From 7b346353a6110a589a92902fac4140fc4ec2181b Mon Sep 17 00:00:00 2001 From: chrnso Date: Sat, 6 Apr 2024 20:35:58 -0400 Subject: [PATCH 1/2] added constraint zones to auton --- .../Bottom Note to Bottom Center Line Note.path | 14 +++++++++++++- ...tom Note to Middle Bottom Center Line Note.path | 14 +++++++++++++- .../paths/Bottom Note to Subwoofer.path | 4 ++-- .../Center Note to Bottom Center Line Note.path | 14 +++++++++++++- ...ter Note to Middle Bottom Center Line Note.path | 14 +++++++++++++- ...Center Note to Middle Top Center Line Note.path | 14 +++++++++++++- .../paths/Center Note to Top Center Line Note.path | 14 +++++++++++++- ...g at the Bottom to Middle Center Line Note.path | 12 ++++++------ .../Top Note to Middle Top Center Line Note.path | 14 +++++++++++++- .../paths/Top Note to Top Center Line Note.path | 14 +++++++++++++- 10 files changed, 112 insertions(+), 16 deletions(-) diff --git a/src/main/deploy/pathplanner/paths/Bottom Note to Bottom Center Line Note.path b/src/main/deploy/pathplanner/paths/Bottom Note to Bottom Center Line Note.path index cb8e439..f402b1d 100644 --- a/src/main/deploy/pathplanner/paths/Bottom Note to Bottom Center Line Note.path +++ b/src/main/deploy/pathplanner/paths/Bottom Note to Bottom Center Line Note.path @@ -29,7 +29,19 @@ } ], "rotationTargets": [], - "constraintZones": [], + "constraintZones": [ + { + "name": "New Constraints Zone", + "minWaypointRelativePos": 0.85, + "maxWaypointRelativePos": 1.0, + "constraints": { + "maxVelocity": 3.6, + "maxAcceleration": 2.0, + "maxAngularVelocity": 450.0, + "maxAngularAcceleration": 360.0 + } + } + ], "eventMarkers": [ { "name": "New Event Marker", diff --git a/src/main/deploy/pathplanner/paths/Bottom Note to Middle Bottom Center Line Note.path b/src/main/deploy/pathplanner/paths/Bottom Note to Middle Bottom Center Line Note.path index cca15f4..9aff657 100644 --- a/src/main/deploy/pathplanner/paths/Bottom Note to Middle Bottom Center Line Note.path +++ b/src/main/deploy/pathplanner/paths/Bottom Note to Middle Bottom Center Line Note.path @@ -29,7 +29,19 @@ } ], "rotationTargets": [], - "constraintZones": [], + "constraintZones": [ + { + "name": "New Constraints Zone", + "minWaypointRelativePos": 0.85, + "maxWaypointRelativePos": 1.0, + "constraints": { + "maxVelocity": 3.6, + "maxAcceleration": 2.0, + "maxAngularVelocity": 450.0, + "maxAngularAcceleration": 360.0 + } + } + ], "eventMarkers": [ { "name": "New Event Marker", diff --git a/src/main/deploy/pathplanner/paths/Bottom Note to Subwoofer.path b/src/main/deploy/pathplanner/paths/Bottom Note to Subwoofer.path index 37dbda3..5307077 100644 --- a/src/main/deploy/pathplanner/paths/Bottom Note to Subwoofer.path +++ b/src/main/deploy/pathplanner/paths/Bottom Note to Subwoofer.path @@ -20,8 +20,8 @@ "y": 5.56 }, "prevControl": { - "x": 1.9251242788199865, - "y": 5.511956166769477 + "x": 1.5770750270217908, + "y": 5.334391236319362 }, "nextControl": null, "isLocked": false, diff --git a/src/main/deploy/pathplanner/paths/Center Note to Bottom Center Line Note.path b/src/main/deploy/pathplanner/paths/Center Note to Bottom Center Line Note.path index a53a788..7814593 100644 --- a/src/main/deploy/pathplanner/paths/Center Note to Bottom Center Line Note.path +++ b/src/main/deploy/pathplanner/paths/Center Note to Bottom Center Line Note.path @@ -29,7 +29,19 @@ } ], "rotationTargets": [], - "constraintZones": [], + "constraintZones": [ + { + "name": "New Constraints Zone", + "minWaypointRelativePos": 0.85, + "maxWaypointRelativePos": 