Merge pull request #157 from 4201VitruvianBots/LAR_Day2

Merge LAR changes to main
4201VitruvianBots · Apr 7, 2024 · f2a4269 · f2a4269
2 parents 15dc34e + fa96b8e
commit f2a4269
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Showing 29 changed files with 217 additions and 108 deletions.
diff --git a/.vscode/settings.json b/.vscode/settings.json
@@ -25,5 +25,6 @@
       }
     },
   ],
-  "java.test.defaultConfig": "WPIlibUnitTests"
+  "java.test.defaultConfig": "WPIlibUnitTests",
+  "java.debug.settings.onBuildFailureProceed": true
 }
diff --git a/src/main/deploy/pathplanner/paths/5Piecept1.path b/src/main/deploy/pathplanner/paths/5Piecept1.path
@@ -14,14 +14,30 @@
       "isLocked": false,
       "linkedName": "SubwooferTop"
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+        "y": 7.68155593454044
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+      "prevControl": {
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+        "y": 7.68155593454044
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+      "nextControl": {
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+        "y": 7.68155593454044
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
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       "anchor": {
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-        "y": 8.0
+        "y": 7.87
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-        "y": 7.947008073576679
+        "y": 7.817008073576679
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       "isLocked": false,
@@ -39,7 +55,7 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": 32.0,
+    "rotation": 42.0,
     "rotateFast": false
   },
   "reversed": false,

diff --git a/src/main/deploy/pathplanner/paths/5Piecept2.path b/src/main/deploy/pathplanner/paths/5Piecept2.path
@@ -4,54 +4,44 @@
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+        "x": 1.5122464530643351,
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       },
       "isLocked": false,
       "linkedName": "ShootEnd"
     },
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       "anchor": {
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+        "x": 3.45,
+        "y": 6.98
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       },
       "nextControl": null,
       "isLocked": false,
       "linkedName": "ShootEnd2"
     }
   ],
-  "rotationTargets": [],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 0.85,
+      "rotationDegrees": 0,
+      "rotateFast": true
+    }
+  ],
   "constraintZones": [
     {
       "name": "New Constraints Zone",
-      "minWaypointRelativePos": 1.0,
-      "maxWaypointRelativePos": 2.0,
+      "minWaypointRelativePos": 0.5,
+      "maxWaypointRelativePos": 1.0,
       "constraints": {
-        "maxVelocity": 2.0,
+        "maxVelocity": 2.5,
         "maxAcceleration": 10.0,
         "maxAngularVelocity": 540.0,
         "maxAngularAcceleration": 720.0

diff --git a/src/main/deploy/pathplanner/paths/5Piecept3.path b/src/main/deploy/pathplanner/paths/5Piecept3.path
@@ -3,24 +3,24 @@
   "waypoints": [
     {
       "anchor": {
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-        "y": 7.0
+        "x": 3.45,
+        "y": 6.98
       },
       "prevControl": null,
       "nextControl": {
-        "x": 3.4,
-        "y": 7.0
+        "x": 3.5500000000000003,
+        "y": 6.98
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       "isLocked": false,
       "linkedName": "ShootEnd2"
     },
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       "anchor": {
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+        "x": 8.65,
         "y": 8.0
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       "nextControl": null,
@@ -29,7 +29,19 @@
     }
   ],
   "rotationTargets": [],
-  "constraintZones": [],
+  "constraintZones": [
+    {
+      "name": "New Constraints Zone",
+      "minWaypointRelativePos": 0.7,
+      "maxWaypointRelativePos": 1.0,
+      "constraints": {
+        "maxVelocity": 2.0,
+        "maxAcceleration": 10.0,
+        "maxAngularVelocity": 540.0,
+        "maxAngularAcceleration": 720.0
+      }
+    }
+  ],
   "eventMarkers": [],
   "globalConstraints": {
     "maxVelocity": 4.0,

diff --git a/src/main/deploy/pathplanner/paths/5Piecept4.path b/src/main/deploy/pathplanner/paths/5Piecept4.path
@@ -3,24 +3,24 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 8.5,
+        "x": 8.75,
         "y": 8.0
       },
       "prevControl": null,
       "nextControl": {
-        "x": 8.6,
+        "x": 8.85,
         "y": 8.0
       },
       "isLocked": false,
       "linkedName": "FarEnd1"
     },
     {
       "anchor": {
-        "x": 3.5,
+        "x": 3.45,
         "y": 6.358984244359359
       },
       "prevControl": {
-        "x": 3.4,
+        "x": 3.35,
         "y": 6.358984244359359
       },
       "nextControl": null,

