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Update auto pathing to work #21

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Update auto pathing to work #21

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68d9da6
more auto basework
MyaTaheri Mar 1, 2024
29a3120
Revert "more auto basework"
BenBerol Mar 21, 2024
6b39d3a
Auto work
BenBerol Mar 21, 2024
9b1e716
Update more paths
BenBerol Mar 21, 2024
e2422e7
Middle 2
BenBerol Mar 23, 2024
42342f8
Update encoder offset
MyaTaheri Mar 23, 2024
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52 changes: 52 additions & 0 deletions src/main/deploy/pathplanner/paths/BlueLeft1.path
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Original file line number Diff line number Diff line change
@@ -0,0 +1,52 @@
{
"version": 1.0,
"waypoints": [
{
"anchor": {
"x": 0.6389027008015726,
"y": 6.5860328446899
},
"prevControl": null,
"nextControl": {
"x": 1.376356984489902,
"y": 6.8226047175732285
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 3.283642594070903,
"y": 6.5860328446899
},
"prevControl": {
"x": 2.385813636959755,
"y": 6.33537530654963
},
"nextControl": null,
"isLocked": false,
"linkedName": null
}
],
"rotationTargets": [],
"constraintZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 3.0,
"maxAcceleration": 3.0,
"maxAngularVelocity": 90.0,
"maxAngularAcceleration": 90.0
},
"goalEndState": {
"velocity": 0,
"rotation": -120.0,
"rotateFast": false
},
"reversed": false,
"folder": null,
"previewStartingState": {
"rotation": -120.0,
"velocity": 0
},
"useDefaultConstraints": true
}
52 changes: 52 additions & 0 deletions src/main/deploy/pathplanner/paths/BlueRight1.path
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Original file line number Diff line number Diff line change
@@ -0,0 +1,52 @@
{
"version": 1.0,
"waypoints": [
{
"anchor": {
"x": 0.765577540269664,
"y": 4.5617833320860095
},
"prevControl": null,
"nextControl": {
"x": 1.7655775402696618,
"y": 4.5617833320860095
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 3.432094929666608,
"y": 2.0115087365632673
},
"prevControl": {
"x": 1.7205183415214291,
"y": 1.896900456755597
},
"nextControl": null,
"isLocked": false,
"linkedName": null
}
],
"rotationTargets": [],
"constraintZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 3.0,
"maxAcceleration": 3.0,
"maxAngularVelocity": 90.0,
"maxAngularAcceleration": 90.0
},
"goalEndState": {
"velocity": 0,
"rotation": 120.0,
"rotateFast": false
},
"reversed": false,
"folder": null,
"previewStartingState": {
"rotation": 120.0,
"velocity": 0
},
"useDefaultConstraints": true
}
22 changes: 11 additions & 11 deletions src/main/deploy/pathplanner/paths/Charge.path
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Original file line number Diff line number Diff line change
Expand Up @@ -3,25 +3,25 @@
"waypoints": [
{
"anchor": {
"x": 3.3990747796310408,
"y": 6.867981472074056
"x": 0.8269679653198594,
"y": 6.9748548946502655
},
"prevControl": null,
"nextControl": {
"x": 4.399074779631045,
"y": 6.867981472074056
"x": 1.8269679653198612,
"y": 6.9748548946502655
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 1.1486443898813725,
"y": 6.867981472074056
"x": 4.002876853409957,
"y": 6.9748548946502655
},
"prevControl": {
"x": 0.14864438988137252,
"y": 6.867981472074056
"x": 3.0028768534099566,
"y": 6.9748548946502655
},
"nextControl": null,
"isLocked": false,
Expand All @@ -39,13 +39,13 @@
},
"goalEndState": {
"velocity": 0,
"rotation": 0,
"rotateFast": false
"rotation": 180.0,
"rotateFast": true
},
"reversed": false,
"folder": null,
"previewStartingState": {
"rotation": 0,
"rotation": 180.0,
"velocity": 0
},
"useDefaultConstraints": true
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158 changes: 12 additions & 146 deletions src/main/deploy/pathplanner/paths/Middle2Note.path
