From 84bae3b28026e3a30b2cacfc030b55fa8a8178cc Mon Sep 17 00:00:00 2001 From: MattD8957 Date: Mon, 25 Mar 2024 20:21:24 -0400 Subject: [PATCH] [#477] Made more paths --- .../pathplanner/autos/2-T-[C1-F1]-EF.auto | 94 ------------------- .../pathplanner/autos/3-T-[C1-F1]-EF.auto | 25 +++++ .../pathplanner/autos/3-T-[F1-F2]-EF.auto | 37 ++++++++ .../autos/4-SB-[C3-C2-C1-F1]-EF.auto | 25 +++-- .../autos/4-SB-[C3-C2-C1-F2]-EF.auto | 2 +- .../autos/4-SB-[C3-C2-C1-F3]-EF.auto | 2 +- .../pathplanner/autos/4-SB-[F5-F4-F3]-EC.auto | 2 +- src/main/deploy/pathplanner/paths/F1-TL.path | 30 +++--- src/main/deploy/pathplanner/paths/F1-TS.path | 52 ++++++++++ .../paths/{F2-TL.path => F2-TS.path} | 22 ++--- .../paths/{F3-TS.path => F3-Stage.path} | 27 +++--- src/main/deploy/pathplanner/paths/F4-TL.path | 8 +- .../{Linked points.path => Linked Point.path} | 24 ++--- .../deploy/pathplanner/paths/New Path.path | 52 ++++++++++ src/main/deploy/pathplanner/paths/SB-C3.path | 8 +- src/main/deploy/pathplanner/paths/ST-TL.path | 8 +- src/main/deploy/pathplanner/paths/T-C1.path | 8 +- src/main/deploy/pathplanner/paths/T-C2.path | 8 +- .../paths/{TL-F1.path => T-F1.path} | 16 ++-- src/main/deploy/pathplanner/paths/TF-ST.path | 8 +- src/main/deploy/pathplanner/paths/TS-F1.path | 0 .../paths/{C2-C1.path => TS-F2.path} | 29 +++--- src/main/java/frc/robot/Constants.java | 2 +- .../java/frc/robot/subsystems/Swerve.java | 3 + 24 files changed, 293 insertions(+), 199 deletions(-) delete mode 100644 src/main/deploy/pathplanner/autos/2-T-[C1-F1]-EF.auto create mode 100644 src/main/deploy/pathplanner/autos/3-T-[C1-F1]-EF.auto create mode 100644 src/main/deploy/pathplanner/autos/3-T-[F1-F2]-EF.auto create mode 100644 src/main/deploy/pathplanner/paths/F1-TS.path rename src/main/deploy/pathplanner/paths/{F2-TL.path => F2-TS.path} (68%) rename src/main/deploy/pathplanner/paths/{F3-TS.path => F3-Stage.path} (63%) rename src/main/deploy/pathplanner/paths/{Linked points.path => Linked Point.path} (93%) create mode 100644 src/main/deploy/pathplanner/paths/New Path.path rename src/main/deploy/pathplanner/paths/{TL-F1.path => T-F1.path} (77%) create mode 100644 src/main/deploy/pathplanner/paths/TS-F1.path rename src/main/deploy/pathplanner/paths/{C2-C1.path => TS-F2.path} (59%) diff --git a/src/main/deploy/pathplanner/autos/2-T-[C1-F1]-EF.auto b/src/main/deploy/pathplanner/autos/2-T-[C1-F1]-EF.auto deleted file mode 100644 index 1405479e..00000000 --- a/src/main/deploy/pathplanner/autos/2-T-[C1-F1]-EF.auto +++ /dev/null @@ -1,94 +0,0 @@ -{ - "version": 1.0, - "startingPose": null, - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "Cand-Sub" - } - }, - { - "type": "deadline", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "T-C1" - } - }, - { - "type": "named", - "data": { - "name": "Smart-Collect" - } - }, - { - "type": "named", - "data": { - "name": "preAim" - } - } - ] - } - }, - { - "type": "sequential", - "data": { - "commands": [ - { - "type": "deadline", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "Point-At-Speaker" - } - }, - { - "type": "named", - "data": { - "name": "preAim" - } - }, - { - "type": "named", - "data": { - "name": "Smart-Collect" - } - } - ] - } - }, - { - "type": "named", - "data": { - "name": "Smart-Shoot" - } - } - ] - } - }, - { - "type": "path", - "data": { - "pathName": "C1-F1" - } - }, - { - "type": "named", - "data": { - "name": "Chase-Pieces" - } - } - ] - } - }, - "folder": "Commands", - "choreoAuto": false -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/3-T-[C1-F1]-EF.auto b/src/main/deploy/pathplanner/autos/3-T-[C1-F1]-EF.auto new file mode 100644 index 00000000..93dea3fa --- /dev/null +++ b/src/main/deploy/pathplanner/autos/3-T-[C1-F1]-EF.auto @@ -0,0 +1,25 @@ +{ + "version": 1.0, + "startingPose": null, + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "T-C1" + } + }, + { + "type": "path", + "data": { + "pathName": "C1-F1" + } + } + ] + } + }, + "folder": "Testing", + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/3-T-[F1-F2]-EF.auto b/src/main/deploy/pathplanner/autos/3-T-[F1-F2]-EF.auto new file mode 100644 index 00000000..6cb8bf02 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/3-T-[F1-F2]-EF.auto @@ -0,0 +1,37 @@ +{ + "version": 1.0, + "startingPose": null, + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "T-F1" + } + }, + { + "type": "path", + "data": { + "pathName": "F1-TS" + } + }, + { + "type": "path", + "data": { + "pathName": "TS-F2" + } + }, + { + "type": "path", + "data": { + "pathName": "F2-TS" + } + } + ] + } + }, + "folder": "Testing", + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/4-SB-[C3-C2-C1-F1]-EF.auto b/src/main/deploy/pathplanner/autos/4-SB-[C3-C2-C1-F1]-EF.auto index a84a602e..46093837 100644 --- a/src/main/deploy/pathplanner/autos/4-SB-[C3-C2-C1-F1]-EF.auto +++ b/src/main/deploy/pathplanner/autos/4-SB-[C3-C2-C1-F1]-EF.auto @@ -101,19 +101,32 @@ } }, { - "type": "deadline", + "type": "race", "data": { "commands": [ { - "type": "named", + "type": "deadline", "data": { - "name": "Smart-Shoot" + "commands": [ + { + "type": "named", + "data": { + "name": "Smart-Shoot" + } + }, + { + "type": "named", + "data": { + "name": "Stop-Drive" + } + } + ] } }, { - "type": "named", + "type": "wait", "data": { - "name": "Stop-Drive" + "waitTime": 3.0 } } ] @@ -187,7 +200,7 @@ { "type": "path", "data": { - "pathName": "C2-C1" + "pathName": "F1-TL" } }, { diff --git a/src/main/deploy/pathplanner/autos/4-SB-[C3-C2-C1-F2]-EF.auto b/src/main/deploy/pathplanner/autos/4-SB-[C3-C2-C1-F2]-EF.auto index 8cdfbcee..cb830cd1 100644 --- a/src/main/deploy/pathplanner/autos/4-SB-[C3-C2-C1-F2]-EF.auto +++ b/src/main/deploy/pathplanner/autos/4-SB-[C3-C2-C1-F2]-EF.auto @@ -164,7 +164,7 @@ { "type": "path", "data": { - "pathName": "C2-C1" + "pathName": "F1-TL" } }, { diff --git a/src/main/deploy/pathplanner/autos/4-SB-[C3-C2-C1-F3]-EF.auto b/src/main/deploy/pathplanner/autos/4-SB-[C3-C2-C1-F3]-EF.auto index 52993146..9656ab36 100644 --- a/src/main/deploy/pathplanner/autos/4-SB-[C3-C2-C1-F3]-EF.auto +++ b/src/main/deploy/pathplanner/autos/4-SB-[C3-C2-C1-F3]-EF.auto @@ -164,7 +164,7 @@ { "type": "path", "data": { - "pathName": "C2-C1" + "pathName": "F1-TL" } }, { diff --git a/src/main/deploy/pathplanner/autos/4-SB-[F5-F4-F3]-EC.auto b/src/main/deploy/pathplanner/autos/4-SB-[F5-F4-F3]-EC.auto index 8085e070..01024d00 100644 --- a/src/main/deploy/pathplanner/autos/4-SB-[F5-F4-F3]-EC.auto +++ b/src/main/deploy/pathplanner/autos/4-SB-[F5-F4-F3]-EC.auto @@ -302,7 +302,7 @@ { "type": "path", "data": { - "pathName": "F3-TS" + "pathName": "F3-Stage" } }, { diff --git a/src/main/deploy/pathplanner/paths/F1-TL.path b/src/main/deploy/pathplanner/paths/F1-TL.path index f6703c0b..75d42141 100644 --- a/src/main/deploy/pathplanner/paths/F1-TL.path +++ b/src/main/deploy/pathplanner/paths/F1-TL.path @@ -3,47 +3,47 @@ "waypoints": [ { "anchor": { - "x": 6.5632754342431765, - "y": 7.2818037943768195 + "x": 3.1098454504601327, + "y": 5.505754088431254 }, "prevControl": null, "nextControl": { - "x": 5.347797574772656, - "y": 6.8608189262871475 + "x": 2.8364283832704595, + "y": 5.691466561249813 }, "isLocked": false, - "linkedName": "F1" + "linkedName": "C2" }, { "anchor": { - "x": 5.892323323108186, - "y": 6.5 + "x": 2.9026396514331507, + "y": 6.975928567241751 }, "prevControl": { - "x": 7.07635646039915, - "y": 6.995662452859967 + "x": 2.914350487978932, + "y": 6.74171183632612 }, "nextControl": null, "isLocked": false, - "linkedName": "TopLine" + "linkedName": "C1" } ], "rotationTargets": [], "constraintZones": [], "eventMarkers": [], "globalConstraints": { - "maxVelocity": 3.0, - "maxAcceleration": 3.0, + "maxVelocity": 2.0, + "maxAcceleration": 2.0, "maxAngularVelocity": 540.0, "maxAngularAcceleration": 720.0 }, "goalEndState": { "velocity": 0, - "rotation": 8.0, - "rotateFast": false + "rotation": 88.8065105760179, + "rotateFast": true }, "reversed": false, - "folder": "Return Paths", + "folder": "Top side paths", "previewStartingState": null, "useDefaultConstraints": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/F1-TS.path b/src/main/deploy/pathplanner/paths/F1-TS.path new file mode 100644 index 00000000..b5c4cd48 --- /dev/null +++ b/src/main/deploy/pathplanner/paths/F1-TS.path @@ -0,0 +1,52 @@ +{ + "version": 1.0, + "waypoints": [ + { + "anchor": { + "x": 6.5632754342431765, + "y": 7.2818037943768195 + }, + "prevControl": null, + "nextControl": { + "x": 5.295704057884577, + "y": 7.003080254377342 + }, + "isLocked": false, + "linkedName": "F1" + }, + { + "anchor": { + "x": 4.31199378803893, + "y": 5.5040931765173085 + }, + "prevControl": { + "x": 4.475945499679871, + "y": 6.874261052373746 + }, + "nextControl": null, + "isLocked": false, + "linkedName": "TS" + } + ], + "rotationTargets": [], + "constraintZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 5.0, + "maxAcceleration": 5.0, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0 + }, + "goalEndState": { + "velocity": 0, + "rotation": 0.0, + "rotateFast": false + }, + "reversed": false, + "folder": "Return Paths", + "previewStartingState": { + "rotation": 0, + "velocity": 0 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/F2-TL.path b/src/main/deploy/pathplanner/paths/F2-TS.path