diff --git a/src/main/deploy/pathplanner/paths/5Piecept5.path b/src/main/deploy/pathplanner/paths/5Piecept5.path
@@ -3,12 +3,12 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 3.5,
+        "x": 3.45,
         "y": 6.358984244359359
       },
       "prevControl": null,
       "nextControl": {
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+        "x": 3.5500000000000003,
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       "isLocked": false,
@@ -67,7 +67,19 @@
       "rotateFast": true
     }
   ],
-  "constraintZones": [],
+  "constraintZones": [
+    {
+      "name": "New Constraints Zone",
+      "minWaypointRelativePos": 1.5,
+      "maxWaypointRelativePos": 1.85,
+      "constraints": {
+        "maxVelocity": 2.0,
+        "maxAcceleration": 10.0,
+        "maxAngularVelocity": 540.0,
+        "maxAngularAcceleration": 720.0
+      }
+    }
+  ],
   "eventMarkers": [],
   "globalConstraints": {
     "maxVelocity": 4.5,

diff --git a/src/main/deploy/pathplanner/paths/5Piecept6.path b/src/main/deploy/pathplanner/paths/5Piecept6.path
@@ -8,8 +8,8 @@
       },
       "prevControl": null,
       "nextControl": {
-        "x": 4.402920429053642,
-        "y": 6.8799487641027435
+        "x": 4.12162995754563,
+        "y": 7.153815450488045
       },
       "isLocked": false,
       "linkedName": "ShootEnd4"
@@ -39,8 +39,8 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": 0.0,
-    "rotateFast": false
+    "rotation": -65.40085267213527,
+    "rotateFast": true
   },
   "reversed": false,
   "folder": "5PieceAutoNear",

diff --git a/src/main/deploy/pathplanner/paths/TwoPieceFarPt1.path b/src/main/deploy/pathplanner/paths/TwoPieceFarPt1.path
@@ -25,7 +25,7 @@
       },
       "nextControl": null,
       "isLocked": false,
-      "linkedName": null
+      "linkedName": "2farshoot1"
     }
   ],
   "rotationTargets": [],
@@ -39,7 +39,7 @@
   },
   "goalEndState": {
     "velocity": 0.0,
-    "rotation": -45.0,
+    "rotation": -50.0,
     "rotateFast": true
   },
   "reversed": false,

diff --git a/src/main/deploy/pathplanner/paths/TwoPieceFarPt2.path b/src/main/deploy/pathplanner/paths/TwoPieceFarPt2.path
@@ -12,16 +12,16 @@
         "y": 2.4575984822657415
       },
       "isLocked": false,
-      "linkedName": null
+      "linkedName": "2farshoot1"
     },
     {
       "anchor": {
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-        "y": 0.78
+        "x": 8.6,
+        "y": 0.48000000000000004
       },
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-        "y": 0.703653978736529
+        "x": 7.780007982873108,
+        "y": 0.40365397873652903
       },
       "nextControl": null,
       "isLocked": false,

diff --git a/src/main/deploy/pathplanner/paths/TwoPieceFarPt3.path b/src/main/deploy/pathplanner/paths/TwoPieceFarPt3.path
@@ -39,7 +39,7 @@
   },
   "goalEndState": {
     "velocity": 0.0,
-    "rotation": -45.0,
+    "rotation": -50.0,
     "rotateFast": true
   },
   "reversed": false,

diff --git a/src/main/deploy/pathplanner/paths/TwoPieceFarPt4.path b/src/main/deploy/pathplanner/paths/TwoPieceFarPt4.path
@@ -16,27 +16,27 @@
     },
     {
       "anchor": {
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+        "y": 1.3926484995827144
       },
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-        "y": 1.6711781994992572
+        "x": 5.555640625566965,
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       },
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       "linkedName": null
     },
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       "anchor": {
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+        "x": 8.6,
         "y": 2.4206899695850677
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