copy last commit onto w3-1 2 and hope it works (tested once on a brow…

…nout and it appeared to work but w2 and w1 never had the chance to be tested, see you at houston!)
Patribots4738 · Apr 14, 2024 · f5efee7 · f5efee7
1 parent 902c446
commit f5efee7
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Showing 3 changed files with 65 additions and 63 deletions.
diff --git a/src/main/deploy/pathplanner/autos/S W3-1 S C2-3 S 2 OBJ.auto b/src/main/deploy/pathplanner/autos/S W3-1 S C2-3 S 2 OBJ.auto
@@ -28,7 +28,7 @@
                     {
                       "type": "path",
                       "data": {
-                        "pathName": "S W3-1 2"
+                        "pathName": null
                       }
                     },
                     {

diff --git a/src/main/deploy/pathplanner/autos/S W3-1 S C2-5 S 2.auto b/src/main/deploy/pathplanner/autos/S W3-1 S C2-5 S 2.auto
@@ -11,12 +11,6 @@
     "type": "sequential",
     "data": {
       "commands": [
-        {
-          "type": "named",
-          "data": {
-            "name": "FullPowerPreload"
-          }
-        },
         {
           "type": "deadline",
           "data": {
@@ -36,15 +30,41 @@
                       "data": {
                         "name": "EnableLimelight"
                       }
+                    }
+                  ]
+                }
+              },
+              {
+                "type": "sequential",
+                "data": {
+                  "commands": [
+                    {
+                      "type": "named",
+                      "data": {
+                        "name": "FullPowerPreload"
+                      }
                     },
                     {
                       "type": "named",
                       "data": {
-                        "name": "ShootInstantlyWhenReady"
+                        "name": "PrepareSWD"
                       }
                     }
                   ]
                 }
+              }
+            ]
+          }
+        },
+        {
+          "type": "deadline",
+          "data": {
+            "commands": [
+              {
+                "type": "named",
+                "data": {
+                  "name": "ShootInstantlyWhenReady"
+                }
               },
               {
                 "type": "named",

diff --git a/src/main/deploy/pathplanner/paths/S W3-1 2.path b/src/main/deploy/pathplanner/paths/S W3-1 2.path
@@ -3,57 +3,57 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 1.29,
+        "x": 1.3272877609585005,
         "y": 5.55
       },
       "prevControl": null,
       "nextControl": {
-        "x": 1.6949490562586944,
-        "y": 5.018155524376958
+        "x": 1.6766195234518129,
+        "y": 5.127890786987223
       },
       "isLocked": false,
-      "linkedName": "Sub"
+      "linkedName": null
     },
     {
       "anchor": {
-        "x": 2.5982118705558803,
-        "y": 4.421804677875873
+        "x": 2.484449224217597,
+        "y": 4.359369286114458
       },
       "prevControl": {
-        "x": 2.5438107087286053,
-        "y": 4.008355847988578
+        "x": 2.3680053033881596,
+        "y": 4.250203110333227
       },
       "nextControl": {
-        "x": 2.621194223351493,
-        "y": 4.59647055912253
+        "x": 2.8828287256619016,
+        "y": 4.732850068730926
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 2.377581283717999,
-        "y": 5.285941142990909
+        "x": 2.484449224217597,
+        "y": 5.298198397813163
       },
       "prevControl": {
-        "x": 1.518041289162086,
-        "y": 5.1526434967763555
+        "x": 1.5820088377782069,
+        "y": 5.210865457189835
       },
       "nextControl": {
-        "x": 3.046269152359308,
-        "y": 5.389641400694642
+        "x": 3.040722540967769,
+        "y": 5.3520312994342465
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 2.892385986339722,
-        "y": 6.982038779307121
+        "x": 2.892002947128128,
+        "y": 6.986635249864173
       },
       "prevControl": {
-        "x": 1.4291761916786625,
-        "y": 5.8294737866069
+        "x": 1.2326770752848948,
+        "y": 6.055083883215341
       },
       "nextControl": null,
       "isLocked": false,
@@ -63,39 +63,39 @@
   "rotationTargets": [
     {
       "waypointRelativePos": 0.7,
-      "rotationDegrees": 160.04500243607646,
+      "rotationDegrees": 147.9046762148673,
       "rotateFast": false
     },
     {
-      "waypointRelativePos": 1.7999999999999998,
+      "waypointRelativePos": 1.85,
       "rotationDegrees": -177.54423533374379,
       "rotateFast": false
     },
     {
-      "waypointRelativePos": 2.55,
-      "rotationDegrees": -159.93962834871448,
+      "waypointRelativePos": 2.7,
+      "rotationDegrees": -160.30395935169378,
       "rotateFast": false
     }
   ],
   "constraintZones": [
     {
-      "name": "Slow w2",
-      "minWaypointRelativePos": 2.3000000000000003,
-      "maxWaypointRelativePos": 2.65,
+      "name": "Slow Preload",
+      "minWaypointRelativePos": 0.5,
+      "maxWaypointRelativePos": 0.5499999999999999,
       "constraints": {
-        "maxVelocity": 1.0,
-        "maxAcceleration": 4.2,
+        "maxVelocity": 0.25,
+        "maxAcceleration": 4.0,
         "maxAngularVelocity": 1137.21,
         "maxAngularAcceleration": 1492.9
       }
     },
     {
-      "name": "Slow w3",
-      "minWaypointRelativePos": 0.0,
-      "maxWaypointRelativePos": 0.95,
+      "name": "Slow w2",
+      "minWaypointRelativePos": 2.05,
+      "maxWaypointRelativePos": 2.7,
       "constraints": {
-        "maxVelocity": 5.0,
-        "maxAcceleration": 3.0,
+        "maxVelocity": 1.0,
+        "maxAcceleration": 4.2,
         "maxAngularVelocity": 1137.21,
         "maxAngularAcceleration": 1492.9
       }
@@ -112,25 +112,7 @@
       }
     }
   ],
-  "eventMarkers": [
-    {
-      "name": "Intake",
-      "waypointRelativePos": 0,
-      "command": {
-        "type": "parallel",
-        "data": {
-          "commands": [
-            {
-              "type": "named",
-              "data": {
-                "name": "Intake"
-              }
-            }
-          ]
-        }
-      }
-    }
-  ],
+  "eventMarkers": [],
   "globalConstraints": {
     "maxVelocity": 5.0,
     "maxAcceleration": 4.2,
@@ -139,13 +121,13 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": -151.62646231180472,
+    "rotation": -153.49329481040462,
     "rotateFast": false
   },
   "reversed": false,
   "folder": "Preloads",
   "previewStartingState": {
-    "rotation": -179.9080895145809,
+    "rotation": -179.15747573949946,
     "velocity": 0
   },
   "useDefaultConstraints": false