1.0, + "constraints": { + "maxVelocity": 3.6, + "maxAcceleration": 2.0, + "maxAngularVelocity": 450.0, + "maxAngularAcceleration": 360.0 + } + } + ], "eventMarkers": [ { "name": "New Event Marker", diff --git a/src/main/deploy/pathplanner/paths/Center Note to Middle Bottom Center Line Note.path b/src/main/deploy/pathplanner/paths/Center Note to Middle Bottom Center Line Note.path index 316aa15..4a8e8ae 100644 --- a/src/main/deploy/pathplanner/paths/Center Note to Middle Bottom Center Line Note.path +++ b/src/main/deploy/pathplanner/paths/Center Note to Middle Bottom Center Line Note.path @@ -29,7 +29,19 @@ } ], "rotationTargets": [], - "constraintZones": [], + "constraintZones": [ + { + "name": "New Constraints Zone", + "minWaypointRelativePos": 0.85, + "maxWaypointRelativePos": 1.0, + "constraints": { + "maxVelocity": 4.6, + "maxAcceleration": 2.0, + "maxAngularVelocity": 450.0, + "maxAngularAcceleration": 360.0 + } + } + ], "eventMarkers": [ { "name": "New Event Marker", diff --git a/src/main/deploy/pathplanner/paths/Center Note to Middle Top Center Line Note.path b/src/main/deploy/pathplanner/paths/Center Note to Middle Top Center Line Note.path index a723289..acdd67c 100644 --- a/src/main/deploy/pathplanner/paths/Center Note to Middle Top Center Line Note.path +++ b/src/main/deploy/pathplanner/paths/Center Note to Middle Top Center Line Note.path @@ -29,7 +29,19 @@ } ], "rotationTargets": [], - "constraintZones": [], + "constraintZones": [ + { + "name": "New Constraints Zone", + "minWaypointRelativePos": 0.85, + "maxWaypointRelativePos": 1.0, + "constraints": { + "maxVelocity": 3.6, + "maxAcceleration": 2.0, + "maxAngularVelocity": 450.0, + "maxAngularAcceleration": 360.0 + } + } + ], "eventMarkers": [ { "name": "New Event Marker", diff --git a/src/main/deploy/pathplanner/paths/Center Note to Top Center Line Note.path b/src/main/deploy/pathplanner/paths/Center Note to Top Center Line Note.path index 48c7d9d..c6b4acc 100644 --- a/src/main/deploy/pathplanner/paths/Center Note to Top Center Line Note.path +++ b/src/main/deploy/pathplanner/paths/Center Note to Top Center Line Note.path @@ -29,7 +29,19 @@ } ], "rotationTargets": [], - "constraintZones": [], + "constraintZones": [ + { + "name": "New Constraints Zone", + "minWaypointRelativePos": 0.85, + "maxWaypointRelativePos": 1.0, + "constraints": { + "maxVelocity": 3.6, + "maxAcceleration": 2.0, + "maxAngularVelocity": 450.0, + "maxAngularAcceleration": 360.0 + } + } + ], "eventMarkers": [ { "name": "New Event Marker", diff --git a/src/main/deploy/pathplanner/paths/Shooting at the Bottom to Middle Center Line Note.path b/src/main/deploy/pathplanner/paths/Shooting at the Bottom to Middle Center Line Note.path index f2738a4..775d6aa 100644 --- a/src/main/deploy/pathplanner/paths/Shooting at the Bottom to Middle Center Line Note.path +++ b/src/main/deploy/pathplanner/paths/Shooting at the Bottom to Middle Center Line Note.path @@ -8,8 +8,8 @@ }, "prevControl": null, "nextControl": { - "x": 3.1980841104539355, - "y": 1.627199825828224 + "x": 3.4827073513397884, + "y": 2.3961502633561444 }, "isLocked": false, "linkedName": null @@ -20,8 +20,8 @@ "y": 2.45 }, "prevControl": { - "x": 3.4033165209187564, - "y": 0.5570593998330865 + "x": 6.017292216196237, + "y": 0.23705945255250263 }, "nextControl": null, "isLocked": false, @@ -41,8 +41,8 @@ "minWaypointRelativePos": 0.85, "maxWaypointRelativePos": 1.0, "constraints": { - "maxVelocity": 3.34, - "maxAcceleration": 3.0, + "maxVelocity": 3.6, + "maxAcceleration": 2.0, "maxAngularVelocity": 450.0, "maxAngularAcceleration": 