diff --git a/src/main/deploy/pathplanner/autos/Copy of T4.auto b/src/main/deploy/pathplanner/autos/Copy of T4.auto new file mode 100644 index 0000000..edc436c --- /dev/null +++ b/src/main/deploy/pathplanner/autos/Copy of T4.auto @@ -0,0 +1,148 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "Start K" + } + }, + { + "type": "race", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "L2" + } + }, + { + "type": "wait", + "data": { + "waitTime": 0.8 + } + } + ] + } + } + ] + } + }, + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "Bottom" + } + }, + { + "type": "path", + "data": { + "pathName": "Station K" + } + } + ] + } + }, + { + "type": "deadline", + "data": { + "commands": [ + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "CoralDetect" + } + }, + { + "type": "path", + "data": { + "pathName": "Coral L" + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "CoralIntake" + } + } + ] + } + }, + { + "type": "race", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "L2" + } + }, + { + "type": "wait", + "data": { + "waitTime": 0.8 + } + } + ] + } + } + ] + } + }, + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "Bottom" + } + }, + { + "type": "path", + "data": { + "pathName": "Station L" + } + } + ] + } + } + ] + } + } + ] + } + }, + "resetOdom": true, + "folder": "T", + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/T5.auto b/src/main/deploy/pathplanner/autos/T5.auto index 16cf1c5..a037e24 100644 --- a/src/main/deploy/pathplanner/autos/T5.auto +++ b/src/main/deploy/pathplanner/autos/T5.auto @@ -27,7 +27,7 @@ { "type": "wait", "data": { - "waitTime": 1.2 + "waitTime": 1.4 } } ] diff --git a/src/main/deploy/pathplanner/paths/Copy of Station L.path b/src/main/deploy/pathplanner/paths/Copy of Station L.path index 67d6e69..bf72ecc 100644 --- a/src/main/deploy/pathplanner/paths/Copy of Station L.path +++ b/src/main/deploy/pathplanner/paths/Copy of Station L.path @@ -33,8 +33,8 @@ "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { - "maxVelocity": 2.5, - "maxAcceleration": 3.0, + "maxVelocity": 3.0, + "maxAcceleration": 3.25, "maxAngularVelocity": 720.0, "maxAngularAcceleration": 720.0, "nominalVoltage": 12.0, diff --git a/src/main/deploy/pathplanner/paths/Coral A.path b/src/main/deploy/pathplanner/paths/Coral A.path index a30e903..4e96234 100644 --- a/src/main/deploy/pathplanner/paths/Coral A.path +++ b/src/main/deploy/pathplanner/paths/Coral A.path @@ -33,8 +33,8 @@ "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { - "maxVelocity": 2.5, - "maxAcceleration": 3.0, + "maxVelocity": 3.0, + "maxAcceleration": 3.25, "maxAngularVelocity": 720.0, "maxAngularAcceleration": 720.0, "nominalVoltage": 12.0, diff --git a/src/main/deploy/pathplanner/paths/Coral B.path b/src/main/deploy/pathplanner/paths/Coral B.path index a0065e7..0d572ce 100644 --- a/src/main/deploy/pathplanner/paths/Coral B.path +++ b/src/main/deploy/pathplanner/paths/Coral B.path @@ -33,8 +33,8 @@ "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { - "maxVelocity": 2.5, - "maxAcceleration": 3.0, + "maxVelocity": 3.0, + "maxAcceleration": 3.25, "maxAngularVelocity": 720.0, "maxAngularAcceleration": 720.0, "nominalVoltage": 12.0, diff --git a/src/main/deploy/pathplanner/paths/Coral B2.path b/src/main/deploy/pathplanner/paths/Coral B2.path index f65686c..9c5570a 100644 --- a/src/main/deploy/pathplanner/paths/Coral B2.path +++ b/src/main/deploy/pathplanner/paths/Coral B2.path @@ -33,8 +33,8 @@ "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { - "maxVelocity": 