev/null +++ b/src/main/deploy/pathplanner/paths/CenterBackup5.path @@ -0,0 +1,52 @@ +{ + "version": 1.0, + "waypoints": [ + { + "anchor": { + "x": 8.60135509120366, + "y": 2.697479368861467 + }, + "prevControl": null, + "nextControl": { + "x": 6.585549209058087, + "y": 0.43821867003164694 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 2.388388169421654, + "y": 3.233079965566812 + }, + "prevControl": { + "x": 2.592890215436422, + "y": 2.716955754196207 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [], + "constraintZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 3.0, + "maxAcceleration": 3.0, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0 + }, + "goalEndState": { + "velocity": 0, + "rotation": -39.93638314696986, + "rotateFast": false + }, + "reversed": false, + "folder": null, + "previewStartingState": { + "rotation": 21.80140948635179, + "velocity": 0 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/LeftBackup1.path b/src/main/deploy/pathplanner/paths/LeftBackup1.path new file mode 100644 index 00000000..4695ab13 --- /dev/null +++ b/src/main/deploy/pathplanner/paths/LeftBackup1.path @@ -0,0 +1,52 @@ +{ + "version": 1.0, + "waypoints": [ + { + "anchor": { + "x": 0.7134190306340287, + "y": 6.660923784481021 + }, + "prevControl": null, + "nextControl": { + "x": 1.6190709486994308, + "y": 6.865425830495789 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 3.216134546148097, + "y": 6.972545949836858 + }, + "prevControl": { + "x": 2.216134546148097, + "y": 6.972545949836858 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [], + "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": null, + "previewStartingState": { + "rotation": 59.38139459109065, + "velocity": 0 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/LeftBackup2.path b/src/main/deploy/pathplanner/paths/LeftBackup2.path new file mode 100644 index 00000000..033bdb07 --- /dev/null +++ b/src/main/deploy/pathplanner/paths/LeftBackup2.path @@ -0,0 +1,52 @@ +{ + "version": 1.0, + "waypoints": [ + { + "anchor": { + "x": 3.216134546148097, + "y": 6.972545949836858 + }, + "prevControl": null, + "nextControl": { + "x": 1.9306931140552677, + "y": 6.904378601165269 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 3.4401129774976043, + "y": 5.443649701059782 + }, + "prevControl": { + "x": 2.028075040728967, + "y": 5.229409462377644 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [], + "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": null, + "previewStartingState": { + "rotation": 0.0, + "velocity": 0 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/LeftBackup3.path b/src/main/deploy/pathplanner/paths/LeftBackup3.path new file mode 100644 index 00000000..b5fa1fff --- /dev/null +++ b/src/main/deploy/pathplanner/paths/LeftBackup3.path @@ -0,0 +1,52 @@ +{ + "version": 1.0, + "waypoints": [ + { + "anchor": { + "x": 3.4401129774976043, + "y": 5.443649701059782 + }, + "prevControl": null, + "nextControl": { + "x": 2.154671545404775, + "y": 5.375482352388193 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 2.622104793438532, + "y": 4.138731883632214 + }, + "prevControl": { + "x": 1.2100668566698949, + "y": 3.9244916449500753 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [], + "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": null, + "previewStartingState": { + "rotation": 0.0, + "velocity": 0 