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Original file line number Diff line number Diff line change
Expand Up @@ -3,74 +3,42 @@
"waypoints": [
{
"anchor": {
"x": 1.2689287141904957,
"y": 5.562302316231041
"x": 1.14,
"y": 5.56
},
"prevControl": null,
"nextControl": {
"x": 1.4912622761563639,
"y": 5.562302316231041
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 2.7536497285957524,
"y": 5.562302316231041
},
"prevControl": {
"x": 1.807320789581015,
"y": 5.562302316231041
},
"nextControl": {
"x": 3.6999786676104898,
"y": 5.562302316231041
"x": 1.3623335619658687,
"y": 5.56
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 3.309867566957356,
"x": 3.18,
"y": 5.562302316231041
},
"prevControl": {
"x": 3.668077374669185,
"x": 3.5382098077118287,
"y": 5.558666804615571
},
"nextControl": {
"x": 2.594190796714926,
"x": 2.46432322975757,
"y": 5.569565800242712
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 1.7,
"x": 0.5217945759552234,
"y": 5.56
},
"prevControl": {
"x": 1.7100475418595091,
"y": 5.56
},
"nextControl": {
"x": 1.6899524581404908,
"y": 5.56
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 3.7694608255799635,
"x": 0.5318421178147328,
"y": 5.56
},
"prevControl": {
"x": 4.124902635835381,
"y": 5.556261972707489
},
"nextControl": null,
"isLocked": false,
"linkedName": null
Expand All @@ -80,118 +48,16 @@
"constraintZones": [],
"eventMarkers": [
{
"name": "intake",
"waypointRelativePos": 0.8999999999999999,
"command": {
"type": "parallel",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "intake"
}
}
]
}
}
},
{
"name": "shoot",
"waypointRelativePos": 0.5499999999999999,
"name": "shootTwice",
"waypointRelativePos": 0.3,
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "shoot"
}
}
]
}
}
},
{
"name": "printEnd",
"waypointRelativePos": 4.0,
"command": {
"type": "parallel",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "printAfter"
}
}
]
}
}
},
{
"name": "printRebound",
"waypointRelativePos": 1.7,
"command": {
"type": "parallel",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "printRebound"
}
}
]
}
}
},
{
"name": "wait",
"waypointRelativePos": 0.2,
"command": {
"type": "deadline",
"data": {
"commands": [
{
"type": "wait",
"data": {
"waitTime": 5.0
}
}
]
}
}
},
{
"name": "arm",
"waypointRelativePos": 0.0,
"command": {
"type": "parallel",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "armPos"
}
}
]
}
}
},
{
"name": "backFeed",
"waypointRelativePos": 3.75,
"command": {
"type": "parallel",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "backFeed"
"name": "shootTwice"
}
}
]
Expand Down
4 changes: 2 additions & 2 deletions src/main/deploy/pathplanner/paths/Shoot.path
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Original file line number Diff line number Diff line change
Expand Up @@ -32,7 +32,7 @@
"constraintZones": [],
"eventMarkers": [
{
"name": "shoot",
"name": "shootOnce",
"waypointRelativePos": 0.9,
"command": {
"type": "parallel",
Expand All @@ -41,7 +41,7 @@
{
"type": "named",
"data": {
"name": "shoot"
"name": "shootOnce"
}
}
]
Expand Down
2 changes: 1 addition & 1 deletion src/main/java/frc/robot/Constants.java
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Original file line number Diff line number Diff line change
Expand Up @@ -39,7 +39,7 @@ public final static class DrivetrainConstants{
public static final int BACK_LEFT_SPEED_ID = 2;
public static final AnalogInput BACK_LEFT_ENCODER = new AnalogInput(2);
public static final Translation2d BACK_LEFT_LOC = new Translation2d(-0.238125, 0.238125);
public static final double BACK_LEFT_ENCODER_OFFSET = 0.654;
public static final double BACK_LEFT_ENCODER_OFFSET = 0.844;

public static final int FRONT_LEFT_ANGLE_ID = 3;
public static final int FRONT_LEFT_SPEED_ID = 4;
Expand Down
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