similarity index 68% rename from src/main/deploy/pathplanner/paths/F2-TL.path rename to src/main/deploy/pathplanner/paths/F2-TS.path index 44898365..6b36cf71 100644 --- a/src/main/deploy/pathplanner/paths/F2-TL.path +++ b/src/main/deploy/pathplanner/paths/F2-TS.path @@ -8,42 +8,42 @@ }, "prevControl": null, "nextControl": { - "x": 6.885196759529919, - "y": 6.3906541749218695 + "x": 5.974932577539905, + "y": 6.8391285427364 }, "isLocked": false, "linkedName": "F2" }, { "anchor": { - "x": 5.892323323108186, - "y": 6.5 + "x": 4.31199378803893, + "y": 5.5040931765173085 }, "prevControl": { - "x": 6.55340849143237, - "y": 6.235907856431097 + "x": 4.042644547485956, + "y": 6.616622648366552 }, "nextControl": null, "isLocked": false, - "linkedName": "TopLine" + "linkedName": "TS" } ], "rotationTargets": [], "constraintZones": [], "eventMarkers": [], "globalConstraints": { - "maxVelocity": 3.0, - "maxAcceleration": 3.0, + "maxVelocity": 5.0, + "maxAcceleration": 5.0, "maxAngularVelocity": 540.0, "maxAngularAcceleration": 720.0 }, "goalEndState": { "velocity": 0, - "rotation": 8.0, + "rotation": 0.0, "rotateFast": false }, "reversed": false, "folder": "Return Paths", "previewStartingState": null, - "useDefaultConstraints": false + "useDefaultConstraints": true } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/F3-TS.path b/src/main/deploy/pathplanner/paths/F3-Stage.path similarity index 63% rename from src/main/deploy/pathplanner/paths/F3-TS.path rename to src/main/deploy/pathplanner/paths/F3-Stage.path index 9b4ebca7..983611d4 100644 --- a/src/main/deploy/pathplanner/paths/F3-TS.path +++ b/src/main/deploy/pathplanner/paths/F3-Stage.path @@ -8,42 +8,45 @@ }, "prevControl": null, "nextControl": { - "x": 5.892323323108186, - "y": 4.272386237080167 + "x": 8.559836658134856, + "y": 4.084914323674802 }, "isLocked": false, "linkedName": "F3" }, { "anchor": { - "x": 4.096539731541003, - "y": 5.268947460971846 + "x": 4.944378961511131, + "y": 4.122214464115091 }, "prevControl": { - "x": 5.507512553486646, - "y": 4.903870576971923 + "x": 3.9443789615111307, + "y": 4.122214464115091 }, "nextControl": null, "isLocked": false, - "linkedName": "TS" + "linkedName": null } ], "rotationTargets": [], "constraintZones": [], "eventMarkers": [], "globalConstraints": { - "maxVelocity": 3.0, - "maxAcceleration": 3.0, + "maxVelocity": 5.0, + "maxAcceleration": 5.0, "maxAngularVelocity": 540.0, "maxAngularAcceleration": 720.0 }, "goalEndState": { "velocity": 0, - "rotation": 0.0, + "rotation": 0, "rotateFast": false }, "reversed": false, "folder": "Return Paths", - "previewStartingState": null, - "useDefaultConstraints": false + "previewStartingState": { + "rotation": 0, + "velocity": 0 + }, + "useDefaultConstraints": true } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/F4-TL.path b/src/main/deploy/pathplanner/paths/F4-TL.path index b7a510e5..639ec36d 100644 --- a/src/main/deploy/pathplanner/paths/F4-TL.path +++ b/src/main/deploy/pathplanner/paths/F4-TL.path @@ -16,12 +16,12 @@ }, { "anchor": { - "x": 5.892323323108186, - "y": 6.5 + "x": 