From f5efee7446241312b0c0b444c642c53225b2c3ea Mon Sep 17 00:00:00 2001 From: PatribotsProgramming Date: Sat, 13 Apr 2024 19:46:48 -0700 Subject: [PATCH] copy last commit onto w3-1 2 and hope it works (tested once on a brownout and it appeared to work but w2 and w1 never had the chance to be tested, see you at houston!) --- .../autos/S W3-1 S C2-3 S 2 OBJ.auto | 2 +- .../pathplanner/autos/S W3-1 S C2-5 S 2.auto | 34 +++++-- .../deploy/pathplanner/paths/S W3-1 2.path | 92 ++++++++----------- 3 files changed, 65 insertions(+), 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 index aa72bbba..e9f899e6 100644 --- 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 index 74670a60..ac75d3c6 100644 --- 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 index 6eaeb888..ccf84176 100644 --- 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