360.0 } diff --git a/src/main/deploy/pathplanner/paths/Top Note to Middle Top Center Line Note.path b/src/main/deploy/pathplanner/paths/Top Note to Middle Top Center Line Note.path index acddbdf..162b2e6 100644 --- a/src/main/deploy/pathplanner/paths/Top Note to Middle Top Center Line Note.path +++ b/src/main/deploy/pathplanner/paths/Top Note to Middle Top Center Line Note.path @@ -29,7 +29,19 @@ } ], "rotationTargets": [], - "constraintZones": [], + "constraintZones": [ + { + "name": "New Constraints Zone", + "minWaypointRelativePos": 0.85, + "maxWaypointRelativePos": 1.0, + "constraints": { + "maxVelocity": 3.6, + "maxAcceleration": 2.0, + "maxAngularVelocity": 450.0, + "maxAngularAcceleration": 360.0 + } + } + ], "eventMarkers": [ { "name": "New Event Marker", diff --git a/src/main/deploy/pathplanner/paths/Top Note to Top Center Line Note.path b/src/main/deploy/pathplanner/paths/Top Note to Top Center Line Note.path index ba4c204..61b5713 100644 --- a/src/main/deploy/pathplanner/paths/Top Note to Top Center Line Note.path +++ b/src/main/deploy/pathplanner/paths/Top Note to Top Center Line Note.path @@ -29,7 +29,19 @@ } ], "rotationTargets": [], - "constraintZones": [], + "constraintZones": [ + { + "name": "New Constraints Zone", + "minWaypointRelativePos": 0.85, + "maxWaypointRelativePos": 1.0, + "constraints": { + "maxVelocity": 3.6, + "maxAcceleration": 2.0, + "maxAngularVelocity": 450.0, + "maxAngularAcceleration": 360.0 + } + } + ], "eventMarkers": [ { "name": "New Event Marker", From dd65b51cdfd8f276607d741b337674fdab45d707 Mon Sep 17 00:00:00 2001 From: chrnso Date: Sat, 6 Apr 2024 20:41:01 -0400 Subject: [PATCH 2/2] changed values in constraint zones --- .../paths/Bottom Note to Bottom Center Line Note.path | 2 +- .../paths/Bottom Note to Middle Bottom Center Line Note.path | 2 +- .../paths/Center Note to Bottom Center Line Note.path | 2 +- .../paths/Center Note to Middle Top Center Line Note.path | 2 +- .../pathplanner/paths/Center Note to Top Center Line Note.path | 2 +- .../Shooting at the Bottom to Middle Center Line Note.path | 2 +- .../paths/Top Note to Middle Top Center Line Note.path | 2 +- .../pathplanner/paths/Top Note to Top Center Line Note.path | 2 +- 8 files changed, 8 insertions(+), 8 deletions(-) diff --git a/src/main/deploy/pathplanner/paths/Bottom Note to Bottom Center Line Note.path b/src/main/deploy/pathplanner/paths/Bottom Note to Bottom Center Line Note.path index f402b1d..4fc2ed0 100644 --- a/src/main/deploy/pathplanner/paths/Bottom Note to Bottom Center Line Note.path +++ b/src/main/deploy/pathplanner/paths/Bottom Note to Bottom Center Line Note.path @@ -35,7 +35,7 @@ "minWaypointRelativePos": 0.85, "maxWaypointRelativePos": 1.0, "constraints": { - "maxVelocity": 3.6, + "maxVelocity": 4.6, "maxAcceleration": 2.0, "maxAngularVelocity": 450.0, "maxAngularAcceleration": 360.0 diff --git a/src/main/deploy/pathplanner/paths/Bottom Note to Middle Bottom Center Line Note.path b/src/main/deploy/pathplanner/paths/Bottom Note to Middle Bottom Center Line Note.path index 9aff657..89d937d 100644 --- a/src/main/deploy/pathplanner/paths/Bottom Note to Middle Bottom Center Line Note.path +++ b/src/main/deploy/pathplanner/paths/Bottom Note to Middle Bottom Center Line Note.path @@ -35,7 +35,7 @@ "minWaypointRelativePos": 0.85, "maxWaypointRelativePos": 1.0, "constraints": { - "maxVelocity": 3.6, + "maxVelocity": 4.6, "maxAcceleration": 2.0, "maxAngularVelocity": 450.0, "maxAngularAcceleration": 360.0 diff --git a/src/main/deploy/pathplanner/paths/Center