[#477] Weird Spin when pointing

frc-862 · Mar 23, 2024 · ecdc30c · ecdc30c
1 parent ad01072
commit ecdc30c
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Showing 10 changed files with 465 additions and 403 deletions.
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
@@ -6,15 +6,60 @@
     "data": {
       "commands": [
         {
-          "type": "named",
+          "type": "sequential",
           "data": {
-            "name": "Smart-Shoot"
+            "commands": [
+              {
+                "type": "deadline",
+                "data": {
+                  "commands": [
+                    {
+                      "type": "path",
+                      "data": {
+                        "pathName": "SB-BL"
+                      }
+                    },
+                    {
+                      "type": "named",
+                      "data": {
+                        "name": "preAim"
+                      }
+                    }
+                  ]
+                }
+              },
+              {
+                "type": "deadline",
+                "data": {
+                  "commands": [
+                    {
+                      "type": "named",
+                      "data": {
+                        "name": "Point-At-Speaker"
+                      }
+                    },
+                    {
+                      "type": "named",
+                      "data": {
+                        "name": "preAim"
+                      }
+                    }
+                  ]
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "Smart-Shoot"
+                }
+              }
+            ]
           }
         },
         {
           "type": "path",
           "data": {
-            "pathName": "SB-F5"
+            "pathName": "BL-F5"
           }
         },
         {
@@ -206,7 +251,7 @@
               {
                 "type": "path",
                 "data": {
-                  "pathName": "F3-BL"
+                  "pathName": "F3-TS"
                 }
               },
               {
@@ -265,6 +310,6 @@
       ]
     }
   },
-  "folder": "Commands",
+  "folder": "Testing",
   "choreoAuto": false
 }
diff --git a/src/main/deploy/pathplanner/paths/BL-F3.path b/src/main/deploy/pathplanner/paths/BL-F3.path
@@ -8,24 +8,24 @@
       },
       "prevControl": null,
       "nextControl": {
-        "x": 4.303745530567986,
-        "y": 3.404095269729001
+        "x": 4.1360075027842385,
+        "y": 3.571833297512749
       },
       "isLocked": false,
       "linkedName": "BottomLine"
     },
     {
       "anchor": {
-        "x": 5.122701783865108,
-        "y": 3.7593052109181126
+        "x": 5.033899298567829,
+        "y": 3.9073093530802447
       },
       "prevControl": {
-        "x": 4.27414470213556,
-        "y": 3.384361384107383
+        "x": 4.19520915964909,
+        "y": 3.6606357828100275
       },
       "nextControl": {
-        "x": 6.073090172099115,
-        "y": 4.179244266184301
+        "x": 6.030710478138978,
+        "y": 4.2004891117776415
       },
       "isLocked": false,
       "linkedName": null
@@ -36,8 +36,8 @@
         "y": 4.084914323674802
       },
       "prevControl": {
-        "x": 5.665383638459587,
-        "y": 4.055313495242375
+        "x": 5.783786952189291,
+        "y": 4.2921201227017844
       },
       "nextControl": null,
       "isLocked": false,
@@ -60,7 +60,7 @@
     "maxAngularAcceleration": 720.0
   },
   "goalEndState": {
-    "velocity": 0,
+    "velocity": 1.5,
     "rotation": 0,
     "rotateFast": true
   },

diff --git a/src/main/deploy/pathplanner/paths/BL-F4.path b/src/main/deploy/pathplanner/paths/BL-F4.path
@@ -38,7 +38,7 @@
     "maxAngularAcceleration": 720.0
   },
   "goalEndState": {
-    "velocity": 0.75,
+    "velocity": 1.5,
     "rotation": 14.984877872841416,
     "rotateFast": false
   },

diff --git a/src/main/deploy/pathplanner/paths/F3-TL.path → src/main/deploy/pathplanner/paths/F3-TS.path b/src/main/deploy/pathplanner/paths/F3-TL.path → src/main/deploy/pathplanner/paths/F3-TS.path
@@ -8,24 +8,24 @@
       },
       "prevControl": null,
       "nextControl": {
-        "x": 6.1784646646216395,
-        "y": 4.953205291025968
+        "x": 5.892323323108186,
+        "y": 4.272386237080167
       },
       "isLocked": false,
       "linkedName": "F3"
     },
     {
       "anchor": {
-        "x": 5.892323323108186,
-        "y": 6.5
+        "x": 4.096539731541003,
+        "y": 5.268947460971846
       },
       "prevControl": {
-        "x": 7.046755631972804,
-        "y": 6.028702057404115
+        "x": 4.974697641702977,
+        "y": 4.617729235458472
       },
       "nextControl": null,
       "isLocked": false,
-      "linkedName": "TopLine"
+      "linkedName": "TS"
     }
   ],
   "rotationTargets": [],
@@ -39,7 +39,7 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": 8.0,
+    "rotation": 0.0,
     "rotateFast": false
   },
   "reversed": false,

diff --git a/src/main/deploy/pathplanner/paths/SB-BL.path b/src/main/deploy/pathplanner/paths/SB-BL.path
@@ -8,8 +8,8 @@
       },
       "prevControl": null,
       "nextControl": {
-        "x": 1.5031243065887911,
-        "y": 2.313622145075961
+        "x": 2.290889197163011,
+        "y": 3.5027646978370885
       },
       "isLocked": false,
       "linkedName": "SubwooferBottom"
@@ -20,8 +20,8 @@
         "y": 2.565405130810262
       },
       "prevControl": {
-        "x": 1.7580742853793425,
-        "y": 1.9635216193509297
+        "x": 2.537562767433229,
+        "y": 2.851546472323715
       },
       "nextControl": null,
       "isLocked": false,
@@ -39,7 +39,7 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": 0,
+    "rotation": -35.5376777919744,
     "rotateFast": false
   },
   "reversed": false,

diff --git a/src/main/deploy/pathplanner/paths/SB-F5.path b/src/main/deploy/pathplanner/paths/SB-F5.path
@@ -29,7 +29,19 @@
     }
   ],
   "rotationTargets": [],
-  "constraintZones": [],
+  "constraintZones": [
+    {
+      "name": "Smart Shoot",
+      "minWaypointRelativePos": 0.0,
+      "maxWaypointRelativePos": 0.15,
+      "constraints": {
+        "maxVelocity": 2.0,
+        "maxAcceleration": 5.0,
+        "maxAngularVelocity": 540.0,
+        "maxAngularAcceleration": 720.0
+      }
+    }
+  ],
   "eventMarkers": [],
   "globalConstraints": {
     "maxVelocity": 5.0,
@@ -38,7 +50,7 @@
     "maxAngularAcceleration": 720.0
   },
   "goalEndState": {
-    "velocity": 0.75,
+    "velocity": 1.5,
     "rotation": 0.0,
     "rotateFast": false
   },