2.5, - "maxAcceleration": 3.0, + "maxVelocity": 3.0, + "maxAcceleration": 3.25, "maxAngularVelocity": 720.0, "maxAngularAcceleration": 720.0, "nominalVoltage": 12.0, diff --git a/src/main/deploy/pathplanner/paths/Coral C.path b/src/main/deploy/pathplanner/paths/Coral C.path index 914a3e3..5c427dc 100644 --- a/src/main/deploy/pathplanner/paths/Coral C.path +++ b/src/main/deploy/pathplanner/paths/Coral C.path @@ -33,8 +33,8 @@ "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { - "maxVelocity": 2.5, - "maxAcceleration": 3.0, + "maxVelocity": 3.0, + "maxAcceleration": 3.25, "maxAngularVelocity": 720.0, "maxAngularAcceleration": 720.0, "nominalVoltage": 12.0, diff --git a/src/main/deploy/pathplanner/paths/Coral D.path b/src/main/deploy/pathplanner/paths/Coral D.path index c1114c0..b2fa7b2 100644 --- a/src/main/deploy/pathplanner/paths/Coral D.path +++ b/src/main/deploy/pathplanner/paths/Coral D.path @@ -33,8 +33,8 @@ "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { - "maxVelocity": 2.5, - "maxAcceleration": 3.0, + "maxVelocity": 3.0, + "maxAcceleration": 3.25, "maxAngularVelocity": 720.0, "maxAngularAcceleration": 720.0, "nominalVoltage": 12.0, diff --git a/src/main/deploy/pathplanner/paths/Coral E.path b/src/main/deploy/pathplanner/paths/Coral E.path index 8150bee..f44ce84 100644 --- a/src/main/deploy/pathplanner/paths/Coral E.path +++ b/src/main/deploy/pathplanner/paths/Coral E.path @@ -33,8 +33,8 @@ "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { - "maxVelocity": 2.5, - "maxAcceleration": 3.0, + "maxVelocity": 3.0, + "maxAcceleration": 3.25, "maxAngularVelocity": 720.0, "maxAngularAcceleration": 720.0, "nominalVoltage": 12.0, diff --git a/src/main/deploy/pathplanner/paths/Coral F.path b/src/main/deploy/pathplanner/paths/Coral F.path index 976e1e1..aa9df25 100644 --- a/src/main/deploy/pathplanner/paths/Coral F.path +++ b/src/main/deploy/pathplanner/paths/Coral F.path @@ -33,8 +33,8 @@ "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { - "maxVelocity": 2.5, - "maxAcceleration": 3.0, + "maxVelocity": 3.0, + "maxAcceleration": 3.25, "maxAngularVelocity": 720.0, "maxAngularAcceleration": 720.0, "nominalVoltage": 12.0, diff --git a/src/main/deploy/pathplanner/paths/Coral G.path b/src/main/deploy/pathplanner/paths/Coral G.path index 0f399cf..ff37b68 100644 --- a/src/main/deploy/pathplanner/paths/Coral G.path +++ b/src/main/deploy/pathplanner/paths/Coral G.path @@ -49,8 +49,8 @@ "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { - "maxVelocity": 2.5, - "maxAcceleration": 3.0, + "maxVelocity": 3.0, + "maxAcceleration": 3.25, "maxAngularVelocity": 720.0, "maxAngularAcceleration": 720.0, "nominalVoltage": 12.0, diff --git a/src/main/deploy/pathplanner/paths/Coral H.path b/src/main/deploy/pathplanner/paths/Coral H.path index de36499..d26c29f 100644 --- a/src/main/deploy/pathplanner/paths/Coral H.path +++ b/src/main/deploy/pathplanner/paths/Coral H.path @@ -49,8 +49,8 @@ "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { - "maxVelocity": 2.5, - "maxAcceleration": 3.0, + "maxVelocity": 3.0, + "maxAcceleration": 3.25, "maxAngularVelocity": 720.0, "maxAngularAcceleration": 720.0, "nominalVoltage": 12.0, diff --git a/src/main/deploy/pathplanner/paths/Coral I.path b/src/main/deploy/pathplanner/paths/Coral I.path index 25e4d50..303d399 100644 --- a/src/main/deploy/pathplanner/paths/Coral I.path +++ b/src/main/deploy/pathplanner/paths/Coral I.path @@ -33,8 +33,8 @@ "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { - "maxVelocity": 2.5, - "maxAcceleration": 