Note to Bottom Center Line Note.path b/src/main/deploy/pathplanner/paths/Center Note to Bottom Center Line Note.path index 7814593..c38248b 100644 --- a/src/main/deploy/pathplanner/paths/Center Note to Bottom Center Line Note.path +++ b/src/main/deploy/pathplanner/paths/Center Note to Bottom Center Line Note.path @@ -35,7 +35,7 @@ "minWaypointRelativePos": 0.85, "maxWaypointRelativePos": 1.0, "constraints": { - "maxVelocity": 3.6, + "maxVelocity": 4.6, "maxAcceleration": 2.0, "maxAngularVelocity": 450.0, "maxAngularAcceleration": 360.0 diff --git a/src/main/deploy/pathplanner/paths/Center Note to Middle Top Center Line Note.path b/src/main/deploy/pathplanner/paths/Center Note to Middle Top Center Line Note.path index acdd67c..1c0cb19 100644 --- a/src/main/deploy/pathplanner/paths/Center Note to Middle Top Center Line Note.path +++ b/src/main/deploy/pathplanner/paths/Center Note to Middle Top Center Line Note.path @@ -35,7 +35,7 @@ "minWaypointRelativePos": 0.85, "maxWaypointRelativePos": 1.0, "constraints": { - "maxVelocity": 3.6, + "maxVelocity": 4.6, "maxAcceleration": 2.0, "maxAngularVelocity": 450.0, "maxAngularAcceleration": 360.0 diff --git a/src/main/deploy/pathplanner/paths/Center Note to Top Center Line Note.path b/src/main/deploy/pathplanner/paths/Center Note to Top Center Line Note.path index c6b4acc..bbed1fd 100644 --- a/src/main/deploy/pathplanner/paths/Center Note to Top Center Line Note.path +++ b/src/main/deploy/pathplanner/paths/Center Note to Top Center Line Note.path @@ -35,7 +35,7 @@ "minWaypointRelativePos": 0.85, "maxWaypointRelativePos": 1.0, "constraints": { - "maxVelocity": 3.6, + "maxVelocity": 4.6, "maxAcceleration": 2.0, "maxAngularVelocity": 450.0, "maxAngularAcceleration": 360.0 diff --git a/src/main/deploy/pathplanner/paths/Shooting at the Bottom to Middle Center Line Note.path b/src/main/deploy/pathplanner/paths/Shooting at the Bottom to Middle Center Line Note.path index 775d6aa..70c8b74 100644 --- a/src/main/deploy/pathplanner/paths/Shooting at the Bottom to Middle Center Line Note.path +++ b/src/main/deploy/pathplanner/paths/Shooting at the Bottom to Middle Center Line Note.path @@ -41,7 +41,7 @@ "minWaypointRelativePos": 0.85, "maxWaypointRelativePos": 1.0, "constraints": { - "maxVelocity": 3.6, + "maxVelocity": 4.6, "maxAcceleration": 2.0, "maxAngularVelocity": 450.0, "maxAngularAcceleration": 360.0 diff --git a/src/main/deploy/pathplanner/paths/Top Note to Middle Top Center Line Note.path b/src/main/deploy/pathplanner/paths/Top Note to Middle Top Center Line Note.path index 162b2e6..9574e74 100644 --- a/src/main/deploy/pathplanner/paths/Top Note to Middle Top Center Line Note.path +++ b/src/main/deploy/pathplanner/paths/Top Note to Middle Top Center Line Note.path @@ -35,7 +35,7 @@ "minWaypointRelativePos": 0.85, "maxWaypointRelativePos": 1.0, "constraints": { - "maxVelocity": 3.6, + "maxVelocity": 4.6, "maxAcceleration": 2.0, "maxAngularVelocity": 450.0, "maxAngularAcceleration": 360.0 diff --git a/src/main/deploy/pathplanner/paths/Top Note to Top Center Line Note.path b/src/main/deploy/pathplanner/paths/Top Note to Top Center Line Note.path index 61b5713..9e9964e 100644 --- a/src/main/deploy/pathplanner/paths/Top Note to Top Center Line Note.path +++ b/src/main/deploy/pathplanner/paths/Top Note to Top Center Line Note.path @@ -35,7 +35,7 @@ "minWaypointRelativePos": 0.85, "maxWaypointRelativePos": 1.0, "constraints": { - "maxVelocity": 3.6, + "maxVelocity": 4.6, "maxAcceleration": 2.0, "maxAngularVelocity": 450.0, "maxAngularAcceleration": 360.0