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/LeftBackup4.path b/src/main/deploy/pathplanner/paths/LeftBackup4.path new file mode 100644 index 00000000..c7bc3064 --- /dev/null +++ b/src/main/deploy/pathplanner/paths/LeftBackup4.path @@ -0,0 +1,52 @@ +{ + "version": 1.0, + "waypoints": [ + { + "anchor": { + "x": 2.622104793438532, + "y": 4.138731883632214 + }, + "prevControl": null, + "nextControl": { + "x": 2.349435398752174, + "y": 0.681673486715894 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 8.065754494498313, + "y": 2.366380818170889 + }, + "prevControl": { + "x": 6.234974273032768, + "y": 1.1588449274170212 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [], + "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": null, + "previewStartingState": { + "rotation": 0.0, + "velocity": 0 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/LeftBackup5.path b/src/main/deploy/pathplanner/paths/LeftBackup5.path new file mode 100644 index 00000000..5ad3fb02 --- /dev/null +++ b/src/main/deploy/pathplanner/paths/LeftBackup5.path @@ -0,0 +1,52 @@ +{ + "version": 1.0, + "waypoints": [ + { + "anchor": { + "x": 8.065754494498313, + "y": 2.366380818170889 + }, + "prevControl": null, + "nextControl": { + "x": 7.734655943807735, + "y": 0.9932956520717322 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 2.3202208207500647, + "y": 3.3791528555773604 + }, + "prevControl": { + "x": 3.508280326169195, + "y": 1.7918274507960643 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [], + "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": null, + "previewStartingState": { + "rotation": 0.0, + "velocity": 0 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/RightBackup5.path b/src/main/deploy/pathplanner/paths/RightBackup5.path index 638aedee..b147b120 100644 --- a/src/main/deploy/pathplanner/paths/RightBackup5.path +++ b/src/main/deploy/pathplanner/paths/RightBackup5.path @@ -16,12 +16,12 @@ }, { "anchor": { - "x": 8.10314618084707, - "y": 5.744418613519161 + "x": 8.50397316452996, + "y": 5.57998439840296 }, "prevControl": { - "x": 8.531366477491224, - "y": 5.890640178226921 + "x": 8.932193461174114, + "y": 5.726205963110719 }, "nextControl": null, "isLocked": false, diff --git a/src/main/deploy/pathplanner/paths/RightBackup6.path b/src/main/deploy/pathplanner/paths/RightBackup6.path new file mode 100644 index 00000000..87125e5e --- /dev/null +++ b/src/main/deploy/pathplanner/paths/RightBackup6.path @@ -0,0 +1,52 @@ +{ + "version": 1.0, + "waypoints": [ + { + "anchor": { + "x": 8.10314618084707, + "y": 5.744418613519161 + }, + "prevControl": null, + "nextControl": { + "x": 5.903875722342193, + "y": 7.0894042618452975 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 3.196658160813356, + "y": 6.514850894470473 + }, + "prevControl": { + "x": 3.6248784574575126, + "y": 6.661072459178232 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [], + "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": null, + "previewStartingState": { + "rotation": 2.544804379813093, + "velocity": 0 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/RightBackup7.path b/src/main/deploy/pathplanner/paths/RightBackup7.path new file mode 100644 index 00000000..eb378aa0 --- /dev/null +++ b/src/main/deploy/pathplanner/paths/RightBackup7.path @@ -0,0 +1,68 @@ +{ + "version": 1.0, + "waypoints": [ + { + "anchor": { + "x": 3.93676080353347, + "y": 5.151503921038685 + }, + "prevControl": null, + "nextControl": { + "x": 4.676863446253583, + "y": 4.9275254896891765 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 5.368275125636847, + "y": 4.343233929646981 + }, + "prevControl": { + "x": 4.614824152751561, + "y": 4.333932065784199 + }, + "nextControl": { + "x": 6.15706873169381, + "y": 4.352972122314352 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 8.63056966920577, + "y": 3.963444415619555 + }, + "prevControl": { + "x": 7.54963028312771, + "y": 4.3140193516448715 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [], + "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": null, + "previewStartingState": { + "rotation": 2.544804379813093, + "velocity": 0 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/src/main/java/org/carlmontrobotics/RobotContainer.java b/src/main/java/org/carlmontrobotics/RobotContainer.java index f55d3e86..3bbb2570 100644 --- a/src/main/java/org/carlmontrobotics/RobotContainer.java +++ b/src/main/java/org/carlmontrobotics/RobotContainer.java @@ -117,6 +117,7 @@ public class RobotContainer { "Right Limelight 1 Piece", "Center Field Limelight", "Center Field Limelight(No Preload)", "Center Forward", "Right Forward", "Left Forward", + "Backup-Center", "Backup-Right", "Backup-Left", }; DigitalInput[] autoSelectors = From dc11db633166bf31be3b2091d12ceccc6c1a10e4 Mon Sep 17 00:00:00 2001 From: Rand0mAsianKid <144396869+Rand0mAsianKid@users.noreply.github.com> Date: Sat, 20 Jul 2024 07:51:42 -0700 Subject: [PATCH 4/6] fixed autons --- .../paths/Center Field Limelight 3.path | 10 +++++----- .../paths/Center Field Limelight 4.path | 8 ++++---- .../paths/Center Field Limelight 5.path | 8 ++++---- .../pathplanner/paths/Center Limelight 5.path | 10 +++++----- .../deploy/pathplanner/paths/CenterBackup5.path | 10 +++++----- .../deploy/pathplanner/paths/Left Limelight 5.path | 14 +++++++------- src/main/deploy/pathplanner/paths/LeftBackup5.path | 10 +++++----- .../pathplanner/paths/Right Limelight 5.path | 10 +++++----- .../deploy/pathplanner/paths/RightBackup6.path | 14 +++++++------- .../java/org/carlmontrobotics/RobotContainer.java | 6 +++--- .../carlmontrobotics/commands/AlignToApriltag.java | 7 +++++-- 11 files changed, 55 insertions(+), 52 deletions(-) diff --git a/src/main/deploy/pathplanner/paths/Center Field Limelight 3.path b/src/main/deploy/pathplanner/paths/Center Field Limelight 3.path index 6553d4ac..d5b61eb0 100644 --- a/src/main/deploy/pathplanner/paths/Center Field Limelight 3.path +++ b/src/main/deploy/pathplanner/paths/Center Field Limelight 3.path @@ -16,12 +16,12 @@ }, { "anchor": { - "x": 4.593828627860818, - "y": 6.423304449662335 + "x": 3.6747216496977533, + "y": 5.838418190831293 }, "prevControl": { - "x": 5.001160129546722, - "y": 6.966413118576873 + "x": 4.0820531513836595, + "y": 6.381526859745831 }, "nextControl": null, "isLocked": false, @@ -39,7 +39,7 @@ }, "goalEndState": { "velocity": 0, - "rotation": 0.0, + "rotation": 4.085616779974883, "rotateFast": false }, "reversed": false, diff --git a/src/main/deploy/pathplanner/paths/Center Field Limelight 4.path b/src/main/deploy/pathplanner/paths/Center Field Limelight 4.path index 5b389ff3..cae24c47 100644 --- a/src/main/deploy/pathplanner/paths/Center Field Limelight 4.path +++ b/src/main/deploy/pathplanner/paths/Center Field Limelight 4.path @@ -3,13 +3,13 @@ "waypoints": [ { "anchor": { - "x": 4.593828627860818, - "y": 