3.0, + "maxVelocity": 3.0, + "maxAcceleration": 3.25, "maxAngularVelocity": 720.0, "maxAngularAcceleration": 720.0, "nominalVoltage": 12.0, diff --git a/src/main/deploy/pathplanner/paths/Coral J.path b/src/main/deploy/pathplanner/paths/Coral J.path index 7ca42ba..4636f40 100644 --- a/src/main/deploy/pathplanner/paths/Coral J.path +++ b/src/main/deploy/pathplanner/paths/Coral J.path @@ -33,8 +33,8 @@ "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { - "maxVelocity": 2.5, - "maxAcceleration": 3.0, + "maxVelocity": 3.0, + "maxAcceleration": 3.25, "maxAngularVelocity": 720.0, "maxAngularAcceleration": 720.0, "nominalVoltage": 12.0, diff --git a/src/main/deploy/pathplanner/paths/Coral K.path b/src/main/deploy/pathplanner/paths/Coral K.path index ad42d7f..31b6d73 100644 --- a/src/main/deploy/pathplanner/paths/Coral K.path +++ b/src/main/deploy/pathplanner/paths/Coral K.path @@ -33,8 +33,8 @@ "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { - "maxVelocity": 2.5, - "maxAcceleration": 3.0, + "maxVelocity": 3.0, + "maxAcceleration": 3.25, "maxAngularVelocity": 720.0, "maxAngularAcceleration": 720.0, "nominalVoltage": 12.0, diff --git a/src/main/deploy/pathplanner/paths/Coral L.path b/src/main/deploy/pathplanner/paths/Coral L.path index 3b40b2b..ffbfdeb 100644 --- a/src/main/deploy/pathplanner/paths/Coral L.path +++ b/src/main/deploy/pathplanner/paths/Coral L.path @@ -33,8 +33,8 @@ "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { - "maxVelocity": 2.5, - "maxAcceleration": 3.0, + "maxVelocity": 3.0, + "maxAcceleration": 3.25, "maxAngularVelocity": 720.0, "maxAngularAcceleration": 720.0, "nominalVoltage": 12.0, diff --git a/src/main/deploy/pathplanner/paths/Start A.path b/src/main/deploy/pathplanner/paths/Start A.path index 101e768..218b333 100644 --- a/src/main/deploy/pathplanner/paths/Start A.path +++ b/src/main/deploy/pathplanner/paths/Start A.path @@ -63,8 +63,8 @@ "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { - "maxVelocity": 2.5, - "maxAcceleration": 3.0, + "maxVelocity": 3.0, + "maxAcceleration": 3.25, "maxAngularVelocity": 720.0, "maxAngularAcceleration": 720.0, "nominalVoltage": 12.0, diff --git a/src/main/deploy/pathplanner/paths/Start B.path b/src/main/deploy/pathplanner/paths/Start B.path index c76fedd..a7b15bf 100644 --- a/src/main/deploy/pathplanner/paths/Start B.path +++ b/src/main/deploy/pathplanner/paths/Start B.path @@ -63,8 +63,8 @@ "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { - "maxVelocity": 2.5, - "maxAcceleration": 3.0, + "maxVelocity": 3.0, + "maxAcceleration": 3.25, "maxAngularVelocity": 720.0, "maxAngularAcceleration": 720.0, "nominalVoltage": 12.0, diff --git a/src/main/deploy/pathplanner/paths/Start F.path b/src/main/deploy/pathplanner/paths/Start F.path index 8e7f979..e103cb1 100644 --- a/src/main/deploy/pathplanner/paths/Start F.path +++ b/src/main/deploy/pathplanner/paths/Start F.path @@ -33,8 +33,8 @@ "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { - "maxVelocity": 2.5, - "maxAcceleration": 3.0, + "maxVelocity": 3.0, + "maxAcceleration": 3.25, "maxAngularVelocity": 720.0, "maxAngularAcceleration": 720.0, "nominalVoltage": 12.0, diff --git a/src/main/deploy/pathplanner/paths/Start G.path b/src/main/deploy/pathplanner/paths/Start G.path index 60d60d2..7cd1fbf 100644 --- a/src/main/deploy/pathplanner/paths/Start G.path +++ b/src/main/deploy/pathplanner/paths/Start G.path @@ -33,8 +33,8 @@ "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { - "maxVelocity": 2.5, - "maxAcceleration": 