From c958b19a2e8bfa65862f05ea4f3d8a579c75bd37 Mon Sep 17 00:00:00 2001 From: MattD8957 Date: Sun, 28 Jan 2024 09:18:46 -0500 Subject: [PATCH 1/2] [#122] Added Linked-points --- src/main/deploy/pathplanner/autos/SM-3.auto | 2 +- .../pathplanner/paths/1MeterSquareLL.path | 20 +++++++++---------- .../pathplanner/paths/Run_Through_Pieces.path | 20 +++++++++---------- .../deploy/pathplanner/paths/StraightOut.path | 10 +++++----- src/main/java/frc/thunder | 2 +- 5 files changed, 27 insertions(+), 27 deletions(-) diff --git a/src/main/deploy/pathplanner/autos/SM-3.auto b/src/main/deploy/pathplanner/autos/SM-3.auto index 97fb9a92..b0c4bab3 100644 --- a/src/main/deploy/pathplanner/autos/SM-3.auto +++ b/src/main/deploy/pathplanner/autos/SM-3.auto @@ -8,7 +8,7 @@ { "type": "path", "data": { - "pathName": "Sipnslow" + "pathName": "1MeterSquareLL" } }, { diff --git a/src/main/deploy/pathplanner/paths/1MeterSquareLL.path b/src/main/deploy/pathplanner/paths/1MeterSquareLL.path index 8473de26..d94cf1f9 100644 --- a/src/main/deploy/pathplanner/paths/1MeterSquareLL.path +++ b/src/main/deploy/pathplanner/paths/1MeterSquareLL.path @@ -3,16 +3,16 @@ "waypoints": [ { "anchor": { - "x": 1.32, - "y": 5.525487974052871 + "x": -0.11668000958650661, + "y": 8.476052284957749 }, "prevControl": null, "nextControl": { - "x": 1.82, - "y": 5.525487974052871 + "x": 0.3833199904134934, + "y": 8.476052284957749 }, "isLocked": false, - "linkedName": "SubwooferFront" + "linkedName": null }, { "anchor": { @@ -64,16 +64,16 @@ }, { "anchor": { - "x": 1.32, - "y": 5.525487974052871 + "x": -0.11668000958650661, + "y": 8.476052284957749 }, "prevControl": { - "x": 1.32, - "y": 6.025487974052871 + "x": -0.1166800095865066, + "y": 8.976052284957749 }, "nextControl": null, "isLocked": false, - "linkedName": "SubwooferFront" + "linkedName": null } ], "rotationTargets": [], diff --git a/src/main/deploy/pathplanner/paths/Run_Through_Pieces.path b/src/main/deploy/pathplanner/paths/Run_Through_Pieces.path index e8c3abdb..7f8a300b 100644 --- a/src/main/deploy/pathplanner/paths/Run_Through_Pieces.path +++ b/src/main/deploy/pathplanner/paths/Run_Through_Pieces.path @@ -3,16 +3,16 @@ "waypoints": [ { "anchor": { - "x": 1.32, - "y": 5.525487974052871 + "x": -0.11668000958650661, + "y": 8.476052284957749 }, "prevControl": null, "nextControl": { - "x": 2.182352826244115, - "y": 5.8313632011879415 + "x": 0.7456728166576085, + "y": 8.78192751209282 }, "isLocked": false, - "linkedName": "SubwooferFront" + "linkedName": null }, { "anchor": { @@ -64,16 +64,16 @@ }, { "anchor": { - "x": 1.32, - "y": 5.525487974052871 + "x": -0.11668000958650661, + "y": 8.476052284957749 }, "prevControl": { - "x": 3.204586076864461, - "y": 5.160411090052949 + "x": 1.7679060672779543, + "y": 8.110975400957827 }, "nextControl": null, "isLocked": false, - "linkedName": "SubwooferFront" + "linkedName": null } ], "rotationTargets": [ diff --git a/src/main/deploy/pathplanner/paths/StraightOut.path b/src/main/deploy/pathplanner/paths/StraightOut.path index 980c607b..24ade7df 100644 --- a/src/main/deploy/pathplanner/paths/StraightOut.path +++ b/src/main/deploy/pathplanner/paths/StraightOut.path @@ -3,16 +3,16 @@ "waypoints": [ { "anchor": { - "x": 1.32, - "y": 5.525487974052871 + "x": -0.11668000958650661, + "y": 8.476052284957749 }, "prevControl": null, "nextControl": { - "x": 2.4380339887498943, - "y": 5.525487974052871 + "x": 1.0013539791633876, + "y": 8.476052284957749 }, "isLocked": false, - "linkedName": "SubwooferFront" + "linkedName": null }, { "anchor": { diff --git a/src/main/java/frc/thunder b/src/main/java/frc/thunder index 1bf13634..cd540794 160000 --- a/src/main/java/frc/thunder +++ b/src/main/java/frc/thunder @@ -1 +1 @@ -Subproject commit 1bf13634e93d412076ee270ebb26137b5b69cf1f +Subproject commit cd54079489d55b374a3d96cf4a81e697bae7e236 From a3fdee382c39d6f7bba0afdf2cf3e548eedb6353 Mon Sep 17 00:00:00 2001 From: MattD8957 Date: Sun, 28 Jan 2024 22:43:36 -0500 Subject: [PATCH 2/2] [#122]Added path with all linked points --- .../pathplanner/paths/Linked