From 0434ce2f6adf6d6cbbff261cf6f9e20a9e1cdd01 Mon Sep 17 00:00:00 2001 From: nharnwal Date: Sun, 11 Feb 2024 11:47:47 -0500 Subject: [PATCH] Better auto paths --- .../deploy/pathplanner/autos/Source_Out.auto | 6 --- .../deploy/pathplanner/paths/AO_Path.path | 12 ++--- .../deploy/pathplanner/paths/SO_Path.path | 46 ++++++++++++++++--- 3 files changed, 45 insertions(+), 19 deletions(-) diff --git a/src/main/deploy/pathplanner/autos/Source_Out.auto b/src/main/deploy/pathplanner/autos/Source_Out.auto index b1511958..299ade5a 100644 --- a/src/main/deploy/pathplanner/autos/Source_Out.auto +++ b/src/main/deploy/pathplanner/autos/Source_Out.auto @@ -16,12 +16,6 @@ "data": { "pathName": "SO_Path" } - }, - { - "type": "path", - "data": { - "pathName": "SO_EndAngle" - } } ] } diff --git a/src/main/deploy/pathplanner/paths/AO_Path.path b/src/main/deploy/pathplanner/paths/AO_Path.path index 35226e44..97d0125f 100644 --- a/src/main/deploy/pathplanner/paths/AO_Path.path +++ b/src/main/deploy/pathplanner/paths/AO_Path.path @@ -16,16 +16,16 @@ }, { "anchor": { - "x": 2.193797844663109, - "y": 7.418948194099357 + "x": 2.1867858486512692, + "y": 7.274654971618971 }, "prevControl": { - "x": 1.5756811638044574, - "y": 7.236687940679122 + "x": 1.6428820105904103, + "y": 7.174936538458146 }, "nextControl": { - "x": 2.9623654518049913, - "y": 7.645570984239357 + "x": 2.974932120640123, + "y": 7.419152410034693 }, "isLocked": false, "linkedName": null diff --git a/src/main/deploy/pathplanner/paths/SO_Path.path b/src/main/deploy/pathplanner/paths/SO_Path.path index 37f7ea2c..cb718592 100644 --- a/src/main/deploy/pathplanner/paths/SO_Path.path +++ b/src/main/deploy/pathplanner/paths/SO_Path.path @@ -8,20 +8,52 @@ }, "prevControl": null, "nextControl": { - "x": 0.6871248194252196, - "y": 0.9181545141122731 + "x": 0.7552265859448467, + "y": 2.385607872073658 }, "isLocked": true, "linkedName": null }, { "anchor": { - "x": 3.5513935601032007, + "x": 1.8125761183886373, + "y": 1.4844034611390982 + }, + "prevControl": { + "x": 1.0134498220747024, + "y": 1.9940309145664594 + }, + "nextControl": { + "x": 2.5837458367167523, + "y": 0.9926047785971086 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 3.75, + "y": 0.82 + }, + "prevControl": { + "x": 3.4622035945510574, + "y": 0.82 + }, + "nextControl": { + "x": 4.037796405448943, + "y": 0.82 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 4.5, "y": 0.8177705484371478 }, "prevControl": { - "x": 2.9896981201252255, - "y": 0.8532373227398375 + "x": 3.7354054148115865, + "y": 0.8177705484371478 }, "nextControl": null, "isLocked": false, @@ -38,8 +70,8 @@ "constraintZones": [], "eventMarkers": [], "globalConstraints": { - "maxVelocity": 3.0, - "maxAcceleration": 3.0, + "maxVelocity": 1.5, + "maxAcceleration": 1.5, "maxAngularVelocity": 540.0, "maxAngularAcceleration": 720.0 },