6.423304449662335 + "x": 3.726943637093382, + "y": 5.45197548410364 }, "prevControl": null, "nextControl": { - "x": 4.510273448027813, - "y": 6.0055285504973055 + "x": 4.071608753904531, + "y": 4.96108880258473 }, "isLocked": false, "linkedName": null diff --git a/src/main/deploy/pathplanner/paths/Center Field Limelight 5.path b/src/main/deploy/pathplanner/paths/Center Field Limelight 5.path index 3bbbe8bf..155e08e8 100644 --- a/src/main/deploy/pathplanner/paths/Center Field Limelight 5.path +++ b/src/main/deploy/pathplanner/paths/Center Field Limelight 5.path @@ -32,12 +32,12 @@ }, { "anchor": { - "x": 4.5624954354234415, - "y": 6.256194089996322 + "x": 3.6538328547395014, + "y": 5.65041903620703 }, "prevControl": { - "x": 4.61471742281907, - "y": 5.0759771748551135 + "x": 4.489384653069561, + "y": 4.595534890815329 }, "nextControl": null, "isLocked": false, diff --git a/src/main/deploy/pathplanner/paths/Center Limelight 5.path b/src/main/deploy/pathplanner/paths/Center Limelight 5.path index f00426cc..57299a71 100644 --- a/src/main/deploy/pathplanner/paths/Center Limelight 5.path +++ b/src/main/deploy/pathplanner/paths/Center Limelight 5.path @@ -16,12 +16,12 @@ }, { "anchor": { - "x": 2.8330566613739863, - "y": 3.4821423197348755 + "x": 1.7947301034551182, + "y": 3.4988731555071255 }, "prevControl": { - "x": 3.2517989460708923, - "y": 2.0603661902988692 + "x": 2.2134723881520246, + "y": 2.0770970260711192 }, "nextControl": null, "isLocked": false, @@ -39,7 +39,7 @@ }, "goalEndState": { "velocity": 0, - "rotation": -41.42366562500259, + "rotation": -51.91122711902467, "rotateFast": false }, "reversed": false, diff --git a/src/main/deploy/pathplanner/paths/CenterBackup5.path b/src/main/deploy/pathplanner/paths/CenterBackup5.path index 9edb6de5..f9c38c65 100644 --- a/src/main/deploy/pathplanner/paths/CenterBackup5.path +++ b/src/main/deploy/pathplanner/paths/CenterBackup5.path @@ -16,12 +16,12 @@ }, { "anchor": { - "x": 2.388388169421654, - "y": 3.233079965566812 + "x": 1.74250811605949, + "y": 3.4675399630697483 }, "prevControl": { - "x": 2.592890215436422, - "y": 2.716955754196207 + "x": 1.9470101620742586, + "y": 2.9514157516991433 }, "nextControl": null, "isLocked": false, @@ -39,7 +39,7 @@ }, "goalEndState": { "velocity": 0, - "rotation": -39.93638314696986, + "rotation": -45.00000000000005, "rotateFast": false }, "reversed": false, diff --git a/src/main/deploy/pathplanner/paths/Left Limelight 5.path b/src/main/deploy/pathplanner/paths/Left Limelight 5.path index 33c66352..2ed678d2 100644 --- a/src/main/deploy/pathplanner/paths/Left Limelight 5.path +++ b/src/main/deploy/pathplanner/paths/Left Limelight 5.path @@ -8,20 +8,20 @@ }, "prevControl": null, "nextControl": { - "x": 7.4035573931171585, - "y": 1.4607289001060078 + "x": 6.849818483351981, + "y": 0.3342207193320248 }, "isLocked": false, "linkedName": null }, { "anchor": { - "x": 2.5258379269939204, - "y": 2.736432139530946 + "x": 1.2620658320197053, + "y": 3.676427912652264 }, "prevControl": { - "x": 3.061438523699266, - "y": 2.191093350158232 + "x": 1.6693973337056094, + "y": 3.0288752689464666 }, "nextControl": null, "isLocked": false, @@ -39,7 +39,7 @@ }, "goalEndState": { "velocity": 0, - "rotation": -44.06080905426434, + "rotation": -55.61965527615521, "rotateFast": false }, "reversed": false, diff --git a/src/main/deploy/pathplanner/paths/LeftBackup5.path b/src/main/deploy/pathplanner/paths/LeftBackup5.path