auton

Team334 · Apr 7, 2024 · 4d4b432 · 4d4b432
1 parent 30390e2
commit 4d4b432
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Showing 5 changed files with 68 additions and 20 deletions.
diff --git a/...p Note to Center Note to Bottom Note.auto → ...p Note to Center Note to Bottom Note.auto b/...p Note to Center Note to Bottom Note.auto → ...p Note to Center Note to Bottom Note.auto
diff --git a/src/main/deploy/pathplanner/paths/Center Note to Bottom Note.path b/src/main/deploy/pathplanner/paths/Center Note to Bottom Note.path
@@ -16,20 +16,38 @@
     },
     {
       "anchor": {
-        "x": 2.46,
-        "y": 4.1
+        "x": 2.5108064630543674,
+        "y": 4.363499898170968
       },
       "prevControl": {
-        "x": 1.9056323243179971,
-        "y": 4.433205506592626
+        "x": 1.9564387873723645,
+        "y": 4.696705404763594
       },
       "nextControl": null,
       "isLocked": false,
       "linkedName": null
     }
   ],
-  "rotationTargets": [],
-  "constraintZones": [],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 0.5,
+      "rotationDegrees": 155.51092067617856,
+      "rotateFast": false
+    }
+  ],
+  "constraintZones": [
+    {
+      "name": "New Constraints Zone",
+      "minWaypointRelativePos": 0.7,
+      "maxWaypointRelativePos": 1.0,
+      "constraints": {
+        "maxVelocity": 2.0,
+        "maxAcceleration": 3.0,
+        "maxAngularVelocity": 450.0,
+        "maxAngularAcceleration": 360.0
+      }
+    }
+  ],
   "eventMarkers": [
     {
       "name": "New Event Marker",
@@ -57,7 +75,7 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": 180.0,
+    "rotation": 149.03624346792648,
     "rotateFast": false
   },
   "reversed": false,

diff --git a/src/main/deploy/pathplanner/paths/Straight Center Subwoofer to Top Note.path b/src/main/deploy/pathplanner/paths/Straight Center Subwoofer to Top Note.path
@@ -16,20 +16,38 @@
     },
     {
       "anchor": {
-        "x": 2.630987604317551,
-        "y": 6.702409801216
+        "x": 2.5940087916211865,
+        "y": 6.609962769475088
       },
       "prevControl": {
-        "x": 2.513711941194796,
-        "y": 6.541155764422212
+        "x": 2.4767331284984317,
+        "y": 6.4487087326813
       },
       "nextControl": null,
       "isLocked": false,
       "linkedName": null
     }
   ],
-  "rotationTargets": [],
-  "constraintZones": [],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 0.25,
+      "rotationDegrees": -138.53060388443157,
+      "rotateFast": false
+    }
+  ],
+  "constraintZones": [
+    {
+      "name": "New Constraints Zone",
+      "minWaypointRelativePos": 0.65,
+      "maxWaypointRelativePos": 1.0,
+      "constraints": {
+        "maxVelocity": 2.0,
+        "maxAcceleration": 3.0,
+        "maxAngularVelocity": 450.0,
+        "maxAngularAcceleration": 360.0
+      }
+    }
+  ],
   "eventMarkers": [
     {
       "name": "New Event Marker",

diff --git a/src/main/deploy/pathplanner/paths/Top Note to Center Note.path b/src/main/deploy/pathplanner/paths/Top Note to Center Note.path
@@ -3,13 +3,13 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 2.63,
-        "y": 6.7
+        "x": 2.59,
+        "y": 6.61
       },
       "prevControl": null,
       "nextControl": {
-        "x": 1.9674537249975397,
-        "y": 6.652016786916457
+        "x": 1.9274537249975396,
+        "y": 6.562016786916457
       },
       "isLocked": false,
       "linkedName": null
@@ -29,7 +29,19 @@
     }
   ],
   "rotationTargets": [],
-  "constraintZones": [],
+  "constraintZones": [
+    {
+      "name": "New Constraints Zone",
+      "minWaypointRelativePos": 0.7,
+      "maxWaypointRelativePos": 1.0,
+      "constraints": {
+        "maxVelocity": 2.0,
+        "maxAcceleration": 3.0,
+        "maxAngularVelocity": 450.0,
+        "maxAngularAcceleration": 360.0
+      }
+    }
+  ],
   "eventMarkers": [
     {
       "name": "New Event Marker",

diff --git a/src/main/java/frc/robot/subsystems/IntakeSubsystem.java b/src/main/java/frc/robot/subsystems/IntakeSubsystem.java
@@ -29,7 +29,7 @@ public class IntakeSubsystem extends SubsystemBase {
   private boolean _hasNote = false;
   private boolean _hasNoteAuton = false;
 
-  private final Debouncer _feedDebouncer = new Debouncer(0.08, DebounceType.kRising);
+  private final Debouncer _feedDebouncer = new Debouncer(0.1, DebounceType.kRising);
 
   /** How to feed (in or out). */
   public enum FeedMode {
@@ -167,7 +167,7 @@ public void feed(FeedMode feedMode) {
 
   @Override
   public void periodic() {
-    boolean stalling = _feedDebouncer.calculate(_feedMotor.getOutputCurrent() > 55);
+    boolean stalling = _feedDebouncer.calculate(_feedMotor.getOutputCurrent() > 60);
     _hasNote = stalling ? true : _hasNote;
 
     // This method will be called once per scheduler run