Add WIP autos (still too slow :C)

team401 · Mar 11, 2024 · 506f85d · 506f85d
1 parent 024f91b
commit 506f85d
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Showing 6 changed files with 106 additions and 16 deletions.
diff --git a/src/main/deploy/pathplanner/autos/S3-C5-C4-C3.auto b/src/main/deploy/pathplanner/autos/S3-C5-C4-C3.auto
@@ -50,7 +50,7 @@
         {
           "type": "path",
           "data": {
-            "pathName": "C3-E2"
+            "pathName": "C3-E1"
           }
         }
       ]

diff --git a/src/main/deploy/pathplanner/paths/C3-E1.path b/src/main/deploy/pathplanner/paths/C3-E1.path
@@ -8,8 +8,8 @@
       },
       "prevControl": null,
       "nextControl": {
-        "x": 4.305122313285772,
-        "y": 3.8623344509658613
+        "x": 4.848492559239144,
+        "y": 4.229476509042464
       },
       "isLocked": false,
       "linkedName": null
@@ -20,8 +20,8 @@
         "y": 5.609930647410491
       },
       "prevControl": {
-        "x": 4.525407548131734,
-        "y": 4.479133108534554
+        "x": 4.672264371362375,
+        "y": 4.655361296411323
       },
       "nextControl": null,
       "isLocked": false,

diff --git a/src/main/deploy/pathplanner/paths/C4-C3.path b/src/main/deploy/pathplanner/paths/C4-C3.path
@@ -0,0 +1,87 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 8.284709527165534,
+        "y": 2.428101757611967
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 4.863178241562208,
+        "y": 0.058742729292257656
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 8.284709527165534,
+        "y": 4.097305368134887
+      },
+      "prevControl": {
+        "x": 0.5309019562582962,
+        "y": 4.156048097427144
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "eventMarkers": [
+    {
+      "name": "Shoot",
+      "waypointRelativePos": 0.25,
+      "command": {
+        "type": "parallel",
+        "data": {
+          "commands": [
+            {
+              "type": "named",
+              "data": {
+                "name": "Shoot Scoring"
+              }
+            }
+          ]
+        }
+      }
+    },
+    {
+      "name": "Prime",
+      "waypointRelativePos": 0.65,
+      "command": {
+        "type": "parallel",
+        "data": {
+          "commands": [
+            {
+              "type": "named",
+              "data": {
+                "name": "Aim Scoring"
+              }
+            }
+          ]
+        }
+      }
+    }
+  ],
+  "globalConstraints": {
+    "maxVelocity": 4.5,
+    "maxAcceleration": 2.75,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 180.0,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": null,
+  "previewStartingState": {
+    "rotation": 180.0,
+    "velocity": 0
+  },
+  "useDefaultConstraints": true
+}
diff --git a/src/main/deploy/pathplanner/paths/C5-E2.path b/src/main/deploy/pathplanner/paths/C5-E2.path
@@ -8,8 +8,8 @@
       },
       "prevControl": null,
       "nextControl": {
-        "x": 6.919173766791183,
-        "y": 0.7489697984762702
+        "x": 6.72825989659135,
+        "y": 1.2042259504912576
       },
       "isLocked": false,
       "linkedName": null

diff --git a/src/main/deploy/pathplanner/paths/E2-C3.path b/src/main/deploy/pathplanner/paths/E2-C3.path
@@ -8,8 +8,8 @@
       },
       "prevControl": null,
       "nextControl": {
-        "x": 4.131402929472526,
-        "y": 4.6301405704663265
+        "x": 4.569464595100926,
+        "y": 4.596618567119067
       },
       "isLocked": false,
       "linkedName": null
@@ -20,8 +20,8 @@
         "y": 4.093483946227152
       },
       "prevControl": {
-        "x": 6.670678933950461,
-        "y": 4.004407379185129
+        "x": 7.506601059713748,
+        "y": 4.126676732781015
       },
       "nextControl": null,
       "isLocked": false,

diff --git a/src/main/deploy/pathplanner/paths/E2-C4.path b/src/main/deploy/pathplanner/paths/E2-C4.path
@@ -8,8 +8,8 @@
       },
       "prevControl": null,
       "nextControl": {
-        "x": 5.0761464903211495,
-        "y": 0.9828030923667487
+        "x": 5.538719628423157,
+        "y": 1.2776543621065786
       },
       "isLocked": false,
       "linkedName": null
@@ -20,8 +20,8 @@
         "y": 2.442554744264419
       },
       "prevControl": {
-        "x": 7.764712268571403,
-        "y": 2.6065146992850363
+        "x": 7.800314706175031,
+        "y": 2.276280760074938
       },
       "nextControl": null,
       "isLocked": false,
@@ -62,6 +62,9 @@
   },
   "reversed": false,
   "folder": null,
-  "previewStartingState": null,
+  "previewStartingState": {
+    "rotation": 180.0,
+    "velocity": 0
+  },
   "useDefaultConstraints": true
 }