chore: made changes to auton (faster)

SaintsRobotics · Mar 27, 2024 · 6c5ca12 · 6c5ca12
1 parent 5b64912
commit 6c5ca12
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Showing 13 changed files with 123 additions and 30 deletions.
diff --git a/.pathplanner/settings.json b/.pathplanner/settings.json
@@ -4,7 +4,7 @@
   "holonomicMode": true,
   "pathFolders": [],
   "autoFolders": [],
-  "defaultMaxVel": 3.0,
+  "defaultMaxVel": 4.4,
   "defaultMaxAccel": 5.0,
   "defaultMaxAngVel": 540.0,
   "defaultMaxAngAccel": 720.0,

diff --git a/src/main/deploy/pathplanner/autos/3-SourceSide-Stays.auto b/src/main/deploy/pathplanner/autos/3-SourceSide-Stays.auto
@@ -0,0 +1,93 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 0.8,
+      "y": 4.4
+    },
+    "rotation": -60.0
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "Shoot"
+          }
+        },
+        {
+          "type": "deadline",
+          "data": {
+            "commands": [
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "Middle5thNote-Right"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "Intake"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Intake in"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Shoot"
+          }
+        },
+        {
+          "type": "deadline",
+          "data": {
+            "commands": [
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "MoveOut-Right"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "Intake"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "4thNote-Back"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Intake in"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Shoot"
+          }
+        }
+      ]
+    }
+  },
+  "folder": null,
+  "choreoAuto": false
+}
diff --git a/...in/deploy/pathplanner/paths/New Path.path → ...eploy/pathplanner/paths/4thNote-Back.path b/...in/deploy/pathplanner/paths/New Path.path → ...eploy/pathplanner/paths/4thNote-Back.path
@@ -8,47 +8,47 @@
       },
       "prevControl": null,
       "nextControl": {
-        "x": 6.67400445912003,
-        "y": 2.0808286061016568
+        "x": 6.845031467840714,
+        "y": 1.8670448452008017
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 4.821211864645952,
-        "y": 1.1259278074111705
+        "x": 5.548076651708859,
+        "y": 1.3824683204921968
       },
       "prevControl": {
-        "x": 5.75271618512509,
-        "y": 0.7621975489383647
+        "x": 6.873535969294162,
+        "y": 1.5107385770327098
       },
       "nextControl": {
-        "x": 3.324725538339966,
-        "y": 1.7102700872068404
+        "x": 3.995894680748285,
+        "y": 1.2322571620121414
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 0.6453024017159148,
+        "x": 0.65,
         "y": 4.361188722377445
       },
       "prevControl": {
-        "x": 1.6287077018598495,
+        "x": 1.6334053001439348,
         "y": 3.1212429091524863
       },
       "nextControl": null,
       "isLocked": false,
-      "linkedName": null
+      "linkedName": "4thNote-Back"
     }
   ],
   "rotationTargets": [],
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
+    "maxVelocity": 4.4,
     "maxAcceleration": 5.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0

diff --git a/src/main/deploy/pathplanner/paths/5thNote-Back.path b/src/main/deploy/pathplanner/paths/5thNote-Back.path
@@ -32,7 +32,7 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
+    "maxVelocity": 4.4,
     "maxAcceleration": 5.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0

diff --git a/src/main/deploy/pathplanner/paths/CenterNote-Center.path b/src/main/deploy/pathplanner/paths/CenterNote-Center.path
@@ -48,7 +48,7 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
+    "maxVelocity": 4.4,
     "maxAcceleration": 5.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0

diff --git a/src/main/deploy/pathplanner/paths/LeftNote-Center.path b/src/main/deploy/pathplanner/paths/LeftNote-Center.path
@@ -54,7 +54,7 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
+    "maxVelocity": 4.4,
     "maxAcceleration": 5.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0

diff --git a/src/main/deploy/pathplanner/paths/Middle5thNote-Right.path b/src/main/deploy/pathplanner/paths/Middle5thNote-Right.path
@@ -8,8 +8,8 @@
       },
       "prevControl": null,
       "nextControl": {
-        "x": 1.3209445330007905,
-        "y": 1.4455767409633768
+        "x": 1.3209445330007907,
+        "y": 1.445576740963376
       },
       "isLocked": false,
       "linkedName": null
@@ -24,19 +24,19 @@
         "y": 0.6
       },
       "nextControl": {
-        "x": 9.049999999999988,
+        "x": 9.05,
         "y": 0.6
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 0.8,
+        "x": 0.65,
         "y": 4.4
       },
       "prevControl": {
-        "x": 1.320944533000791,
+        "x": 1.170944533000791,
         "y": 1.4455767409633768
       },
       "nextControl": null,
@@ -54,7 +54,7 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
+    "maxVelocity": 4.4,
     "maxAcceleration": 5.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0

diff --git a/src/main/deploy/pathplanner/paths/Middle5thNote.path b/src/main/deploy/pathplanner/paths/Middle5thNote.path
@@ -30,15 +30,15 @@
   ],
   "rotationTargets": [
     {
-      "waypointRelativePos": 0.85,
-      "rotationDegrees": 0,
+      "waypointRelativePos": 0.15,
+      "rotationDegrees": 0.0,
       "rotateFast": false
     }
   ],
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
+    "maxVelocity": 4.4,
     "maxAcceleration": 5.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0

diff --git a/src/main/deploy/pathplanner/paths/MoveOut-Left.path b/src/main/deploy/pathplanner/paths/MoveOut-Left.path
@@ -54,7 +54,7 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
+    "maxVelocity": 4.4,
     "maxAcceleration": 5.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0

diff --git a/src/main/deploy/pathplanner/paths/MoveOut-Right.path b/src/main/deploy/pathplanner/paths/MoveOut-Right.path
@@ -64,7 +64,7 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
+    "maxVelocity": 4.4,
     "maxAcceleration": 5.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0

diff --git a/src/main/deploy/pathplanner/paths/RightNote-Center.path b/src/main/deploy/pathplanner/paths/RightNote-Center.path
@@ -48,7 +48,7 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
+    "maxVelocity": 4.4,
     "maxAcceleration": 5.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0

diff --git a/src/main/deploy/pathplanner/paths/Straight-Back.path b/src/main/deploy/pathplanner/paths/Straight-Back.path
@@ -32,7 +32,7 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
+    "maxVelocity": 4.4,
     "maxAcceleration": 5.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0

diff --git a/src/main/deploy/pathplanner/paths/testing1.path b/src/main/deploy/pathplanner/paths/testing1.path
@@ -59,7 +59,7 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 3.0,
+    "maxVelocity": 4.4,
     "maxAcceleration": 5.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0