added initiate to auton

Team334 · Mar 14, 2024 · b63d820 · b63d820
1 parent 7d546f0
commit b63d820
Show file tree

Hide file tree

Showing 8 changed files with 71 additions and 7 deletions.
diff --git a/.pathplanner/settings.json b/.pathplanner/settings.json
@@ -10,7 +10,7 @@
     "curved",
     "straight"
   ],
-  "defaultMaxVel": 3.0,
+  "defaultMaxVel": 4.0,
   "defaultMaxAccel": 3.0,
   "defaultMaxAngVel": 180.0,
   "defaultMaxAngAccel": 360.0,

diff --git a/src/main/deploy/pathplanner/paths/get bot c.path b/src/main/deploy/pathplanner/paths/get bot c.path
@@ -62,7 +62,7 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 3.0,
+    "maxVelocity": 4.0,
     "maxAcceleration": 3.0,
     "maxAngularVelocity": 180.0,
     "maxAngularAcceleration": 360.0

diff --git a/src/main/deploy/pathplanner/paths/get mid c.path b/src/main/deploy/pathplanner/paths/get mid c.path
@@ -62,7 +62,7 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 3.0,
+    "maxVelocity": 4.0,
     "maxAcceleration": 3.0,
     "maxAngularVelocity": 180.0,
     "maxAngularAcceleration": 360.0

diff --git a/src/main/deploy/pathplanner/paths/get top c.path b/src/main/deploy/pathplanner/paths/get top c.path
@@ -62,7 +62,7 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 3.0,
+    "maxVelocity": 4.0,
     "maxAcceleration": 3.0,
     "maxAngularVelocity": 180.0,
     "maxAngularAcceleration": 360.0

diff --git a/src/main/deploy/pathplanner/paths/initiate.path b/src/main/deploy/pathplanner/paths/initiate.path
@@ -0,0 +1,64 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 1.31,
+        "y": 5.51
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 2.69214487146923,
+        "y": 6.1511252367234075
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 4.53982127337474,
+        "y": 6.852774503269805
+      },
+      "prevControl": {
+        "x": 3.4557914485422225,
+        "y": 6.852774503269805
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [
+    {
+      "name": "New Constraints Zone",
+      "minWaypointRelativePos": 0,
+      "maxWaypointRelativePos": 0.35,
+      "constraints": {
+        "maxVelocity": 3.0,
+        "maxAcceleration": 3.0,
+        "maxAngularVelocity": 180.0,
+        "maxAngularAcceleration": 360.0
+      }
+    }
+  ],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 4.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 180.0,
+    "maxAngularAcceleration": 360.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 180.0,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": null,
+  "previewStartingState": {
+    "rotation": 0,
+    "velocity": 0
+  },
+  "useDefaultConstraints": true
+}
diff --git a/src/main/deploy/pathplanner/paths/shoot bot c.path b/src/main/deploy/pathplanner/paths/shoot bot c.path
@@ -62,7 +62,7 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 3.0,
+    "maxVelocity": 4.0,
     "maxAcceleration": 3.0,
     "maxAngularVelocity": 180.0,
     "maxAngularAcceleration": 360.0

diff --git a/src/main/deploy/pathplanner/paths/shoot mid c.path b/src/main/deploy/pathplanner/paths/shoot mid c.path
@@ -62,7 +62,7 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 3.0,
+    "maxVelocity": 4.0,
     "maxAcceleration": 3.0,
     "maxAngularVelocity": 180.0,
     "maxAngularAcceleration": 360.0

diff --git a/src/main/deploy/pathplanner/paths/shoot top c.path b/src/main/deploy/pathplanner/paths/shoot top c.path
@@ -62,7 +62,7 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 3.0,
+    "maxVelocity": 4.0,
     "maxAcceleration": 3.0,
     "maxAngularVelocity": 180.0,
     "maxAngularAcceleration": 360.0