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4201VitruvianBots · Jan 18, 2025 · a19fe72 · a19fe72
1 parent 12420fc
commit a19fe72
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Showing 3 changed files with 101 additions and 12 deletions.
diff --git a/src/main/deploy/pathplanner/paths/DriveForward.path b/src/main/deploy/pathplanner/paths/DriveForward.path
@@ -8,20 +8,20 @@
       },
       "prevControl": null,
       "nextControl": {
-        "x": 2.425937499999999,
+        "x": 1.6759375,
         "y": 6.0
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 1.6,
+        "x": 4.648,
         "y": 5.9878289473684205
       },
       "prevControl": {
-        "x": 2.1227384868421053,
-        "y": 5.99391447368421
+        "x": 4.398,
+        "y": 5.9878289473684205
       },
       "nextControl": null,
       "isLocked": false,
@@ -33,8 +33,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
+    "maxVelocity": 5.5,
+    "maxAcceleration": 6.7,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
@@ -50,5 +50,5 @@
     "velocity": 0,
     "rotation": 0.0
   },
-  "useDefaultConstraints": true
+  "useDefaultConstraints": false
 }
diff --git a/src/main/deploy/pathplanner/paths/New Path.path b/src/main/deploy/pathplanner/paths/New Path.path
@@ -0,0 +1,86 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 1.884630681818182,
+        "y": 6.921747159090909
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 2.134630681818182,
+        "y": 6.921747159090909
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 4.029,
+        "y": 6.922
+      },
+      "prevControl": {
+        "x": 3.779,
+        "y": 6.922
+      },
+      "nextControl": {
+        "x": 4.279,
+        "y": 6.922
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 4.029,
+        "y": 5.645383522727273
+      },
+      "prevControl": {
+        "x": 3.779,
+        "y": 5.645383522727273
+      },
+      "nextControl": {
+        "x": 4.279,
+        "y": 5.645383522727273
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 1.884630681818182,
+        "y": 5.645383522727273
+      },
+      "prevControl": {
+        "x": 1.6346306818181817,
+        "y": 5.645383522727273
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "useDefaultConstraints": true
+}
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -8,6 +8,11 @@
 
 import com.ctre.phoenix6.SignalLogger;
 import com.ctre.phoenix6.swerve.SwerveRequest;
+import com.pathplanner.lib.auto.AutoBuilder;
+import com.pathplanner.lib.commands.FollowPathCommand;
+import com.pathplanner.lib.path.PathPlannerPath;
+
+import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.Joystick;
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
@@ -95,10 +100,9 @@ private void initializeSubSystems() {
   }
 
   private void initAutoChooser() {
-    SmartDashboard.putData("Auto Chooser", m_chooser);
-
-    m_chooser.addOption("Do Nothing", new WaitCommand(0));
-
+    SmartDashboard.putData("Auto Mode", m_chooser);
+    m_chooser.setDefaultOption("Do Nothing", new WaitCommand(0));
+
     m_chooser.addOption("DriveForward", new DriveForward(m_swerveDrive));
   }
 
@@ -177,7 +181,6 @@ private void configureBindings() {
     m_driverController.x().whileTrue(new RunAlgaeIntake(m_algaeIntake, 0.5)); // outtake
     m_driverController.y().whileTrue(new RunAlgaeIntake(m_algaeIntake, -0.5)); // intake
   }
-
   /**
    * Use this to pass the autonomous command to the main {@link Robot} class.
    *