3.0, + "maxVelocity": 3.0, + "maxAcceleration": 3.25, "maxAngularVelocity": 720.0, "maxAngularAcceleration": 720.0, "nominalVoltage": 12.0, diff --git a/src/main/deploy/pathplanner/paths/Start H.path b/src/main/deploy/pathplanner/paths/Start H.path index e8754f1..502aff5 100644 --- a/src/main/deploy/pathplanner/paths/Start H.path +++ b/src/main/deploy/pathplanner/paths/Start H.path @@ -33,8 +33,8 @@ "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { - "maxVelocity": 2.5, - "maxAcceleration": 3.0, + "maxVelocity": 3.0, + "maxAcceleration": 3.25, "maxAngularVelocity": 720.0, "maxAngularAcceleration": 720.0, "nominalVoltage": 12.0, diff --git a/src/main/deploy/pathplanner/paths/Start I.path b/src/main/deploy/pathplanner/paths/Start I.path index 27b0668..f9d1966 100644 --- a/src/main/deploy/pathplanner/paths/Start I.path +++ b/src/main/deploy/pathplanner/paths/Start I.path @@ -33,8 +33,8 @@ "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { - "maxVelocity": 2.5, - "maxAcceleration": 3.0, + "maxVelocity": 3.0, + "maxAcceleration": 3.25, "maxAngularVelocity": 720.0, "maxAngularAcceleration": 720.0, "nominalVoltage": 12.0, diff --git a/src/main/deploy/pathplanner/paths/Start K.path b/src/main/deploy/pathplanner/paths/Start K.path new file mode 100644 index 0000000..466137d --- /dev/null +++ b/src/main/deploy/pathplanner/paths/Start K.path @@ -0,0 +1,54 @@ +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 7.05, + "y": 6.0 + }, + "prevControl": null, + "nextControl": { + "x": 5.989211093318532, + "y": 6.186134496764897 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 3.96, + "y": 5.26 + }, + "prevControl": { + "x": 4.615266393442623, + "y": 5.9130635245901635 + }, + "nextControl": null, + "isLocked": false, + "linkedName": "Coral K" + } + ], + "rotationTargets": [], + "constraintZones": [], + "pointTowardsZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 3.0, + "maxAcceleration": 3.25, + "maxAngularVelocity": 720.0, + "maxAngularAcceleration": 720.0, + "nominalVoltage": 12.0, + "unlimited": false + }, + "goalEndState": { + "velocity": 0, + "rotation": 119.99999999999999 + }, + "reversed": false, + "folder": "Matrix Start", + "idealStartingState": { + "velocity": 0.0, + "rotation": 0.0 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Station A.path b/src/main/deploy/pathplanner/paths/Station A.path index 64b40b1..0c9e206 100644 --- a/src/main/deploy/pathplanner/paths/Station A.path +++ b/src/main/deploy/pathplanner/paths/Station A.path @@ -33,8 +33,8 @@ "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { - "maxVelocity": 2.5, - "maxAcceleration": 3.0, + "maxVelocity": 3.0, + "maxAcceleration": 3.25, "maxAngularVelocity": 720.0, "maxAngularAcceleration": 720.0, "nominalVoltage": 12.0, diff --git a/src/main/deploy/pathplanner/paths/Station B.path b/src/main/deploy/pathplanner/paths/Station B.path index b37c6a6..7720b78 100644 --- a/src/main/deploy/pathplanner/paths/Station B.path +++ b/src/main/deploy/pathplanner/paths/Station B.path @@ -33,8 +33,8 @@ "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { - "maxVelocity": 2.5, - "maxAcceleration": 3.0, + "maxVelocity": 3.0, + "maxAcceleration": 3.25, "maxAngularVelocity": 720.0, "maxAngularAcceleration": 720.0, "nominalVoltage": 12.0, diff --git a/src/main/deploy/pathplanner/paths/Station C.path b/src/main/deploy/pathplanner/paths/Station C.path index a3c5fba..6db372c 100644 --- a/src/main/deploy/pathplanner/paths/Station C.path +++ b/src/main/deploy/pathplanner/paths/Station C.path @@ -33,8 +33,8 @@ "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { - "maxVelocity": 2.5, - "maxAcceleration": 3.0, + "maxVelocity": 3.0, + "maxAcceleration": 3.25, "maxAngularVelocity": 720.0, "maxAngularAcceleration": 720.0, "nominalVoltage": 12.0, diff --git a/src/main/deploy/pathplanner/paths/Station D.path b/src/main/deploy/pathplanner/paths/Station D.path index 8cf4eae..afb27c4 100644 --- a/src/main/deploy/pathplanner/paths/Station D.path +++ b/src/main/deploy/pathplanner/paths/Station D.path @@ -33,8 +33,8 @@ "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { - "maxVelocity": 2.5, - "maxAcceleration": 3.0, + "maxVelocity": 3.0, + "maxAcceleration": 3.25, "maxAngularVelocity": 720.0, "maxAngularAcceleration": 720.0, "nominalVoltage": 12.0, diff --git a/src/main/deploy/pathplanner/paths/Station E.path b/src/main/deploy/pathplanner/paths/Station E.path index 4b45ead..48755ec 100644 --- a/src/main/deploy/pathplanner/paths/Station E.path +++ b/src/main/deploy/pathplanner/paths/Station E.path @@ -33,8 +33,8 @@ "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { - "maxVelocity": 2.5, - "maxAcceleration": 3.0, + "maxVelocity": 3.0, + "maxAcceleration": 3.25, "maxAngularVelocity": 720.0, "maxAngularAcceleration": 720.0, "nominalVoltage": 12.0, diff --git a/src/main/deploy/pathplanner/paths/Station F.path b/src/main/deploy/pathplanner/paths/Station F.path index 9c10496..67602c7 100644 --- a/src/main/deploy/pathplanner/paths/Station F.path +++ b/src/main/deploy/pathplanner/paths/Station F.path @@ -38,8 +38,8 @@ "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { - "maxVelocity": 2.5, - "maxAcceleration": 3.0, + "maxVelocity": 3.0, + "maxAcceleration": 3.25, "maxAngularVelocity": 720.0, "maxAngularAcceleration": 720.0, "nominalVoltage": 12.0, diff --git a/src/main/deploy/pathplanner/paths/Station G.path b/src/main/deploy/pathplanner/paths/Station G.path index 4b50278..228766e 100644 --- a/src/main/deploy/pathplanner/paths/Station G.path +++ b/src/main/deploy/pathplanner/paths/Station G.path @@ -25,7 +25,7 @@ }, "nextControl": { "x": 5.000520314085312, - "y": 0.4523429074746552 + "y": 0.4523429074746553 }, "isLocked": false, "linkedName": "Gpoint" @@ -49,8 +49,8 @@ "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { - "maxVelocity": 2.5, - "maxAcceleration": 3.0, + "maxVelocity": 3.0, + "maxAcceleration": 3.25, "maxAngularVelocity": 720.0, "maxAngularAcceleration": 720.0, "nominalVoltage": 12.0, diff --git a/src/main/deploy/pathplanner/paths/Station H.path b/src/main/deploy/pathplanner/paths/Station H.path index 848f8cd..794ff84 100644 --- a/src/main/deploy/pathplanner/paths/Station H.path +++ b/src/main/deploy/pathplanner/paths/Station H.path @@ -49,8 +49,8 @@ "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { - "maxVelocity": 2.5, - "maxAcceleration": 3.0, + "maxVelocity": 3.0, + "maxAcceleration": 3.25, "maxAngularVelocity": 720.0, "maxAngularAcceleration": 720.0, "nominalVoltage": 12.0, diff --git a/src/main/deploy/pathplanner/paths/Station I.path b/src/main/deploy/pathplanner/paths/Station I.path index 654765d..cab95a7 100644 --- a/src/main/deploy/pathplanner/paths/Station I.path +++ b/src/main/deploy/pathplanner/paths/Station I.path @@ -38,8 +38,8 @@ "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { - "maxVelocity": 2.5, - "maxAcceleration": 3.0, + "maxVelocity": 3.0, + "maxAcceleration": 3.25, "maxAngularVelocity": 720.0, "maxAngularAcceleration": 720.0, "nominalVoltage": 12.0, diff --git a/src/main/deploy/pathplanner/paths/Station