points.path | 209 ++++++++++++++++++ 1 file changed, 209 insertions(+) create mode 100644 src/main/deploy/pathplanner/paths/Linked points.path diff --git a/src/main/deploy/pathplanner/paths/Linked points.path b/src/main/deploy/pathplanner/paths/Linked points.path new file mode 100644 index 00000000..caa51937 --- /dev/null +++ b/src/main/deploy/pathplanner/paths/Linked points.path @@ -0,0 +1,209 @@ +{ + "version": 1.0, + "waypoints": [ + { + "anchor": { + "x": 1.4340615288731497, + "y": 7.7089509112352035 + }, + "prevControl": null, + "nextControl": { + "x": 2.4340615288731495, + "y": 7.2089509112352035 + }, + "isLocked": false, + "linkedName": "TopFront" + }, + { + "anchor": { + "x": 0.7284778050297884, + "y": 6.698598504187022 + }, + "prevControl": { + "x": -0.27152219497021157, + "y": 7.698598504187022 + }, + "nextControl": { + "x": 1.7284778050297884, + "y": 5.698598504187022 + }, + "isLocked": false, + "linkedName": "SubwooferTop" + }, + { + "anchor": { + "x": 1.334102025955381, + "y": 5.567399971117918 + }, + "prevControl": { + "x": 1.0841020259553815, + "y": 7.067399971117918 + }, + "nextControl": { + "x": 1.5841020259553806, + "y": 4.067399971117918 + }, + "isLocked": false, + "linkedName": "SubwooferMiddle" + }, + { + "anchor": { + "x": 0.7284778050297884, + "y": 4.414985377759629 + }, + "prevControl": { + "x": 0.8536309457501952, + "y": 3.6563405478597257 + }, + "nextControl": { + "x": 0.6033246643093817, + "y": 5.1736302076595315 + }, + "isLocked": false, + "linkedName": "SubwooferBottom" + }, + { + "anchor": { + "x": 2.9066934025451485, + "y": 6.99 + }, + "prevControl": { + "x": 2.8441168321849455, + "y": 7.369322414949951 + }, + "nextControl": { + "x": 2.9692699729053516, + "y": 6.610677585050049 + }, + "isLocked": false, + "linkedName": "C1" + }, + { + "anchor": { + "x": 2.894982565999367, + "y": 5.539225686154654 + }, + "prevControl": { + "x": 2.926270851179469, + "y": 5.349564478679678 + }, + "nextControl": { + "x": 2.8636942808192654, + "y": 5.72888689362963 + }, + "isLocked": false, + "linkedName": "C2" + }, + { + "anchor": { + "x": 2.577030538676463, + "y": 4.084914323674802 + }, + "prevControl": { + "x": 2.5613863960864123, + "y": 4.1797449274122895 + }, + "nextControl": { + "x": 2.592674681266514, + "y": 3.9900837199373145 + }, + "isLocked": false, + "linkedName": "C3" + }, + { + "anchor": { + "x": 8.281967377058862, + "y": 7.436381206571257 + }, + "prevControl": { + "x": 8.289789448353886, + "y": 7.388965904702514 + }, + "nextControl": { + "x": 8.274145305763836, + "y": 7.48379650844 + }, + "isLocked": false, + "linkedName": "F1" + }, + { + "anchor": { + "x": 8.293678213604645, + "y": 5.785153253616065 + }, + "prevControl": { + "x": 8.289767177957131, + "y": 5.808860904550437 + }, + "nextControl": { + "x": 8.297589249252157, + "y": 5.761445602681693 + }, + "isLocked": false, + "linkedName": "F2" + }, + { + "anchor": { + "x": 8.289990426134699, + "y": 4.1046482092964185 + }, + "prevControl": { + "x": 8.291945943958455, + "y": 4.092794383829233 + }, + "nextControl": { + "x": 8.288034908310943, + "y": 4.116502034763604 + }, + "isLocked": false, + "linkedName": "F3" + }, + { + "anchor": { + "x": 8.281967377058862, + "y": 2.435854001522554 + }, + "prevControl": { + "x": 8.280989618146984, + "y": 2.4417809142561473 + }, + "nextControl": { + "x": 8.28294513597074, + "y": 2.429927088788961 + }, + "isLocked": false, + "linkedName": "F4" + }, + { + "anchor": { + "x": 8.293678213604645, + "y": 0.77 + }, + "prevControl": { + "x": 8.275355154306451, + "y": 1.6050862461783453 + }, + "nextControl": null, + "isLocked": false, + "linkedName": "F5" + } + ], + "rotationTargets": [], + "constraintZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 3.0, + "maxAcceleration": 3.0, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0 + }, + "goalEndState": { + "velocity": 0, + "rotation": 0, + "rotateFast": false + }, + "reversed": false, + "folder": null, + "previewStartingState": null, + "useDefaultConstraints": false +} \ No newline at end of file