5.882456380297378, + "y": 7.222602137511967 }, "prevControl": { - "x": 7.806510228405074, - "y": 5.634024344971768 + "x": 7.796643285594266, + "y": 6.356626482483735 }, "nextControl": null, "isLocked": false, diff --git a/src/main/deploy/pathplanner/paths/Linked points.path b/src/main/deploy/pathplanner/paths/Linked Point.path similarity index 93% rename from src/main/deploy/pathplanner/paths/Linked points.path rename to src/main/deploy/pathplanner/paths/Linked Point.path index 7e7e9c9f..b8936084 100644 --- a/src/main/deploy/pathplanner/paths/Linked points.path +++ b/src/main/deploy/pathplanner/paths/Linked Point.path @@ -3,16 +3,16 @@ "waypoints": [ { "anchor": { - "x": 1.6594048572712548, - "y": 7.380473222484906 + "x": 1.407706324685116, + "y": 7.670597937486888 }, "prevControl": null, "nextControl": { - "x": 0.5345733768427111, - "y": 7.183134366274701 + "x": 0.2828748442565724, + "y": 7.473259081276683 }, "isLocked": false, - "linkedName": "TopFront" + "linkedName": null }, { "anchor": { @@ -112,16 +112,16 @@ }, { "anchor": { - "x": 5.892323323108186, - "y": 6.5 + "x": 5.882456380297378, + "y": 7.222602137511967 }, "prevControl": { - "x": 4.413102650919927, - "y": 5.742693558629845 + "x": 4.403235708109119, + "y": 6.465295696141812 }, "nextControl": { - "x": 7.323030030675447, - "y": 7.232469080322777 + "x": 7.313163087864639, + "y": 7.955071217834744 }, "isLocked": false, "linkedName": "TopLine" @@ -267,7 +267,7 @@ "rotateFast": false }, "reversed": false, - "folder": "PathFind", + "folder": null, "previewStartingState": null, "useDefaultConstraints": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/New Path.path b/src/main/deploy/pathplanner/paths/New Path.path new file mode 100644 index 00000000..bad2f553 --- /dev/null +++ b/src/main/deploy/pathplanner/paths/New Path.path @@ -0,0 +1,52 @@ +{ + "version": 1.0, + "waypoints": [ + { + "anchor": { + "x": 7.520368886891621, + "y": 6.2063070279986725 + }, + "prevControl": null, + "nextControl": { + "x": 8.520368886891621, + "y": 6.2063070279986725 + }, + "isLocked": false, + "linkedName": "F2" + }, + { + "anchor": { + "x": 4.0, + "y": 6.0 + }, + "prevControl": { + "x": 3.0, + "y": 6.0 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [], + "constraintZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 5.0, + "maxAcceleration": 5.0, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0 + }, + "goalEndState": { + "velocity": 0, + "rotation": 0, + "rotateFast": false + }, + "reversed": false, + "folder": "Return Paths", + "previewStartingState": { + "rotation": 0, + "velocity": 0 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/SB-C3.path b/src/main/deploy/pathplanner/paths/SB-C3.path index a75b81fe..8d90b18a 100644 --- a/src/main/deploy/pathplanner/paths/SB-C3.path +++ b/src/main/deploy/pathplanner/paths/SB-C3.path @@ -8,8 +8,8 @@ }, "prevControl": null, "nextControl": { - "x": 2.096984768972286, - "y": 3.6956416127251233 + "x": 1.6770555652380903, + "y": 4.180768646843998 }, "isLocked": false, "linkedName": "SubwooferBottom" @@ -20,8 +20,8 @@ "y": 