J.path b/src/main/deploy/pathplanner/paths/Station J.path index 3ac93ab..2f514a2 100644 --- a/src/main/deploy/pathplanner/paths/Station J.path +++ b/src/main/deploy/pathplanner/paths/Station J.path @@ -33,8 +33,8 @@ "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { - "maxVelocity": 2.5, - "maxAcceleration": 3.0, + "maxVelocity": 3.0, + "maxAcceleration": 3.25, "maxAngularVelocity": 720.0, "maxAngularAcceleration": 720.0, "nominalVoltage": 12.0, diff --git a/src/main/deploy/pathplanner/paths/Station K.path b/src/main/deploy/pathplanner/paths/Station K.path index 1028610..47b63c1 100644 --- a/src/main/deploy/pathplanner/paths/Station K.path +++ b/src/main/deploy/pathplanner/paths/Station K.path @@ -33,8 +33,8 @@ "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { - "maxVelocity": 2.5, - "maxAcceleration": 3.0, + "maxVelocity": 3.0, + "maxAcceleration": 3.25, "maxAngularVelocity": 720.0, "maxAngularAcceleration": 720.0, "nominalVoltage": 12.0, diff --git a/src/main/deploy/pathplanner/paths/Station L.path b/src/main/deploy/pathplanner/paths/Station L.path index 57e3de9..484711f 100644 --- a/src/main/deploy/pathplanner/paths/Station L.path +++ b/src/main/deploy/pathplanner/paths/Station L.path @@ -33,8 +33,8 @@ "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { - "maxVelocity": 2.5, - "maxAcceleration": 3.0, + "maxVelocity": 3.0, + "maxAcceleration": 3.25, "maxAngularVelocity": 720.0, "maxAngularAcceleration": 720.0, "nominalVoltage": 12.0, diff --git a/src/main/deploy/pathplanner/settings.json b/src/main/deploy/pathplanner/settings.json index 3f065fb..281ad9c 100644 --- a/src/main/deploy/pathplanner/settings.json +++ b/src/main/deploy/pathplanner/settings.json @@ -14,8 +14,8 @@ "Orange", "T" ], - "defaultMaxVel": 2.5, - "defaultMaxAccel": 3.0, + "defaultMaxVel": 3.0, + "defaultMaxAccel": 3.25, "defaultMaxAngVel": 720.0, "defaultMaxAngAccel": 720.0, "defaultNominalVoltage": 12.0, @@ -45,4 +45,4 @@ "{\"name\":\"Ground Intake\",\"type\":\"rounded_rect\",\"data\":{\"center\":{\"x\":0.34,\"y\":0.0},\"size\":{\"width\":0.8,\"length\":0.1},\"borderRadius\":0.02,\"strokeWidth\":0.01,\"filled\":false}}", "{\"name\":\"Circle\",\"type\":\"circle\",\"data\":{\"center\":{\"x\":-0.46,\"y\":0.0},\"radius\":0.032,\"strokeWidth\":0.01,\"filled\":true}}" ] -} +} \ No newline at end of file diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 92566d7..c184183 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -262,10 +262,20 @@ public RobotContainer() { ElevatorConstants.kVelocity, m_elevator), Commands.run(() -> m_coralScorer.setCoralPercent(.0), m_coralScorer) - .withTimeout(0.8) + .withTimeout(1) .andThen(Commands.run(() -> m_coralScorer.setCoralPercent(.70), m_coralScorer)))); NamedCommands.registerCommand("L3", Commands.print("L3")); // Just print commands for right now. - NamedCommands.registerCommand("L2", Commands.print("L2")); + NamedCommands.registerCommand("L2", Commands.parallel( // Needs to be canceled with a race group right now, the race group wait + // timer is at 0.8 seconds. + new ElevatorCommand( + () -> ElevatorConstants.kL2, // Change this to kL4 or kL3 for those levels + ElevatorConstants.kAcceleration, + ElevatorConstants.kVelocity, + m_elevator), + Commands.run(() -> m_coralScorer.setCoralPercent(.0), m_coralScorer) + .withTimeout(0.4) + .andThen(Commands.run(() -> m_coralScorer.setCoralPercent(.70), m_coralScorer)))); + NamedCommands .registerCommand( // Brings the elevator to the ground. Put after the race group to score. "Bottom",