Merge branch 'main' into 458-fix-climb

frc-862 · Mar 20, 2024 · bad251f · bad251f
2 parents d6a6af9 + 9602766
commit bad251f
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Showing 72 changed files with 1,257 additions and 1,372 deletions.
diff --git a/.pathplanner/settings.json b/.pathplanner/settings.json
@@ -12,8 +12,8 @@
     "Ann Arbor Bottom",
     "Ann Arbor Top"
   ],
-  "defaultMaxVel": 3.0,
-  "defaultMaxAccel": 4.0,
+  "defaultMaxVel": 5.0,
+  "defaultMaxAccel": 5.0,
   "defaultMaxAngVel": 540.0,
   "defaultMaxAngAccel": 720.0,
   "maxModuleSpeed": 5.21

diff --git a/src/main/deploy/pathplanner/autos/1-BF-[F1]-EF.auto b/src/main/deploy/pathplanner/autos/1-BF-[F1]-EF.auto
diff --git a/src/main/deploy/pathplanner/autos/1-SB-[F4]-EF.auto b/src/main/deploy/pathplanner/autos/1-SB-[F4]-EF.auto
@@ -22,6 +22,12 @@
           "data": {
             "pathName": "SB-F4"
           }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Chase-Pieces"
+          }
         }
       ]
     }

diff --git a/src/main/deploy/pathplanner/autos/1-SF-[F1]-EF.auto b/src/main/deploy/pathplanner/autos/1-SF-[F1]-EF.auto
@@ -0,0 +1,37 @@
+{
+  "version": 1.0,
+  "startingPose": null,
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "Cand-Sub"
+          }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 8.0
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "SF-F1"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Chase-Pieces"
+          }
+        }
+      ]
+    }
+  },
+  "folder": "Ann Arbor Top",
+  "choreoAuto": false
+}
diff --git a/src/main/deploy/pathplanner/autos/1-ST-[F1]-EF.auto b/src/main/deploy/pathplanner/autos/1-ST-[F1]-EF.auto
@@ -5,11 +5,29 @@
     "type": "sequential",
     "data": {
       "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "Cand-Sub"
+          }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 8.0
+          }
+        },
         {
           "type": "path",
           "data": {
             "pathName": "ST-F1"
           }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Chase-Pieces"
+          }
         }
       ]
     }

diff --git a/src/main/deploy/pathplanner/autos/2-SB-[F5]-EF.auto b/src/main/deploy/pathplanner/autos/2-SB-[F5]-EF.auto
diff --git a/src/main/deploy/pathplanner/autos/3-B-[F5-F4]-EF.auto b/src/main/deploy/pathplanner/autos/3-B-[F5-F4]-EF.auto
@@ -35,9 +35,22 @@
                 }
               },
               {
-                "type": "named",
+                "type": "deadline",
                 "data": {
-                  "name": "Smart-Shoot"
+                  "commands": [
+                    {
+                      "type": "named",
+                      "data": {
+                        "name": "Smart-Shoot"
+                      }
+                    },
+                    {
+                      "type": "named",
+                      "data": {
+                        "name": "Stop-Drive"
+                      }
+                    }
+                  ]
                 }
               }
             ]
@@ -114,9 +127,22 @@
           }
         },
         {
-          "type": "named",
+          "type": "deadline",
           "data": {
-            "name": "Smart-Shoot"
+            "commands": [
+              {
+                "type": "named",
+                "data": {
+                  "name": "Smart-Shoot"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "Stop-Drive"
+                }
+              }
+            ]
           }
         },
         {
@@ -190,9 +216,22 @@
           }
         },
         {
-          "type": "named",
+          "type": "deadline",
           "data": {
-            "name": "Smart-Shoot"
+            "commands": [
+              {
+                "type": "named",
+                "data": {
+                  "name": "Smart-Shoot"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "Stop-Drive"
+                }
+              }
+            ]
           }
         }
       ]

diff --git a/src/main/deploy/pathplanner/autos/3-SB-[F5-F4]-EF.auto b/src/main/deploy/pathplanner/autos/3-SB-[F5-F4]-EF.auto
@@ -8,7 +8,7 @@
         {
           "type": "named",
           "data": {
-            "name": "Smart-Shoot"
+            "name": "Cand-Sub"
           }
         },
         {
@@ -95,9 +95,22 @@
           }
         },
         {
-          "type": "named",
+          "type": "deadline",
           "data": {
-            "name": "Smart-Shoot"
+            "commands": [
+              {
+                "type": "named",
+                "data": {
+                  "name": "Smart-Shoot"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "Stop-Drive"
+                }
+              }
+            ]
           }
         },
         {
@@ -184,9 +197,35 @@
           }
         },
         {
-          "type": "named",
+          "type": "deadline",
+          "data": {
+            "commands": [
+              {
+                "type": "named",
+                "data": {
+                  "name": "Smart-Shoot"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "Stop-Drive"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "sequential",
           "data": {
-            "name": "Smart-Shoot"
+            "commands": [
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "BL-F3"
+                }
+              }
+            ]
           }
         }
       ]

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
@@ -6,9 +6,28 @@
     "data": {
       "commands": [
         {
-          "type": "named",
+          "type": "race",
           "data": {
-            "name": "Smart-Shoot"
+            "commands": [
+              {
+                "type": "named",
+                "data": {
+                  "name": "Smart-Shoot"
+                }
+              },
+              {
+                "type": "wait",
+                "data": {
+                  "waitTime": 3.0
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 4.0
           }
         },
         {