index 5ad3fb02..b42f88eb 100644 --- a/src/main/deploy/pathplanner/paths/LeftBackup5.path +++ b/src/main/deploy/pathplanner/paths/LeftBackup5.path @@ -16,12 +16,12 @@ }, { "anchor": { - "x": 2.3202208207500647, - "y": 3.3791528555773604 + "x": 1.617175346309981, + "y": 3.5615395403818795 }, "prevControl": { - "x": 3.508280326169195, - "y": 1.7918274507960643 + "x": 2.8052348517291117, + "y": 1.9742141356005833 }, "nextControl": null, "isLocked": false, @@ -39,7 +39,7 @@ }, "goalEndState": { "velocity": 0, - "rotation": 0, + "rotation": -49.68589983950268, "rotateFast": false }, "reversed": false, diff --git a/src/main/deploy/pathplanner/paths/Right Limelight 5.path b/src/main/deploy/pathplanner/paths/Right Limelight 5.path index ba0165e5..3cd23885 100644 --- a/src/main/deploy/pathplanner/paths/Right Limelight 5.path +++ b/src/main/deploy/pathplanner/paths/Right Limelight 5.path @@ -8,8 +8,8 @@ }, "prevControl": null, "nextControl": { - "x": 6.867956796411813, - "y": 6.534327279805212 + "x": 6.254487827041813, + "y": 7.582632569845292 }, "isLocked": false, "linkedName": null @@ -17,11 +17,11 @@ { "anchor": { "x": 3.0271690059919565, - "y": 6.14130571772594 + "y": 5.410197894187137 }, "prevControl": { "x": 3.650413336703628, - "y": 6.258164029734378 + "y": 5.527056206195575 }, "nextControl": null, "isLocked": false, @@ -39,7 +39,7 @@ }, "goalEndState": { "velocity": 0, - "rotation": 13.706961004079655, + "rotation": 3.179830119864366, "rotateFast": false }, "reversed": false, diff --git a/src/main/deploy/pathplanner/paths/RightBackup6.path b/src/main/deploy/pathplanner/paths/RightBackup6.path index 87125e5e..d274b919 100644 --- a/src/main/deploy/pathplanner/paths/RightBackup6.path +++ b/src/main/deploy/pathplanner/paths/RightBackup6.path @@ -8,20 +8,20 @@ }, "prevControl": null, "nextControl": { - "x": 5.903875722342193, - "y": 7.0894042618452975 + "x": 5.481602413586507, + "y": 7.906408891698191 }, "isLocked": false, "linkedName": null }, { "anchor": { - "x": 3.196658160813356, - "y": 6.514850894470473 + "x": 2.9645026211172016, + "y": 5.744418613519161 }, "prevControl": { - "x": 3.6248784574575126, - "y": 6.661072459178232 + "x": 3.413611712719609, + "y": 5.765307408477413 }, "nextControl": null, "isLocked": false, @@ -39,7 +39,7 @@ }, "goalEndState": { "velocity": 0, - "rotation": 0, + "rotation": 0.0, "rotateFast": false }, "reversed": false, diff --git a/src/main/java/org/carlmontrobotics/RobotContainer.java b/src/main/java/org/carlmontrobotics/RobotContainer.java index 3bbb2570..aaf9d221 100644 --- a/src/main/java/org/carlmontrobotics/RobotContainer.java +++ b/src/main/java/org/carlmontrobotics/RobotContainer.java @@ -201,7 +201,7 @@ private void setBindingsDriver() { .onFalse(new InstantCommand(() -> drivetrain.setFieldOriented(true))); axisTrigger(driverController, Manipulator.SHOOTER_BUTTON) - .whileTrue(new AlignToApriltag(drivetrain, limelight)); + .whileTrue(new AlignToApriltag(drivetrain, limelight, 2.0)); new JoystickButton(driverController, Driver.rotateFieldRelative0Deg).onTrue( new RotateToFieldRelativeAngle(Rotation2d.fromDegrees(0), drivetrain)); new JoystickButton(driverController, Driver.rotateFieldRelative90Deg) @@ -366,11 +366,11 @@ private void registerAutoCommands() { NamedCommands.registerCommand("AimArmSpeakerMT2", new AimArmSpeaker(arm, limelight)); NamedCommands.registerCommand("AlignToAprilTagMegaTag2", - new