Robin amp branch

.pathplanner/settings.json

@@ -1,12 +1,12 @@
 {
-  "robotWidth": 0.7,
-  "robotLength": 0.7,
+  "robotWidth": 0.8,
+  "robotLength": 0.8,
   "holonomicMode": true,
   "pathFolders": [],
   "autoFolders": [],
-  "defaultMaxVel": 3.0,
-  "defaultMaxAccel": 3.0,
+  "defaultMaxVel": 4.724,
+  "defaultMaxAccel": 5.0,
   "defaultMaxAngVel": 540.0,
   "defaultMaxAngAccel": 720.0,
-  "maxModuleSpeed": 4.5
+  "maxModuleSpeed": 4.6
 }

build.gradle

@@ -1,7 +1,7 @@
 
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2024.1.1"
+    id "edu.wpi.first.GradleRIO" version "2024.2.1"
     id "idea"
 }
 

src/main/deploy/pathplanner/autos/2NoteMid.auto

@@ -0,0 +1,74 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 1.3110120765696076,
+      "y": 5.513288844759509
+    },
+    "rotation": 0
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "shoot"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "intakeOut"
+          }
+        },
+        {
+          "type": "parallel",
+          "data": {
+            "commands": [
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "Mid To Close Mid"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "intake"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Close Mid to Mid"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "intakeIn"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "stopIntaking"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "shoot"
+          }
+        }
+      ]
+    }
+  },
+  "folder": null,
+  "choreoAuto": false
+}

src/main/deploy/pathplanner/autos/2NoteSpeakerS.Note3.auto

@@ -0,0 +1,94 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 0.6924444618120014,
+      "y": 4.420390379242297
+    },
+    "rotation": -59.30027744918557
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "shoot"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "intakeOut"
+          }
+        },
+        {
+          "type": "parallel",
+          "data": {
+            "commands": [
+              {
+                "type": "named",
+                "data": {
+                  "name": "intake"
+                }
+              },
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "SpeakerS to Note 3"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "parallel",
+          "data": {
+            "commands": [
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "Note 3 to SpeakerS"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "intakeIn"
+                }
+              },
+              {
+                "type": "sequential",
+                "data": {
+                  "commands": [
+                    {
+                      "type": "wait",
+                      "data": {
+                        "waitTime": 0.5
+                      }
+                    },
+                    {
+                      "type": "named",
+                      "data": {
+                        "name": "stopIntaking"
+                      }
+                    }
+                  ]
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "shoot"
+          }
+        }
+      ]
+    }
+  },
+  "folder": null,
+  "choreoAuto": false
+}

src/main/deploy/pathplanner/autos/3NoteMid.Note1.auto

@@ -0,0 +1,163 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 1.3110120765696076,
+      "y": 5.513288844759509
+    },
+    "rotation": 0
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "shoot"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "intakeOut"
+          }
+        },
+        {
+          "type": "parallel",
+          "data": {
+            "commands": [
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "Mid To Close Mid"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "intake"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "parallel",
+          "data": {
+            "commands": [
+              {
+                "type": "named",
+                "data": {
+                  "name": "intakeIn"
+                }
+              },
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "Close Mid to Mid"
+                }
+              },
+              {
+                "type": "sequential",
+                "data": {
+                  "commands": [
+                    {
+                      "type": "wait",
+                      "data": {
+                        "waitTime": 0.6
+                      }
+                    },
+                    {
+                      "type": "named",
+                      "data": {
+                        "name": "stopIntaking"
+                      }
+                    }
+                  ]
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "shoot"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "intakeOut"
+          }
+        },
+        {
+          "type": "parallel",
+          "data": {
+            "commands": [
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "Mid To Close Top"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "intake"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "parallel",
+          "data": {
+            "commands": [
+              {
+                "type": "named",
+                "data": {
+                  "name": "intakeIn"
+                }
+              },
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "Close Top To Mid"
+                }
+              },
+              {
+                "type": "sequential",
+                "data": {
+                  "commands": [
+                    {
+                      "type": "wait",
+                      "data": {
+                        "waitTime": 0.6
+                      }
+                    },
+                    {
+                      "type": "named",
+                      "data": {
+                        "name": "stopIntaking"
+                      }
+                    }
+                  ]
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "shoot"
+          }
+        }
+      ]
+    }
+  },
+  "folder": null,
+  "choreoAuto": false
+}