4.084914323674802 }, "prevControl": { - "x": 1.8567437134874285, - "y": 4.075047380863993 + "x": 1.969826478882628, + "y": 4.180768646843998 }, "nextControl": null, "isLocked": false, diff --git a/src/main/deploy/pathplanner/paths/ST-TL.path b/src/main/deploy/pathplanner/paths/ST-TL.path index 3af4fad4..4f8cc3ec 100644 --- a/src/main/deploy/pathplanner/paths/ST-TL.path +++ b/src/main/deploy/pathplanner/paths/ST-TL.path @@ -32,12 +32,12 @@ }, { "anchor": { - "x": 5.892323323108186, - "y": 6.5 + "x": 5.882456380297378, + "y": 7.222602137511967 }, "prevControl": { - "x": 4.639897211315725, - "y": 6.51122511945793 + "x": 4.6300302685049175, + "y": 7.233827256969898 }, "nextControl": null, "isLocked": false, diff --git a/src/main/deploy/pathplanner/paths/T-C1.path b/src/main/deploy/pathplanner/paths/T-C1.path index 2efd11fe..5c85ed01 100644 --- a/src/main/deploy/pathplanner/paths/T-C1.path +++ b/src/main/deploy/pathplanner/paths/T-C1.path @@ -3,13 +3,13 @@ "waypoints": [ { "anchor": { - "x": 1.6594048572712548, - "y": 7.380473222484906 + "x": 1.407706324685116, + "y": 7.483224552754384 }, "prevControl": null, "nextControl": { - "x": 2.1807564699936206, - "y": 7.140798019031888 + "x": 1.9290579374074819, + "y": 7.243549349301366 }, "isLocked": false, "linkedName": "TopFront" diff --git a/src/main/deploy/pathplanner/paths/T-C2.path b/src/main/deploy/pathplanner/paths/T-C2.path index a9c18fe5..d0c19e46 100644 --- a/src/main/deploy/pathplanner/paths/T-C2.path +++ b/src/main/deploy/pathplanner/paths/T-C2.path @@ -3,13 +3,13 @@ "waypoints": [ { "anchor": { - "x": 1.6594048572712548, - "y": 7.380473222484906 + "x": 1.407706324685116, + "y": 7.483224552754384 }, "prevControl": null, "nextControl": { - "x": 1.6775423866423769, - "y": 6.006099595788888 + "x": 1.4258438540562381, + "y": 6.108850926058366 }, "isLocked": false, "linkedName": "TopFront" diff --git a/src/main/deploy/pathplanner/paths/TL-F1.path b/src/main/deploy/pathplanner/paths/T-F1.path similarity index 77% rename from src/main/deploy/pathplanner/paths/TL-F1.path rename to src/main/deploy/pathplanner/paths/T-F1.path index c88bfbef..f11cef34 100644 --- a/src/main/deploy/pathplanner/paths/TL-F1.path +++ b/src/main/deploy/pathplanner/paths/T-F1.path @@ -3,16 +3,16 @@ "waypoints": [ { "anchor": { - "x": 5.892323323108186, - "y": 6.5 + "x": 1.4311279977766789, + "y": 7.705730447124233 }, "prevControl": null, "nextControl": { - "x": 6.642450260649451, - "y": 7.0733452736520315 + "x": 2.431127997776679, + "y": 7.705730447124233 }, "isLocked": false, - "linkedName": "TopLine" + "linkedName": null }, { "anchor": { @@ -20,8 +20,8 @@ "y": 7.2818037943768195 }, "prevControl": { - "x": 4.970601664016891, - "y": 7.2818037943768195 + "x": 5.073198163514728, + "y": 7.904814668402517 }, "nextControl": null, "isLocked": false, @@ -39,7 +39,7 @@ }, "goalEndState": { "velocity": 0, - "rotation": 0.0, + "rotation": 0, "rotateFast": false }, "reversed": false, diff --git a/src/main/deploy/pathplanner/paths/TF-ST.path b/src/main/deploy/pathplanner/paths/TF-ST.path index f1154d8b..12441cd9 100644 --- a/src/main/deploy/pathplanner/paths/TF-ST.path +++ b/src/main/deploy/pathplanner/paths/TF-ST.path @@ -3,13 +3,13 @@ "waypoints": [ { "anchor": { - "x": 1.6594048572712548, - "y": 7.380473222484906 + "x": 1.407706324685116, + "y": 7.483224552754384 }, "prevControl": null, "nextControl": { - "x": 1.0772552314335415, - "y": 6.9956624528633675 + "x": 0.8255566988474028, + "y": 7.0984137831328455 }, "isLocked": false, "linkedName": "TopFront" diff --git a/src/main/deploy/pathplanner/paths/TS-F1.path b/src/main/deploy/pathplanner/paths/TS-F1.path new file mode 100644 index 00000000..e69de29b diff --git a/src/main/deploy/pathplanner/paths/C2-C1.path b/src/main/deploy/pathplanner/paths/TS-F2.path similarity index 59% rename from src/main/deploy/pathplanner/paths/C2-C1.path rename to src/main/deploy/pathplanner/paths/TS-F2.path index 73648d9f..077dd304 100644 --- a/src/main/deploy/pathplanner/paths/C2-C1.path +++ b/src/main/deploy/pathplanner/paths/TS-F2.path @@ -3,29 +3,29 @@ "waypoints": [ { "anchor": { - "x": 3.1098454504601327, - "y": 5.505754088431254 + "x": 4.31199378803893, + "y": 5.5040931765173085 }, "prevControl": null, "nextControl": { - "x": 2.8364283832704595, - "y": 5.691466561249813 + "x": 4.581343028591905, + "y": 6.558068465637644 }, "isLocked": false, - "linkedName": "C2" + "linkedName": "TS" }, { "anchor": { - "x": 2.9026396514331507, - "y": 6.975928567241751 + "x": 7.520368886891621, + "y": 6.2063070279986725 }, "prevControl": { - "x": 2.914350487978932, - "y": 6.74171183632612 + "x": 5.7875591928074, + "y": 6.499514282908736 }, "nextControl": null, "isLocked": false, - "linkedName": "C1" + "linkedName": "F2" } ], "rotationTargets": [], @@ -39,11 +39,14 @@ }, "goalEndState": { "velocity": 0, - "rotation": 88.8065105760179, - "rotateFast": true + "rotation": -32.03105405787947, + "rotateFast": false }, "reversed": false, "folder": "Top side paths", - "previewStartingState": null, + "previewStartingState": { + "rotation": 0, + "velocity": 0 + }, "useDefaultConstraints": true } \ No newline at end of file diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index 1c197037..1992c0b3 100644 --- a/src/main/java/frc/robot/Constants.java +++ b/src/main/java/frc/robot/Constants.java @@ -341,7 +341,7 @@ public class VisionConstants { public class Pipelines { // TODO get real public static final int APRIL_TAG_3d = 0; public static final int APRIL_TAG_2d = 1; - public static final int CHASE_PIECE = 2; // FOR the collector + public static final int CHASE_PIECE = 0; // FOR 12-dust only } } diff --git a/src/main/java/frc/robot/subsystems/Swerve.java b/src/main/java/frc/robot/subsystems/Swerve.java index 71091786..714df3ee 100644 --- a/src/main/java/frc/robot/subsystems/Swerve.java +++ b/src/main/java/frc/robot/subsystems/Swerve.java @@ -82,6 +82,7 @@ public Swerve(SwerveDrivetrainConstants driveTrainConstants, double OdometryUpda setRampRate(); initLogging(); + } /** @@ -155,6 +156,8 @@ public void periodic() { yFilter.calculate(getPose().getY()); rotFilter.calculate(getPose().getRotation().getDegrees()); + + updateLogging(); }