AlignToApriltag(drivetrain, limelight)); + new AlignToApriltag(drivetrain, limelight, 0.0)); NamedCommands.registerCommand("Shoot", new SequentialCommandGroup( new ParallelCommandGroup( // TODO: Use Align To Drivetrain - new AlignDrivetrain(drivetrain), + // new AlignDrivetrain(drivetrain), // new AlignToApriltag(drivetrain, limelight), new AimArmSpeaker(arm, limelight), new RampRPMAuton(intakeShooter)), diff --git a/src/main/java/org/carlmontrobotics/commands/AlignToApriltag.java b/src/main/java/org/carlmontrobotics/commands/AlignToApriltag.java index 57b0a242..07331e9f 100644 --- a/src/main/java/org/carlmontrobotics/commands/AlignToApriltag.java +++ b/src/main/java/org/carlmontrobotics/commands/AlignToApriltag.java @@ -30,9 +30,12 @@ public class AlignToApriltag extends Command { SmartDashboard.getNumber("apriltag align kd", thetaPIDController[2])); - public AlignToApriltag(Drivetrain drivetrain, Limelight limelight) { + double RotationSpeed = 0.0; + + public AlignToApriltag(Drivetrain drivetrain, Limelight limelight, double RotationSpeed) { this.limelight = limelight; this.drivetrain = drivetrain; + this.RotationSpeed = RotationSpeed; this.teleopDrive = (TeleopDrive) drivetrain.getDefaultCommand(); rotationPID.enableContinuousInput(-180, 180); @@ -95,7 +98,7 @@ public void execute() { double rotationDrive = rotationPID.calculate(drivetrain.getHeading()); if (!limelight.seesTag()) { - rotationDrive = 2; + rotationDrive = RotationSpeed; } if (rotationPID.atSetpoint()) rotationDrive = 0; From 5b7ead15911303ee03439ca474f903e178fd721c Mon Sep 17 00:00:00 2001 From: Rand0mAsianKid <144396869+Rand0mAsianKid@users.noreply.github.com> Date: Sat, 20 Jul 2024 08:02:25 -0700 Subject: [PATCH 5/6] Align to Apriltag Auton --- src/main/java/org/carlmontrobotics/RobotContainer.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/org/carlmontrobotics/RobotContainer.java b/src/main/java/org/carlmontrobotics/RobotContainer.java index aaf9d221..901a5bb1 100644 --- a/src/main/java/org/carlmontrobotics/RobotContainer.java +++ b/src/main/java/org/carlmontrobotics/RobotContainer.java @@ -371,7 +371,7 @@ private void registerAutoCommands() { new ParallelCommandGroup( // TODO: Use Align To Drivetrain // new AlignDrivetrain(drivetrain), - // new AlignToApriltag(drivetrain, limelight), + new AlignToApriltag(drivetrain, limelight, 0.0)); new AimArmSpeaker(arm, limelight), new RampRPMAuton(intakeShooter)), new PassToOuttake(intakeShooter), From 2974b75926dee7b4a974f7233dc95e8506a1f2f8 Mon Sep 17 00:00:00 2001 From: ProfessorAtomicManiac <59379639+ProfessorAtomicManiac@users.noreply.github.com> Date: Sat, 20 Jul 2024 08:49:23 -0700 Subject: [PATCH 6/6] make code build --- src/main/java/org/carlmontrobotics/RobotContainer.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/org/carlmontrobotics/RobotContainer.java b/src/main/java/org/carlmontrobotics/RobotContainer.java index 901a5bb1..abb37f7f 100644 --- a/src/main/java/org/carlmontrobotics/RobotContainer.java +++ b/src/main/java/org/carlmontrobotics/RobotContainer.java @@ -371,7 +371,7 @@ private void registerAutoCommands() { new ParallelCommandGroup( // TODO: Use Align To Drivetrain // new AlignDrivetrain(drivetrain), - new AlignToApriltag(drivetrain, limelight, 0.0)); + new AlignToApriltag(drivetrain, limelight, 0.0), new AimArmSpeaker(arm, limelight), new RampRPMAuton(intakeShooter)), new PassToOuttake(intakeShooter),