diff --git a/src/main/deploy/pathplanner/autos/NormalBumpAutoRight.auto b/src/main/deploy/pathplanner/autos/NormalBumpAutoRight.auto index 553a63b4..a3c81153 100644 --- a/src/main/deploy/pathplanner/autos/NormalBumpAutoRight.auto +++ b/src/main/deploy/pathplanner/autos/NormalBumpAutoRight.auto @@ -32,26 +32,7 @@ { "type": "path", "data": { - "pathName": "SecondCycleRight" - } - }, - { - "type": "deadline", - "data": { - "commands": [ - { - "type": "wait", - "data": { - "waitTime": 4.5 - } - }, - { - "type": "named", - "data": { - "name": "AimAndShootFromHere" - } - } - ] + "pathName": "SecondCycleRightNoShooting" } } ] diff --git a/src/main/deploy/pathplanner/paths/FirstCycleRight.path b/src/main/deploy/pathplanner/paths/FirstCycleRight.path index 79d26dd5..11a0cc51 100644 --- a/src/main/deploy/pathplanner/paths/FirstCycleRight.path +++ b/src/main/deploy/pathplanner/paths/FirstCycleRight.path @@ -3,61 +3,61 @@ "waypoints": [ { "anchor": { - "x": 3.5283019572470513, - "y": 0.6009254248137801 + "x": 3.708102016607355, + "y": 0.5974377224199281 }, "prevControl": null, "nextControl": { - "x": 4.99313591773743, - "y": 1.0654726461307877 + "x": 5.351152372527564, + "y": 0.5939500200260761 }, "isLocked": false, "linkedName": null }, { "anchor": { - "x": 7.376986951364176, - "y": 1.361340450771056 + "x": 7.484578884934758, + "y": 1.3828588374851711 }, "prevControl": { - "x": 6.701200355321033, - "y": 0.5843037636788718 + "x": 6.656120996441281, + "y": 0.6189561091340455 }, "nextControl": { - "x": 7.541045801920271, - "y": 1.5499795070510667 + "x": 7.809782355876498, + "y": 1.6827217782236579 }, "isLocked": false, "linkedName": null }, { "anchor": { - "x": 6.73143534994069, - "y": 3.297995255041518 + "x": 7.3115467877094975, + "y": 3.4767954201582865 }, "prevControl": { - "x": 8.304143517276245, - "y": 2.772233594153424 + "x": 7.955284332188758, + "y": 3.139609604996897 }, "nextControl": { - "x": 5.796118388426103, - "y": 3.6106748794983767 + "x": 6.561135667541527, + "y": 3.8698562062348394 }, "isLocked": false, "linkedName": null }, { "anchor": { - "x": 4.977686832740215, - "y": 2.4802965599051015 + "x": 5.210230834885388, + "y": 2.547092401846678 }, "prevControl": { - "x": 5.668839794797942, - "y": 2.6527551939106333 + "x": 5.649838774115803, + "y": 2.6490688250869683 }, "nextControl": { - "x": 4.194908432603863, - "y": 2.284975261976155 + "x": 4.6777617076283216, + "y": 2.4235748485044613 }, "isLocked": false, "linkedName": null @@ -68,8 +68,8 @@ "y": 2.6663886949099935 }, "prevControl": { - "x": 2.9173021293851544, - "y": 2.6012794185842734 + "x": 2.9093432977510614, + "y": 2.6914412796137515 }, "nextControl": null, "isLocked": false, @@ -77,9 +77,21 @@ } ], "rotationTargets": [ + { + "waypointRelativePos": 0.0, + "rotationDegrees": 0.0 + }, + { + "waypointRelativePos": 0.3, + "rotationDegrees": 0.0 + }, + { + "waypointRelativePos": 0.5, + "rotationDegrees": 25.0 + }, { "waypointRelativePos": 1.0003402903811247, - "rotationDegrees": 90.0 + "rotationDegrees": 75.0 }, { "waypointRelativePos": 1.7897572595281306, @@ -88,15 +100,19 @@ { "waypointRelativePos": 2.5985424228675136, "rotationDegrees": -138.88321599938664 + }, + { + "waypointRelativePos": 3.0, + "rotationDegrees": -145.0 } ], "constraintZones": [ { - "name": "Constraints Zone", - "minWaypointRelativePos": 1.2916777012711862, - "maxWaypointRelativePos": 1.9576602224576278, + "name": "Speed Up Before Fuel", + "minWaypointRelativePos": 0.38695163104611585, + "maxWaypointRelativePos": 0.8998875140606943, "constraints": { - "maxVelocity": 1.5, + "maxVelocity": 3.0, "maxAcceleration": 3.0, "maxAngularVelocity": 540.0, "maxAngularAcceleration": 720.0, @@ -109,7 +125,7 @@ "eventMarkers": [ { "name": "IntakeDeployExtend", - "waypointRelativePos": 0.5535619703389831, + "waypointRelativePos": 0.7019122609673792, "endWaypointRelativePos": null, "command": { "type": "named", @@ -129,12 +145,6 @@ } } }, - { - "name": "WaitForRotationAndHoodAndShooterToBeAtGoalCommandGroup", - "waypointRelativePos": 2.59, - "endWaypointRelativePos": 4.0, - "command": null - }, { "name": "WarmupShooterNear", "waypointRelativePos": 2.5945444915254248, @@ -163,7 +173,7 @@ "folder": null, "idealStartingState": { "velocity": 0, - "rotation": 90.45039630190234 + "rotation": 0.0 }, "useDefaultConstraints": true } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/SecondCycleRight.path b/src/main/deploy/pathplanner/paths/SecondCycleRightNoShooting.path similarity index 56% rename from src/main/deploy/pathplanner/paths/SecondCycleRight.path rename to src/main/deploy/pathplanner/paths/SecondCycleRightNoShooting.path index 88f7ce44..de4d4401 100644 --- a/src/main/deploy/pathplanner/paths/SecondCycleRight.path +++ b/src/main/deploy/pathplanner/paths/SecondCycleRightNoShooting.path @@ -8,24 +8,24 @@ }, "prevControl": null, "nextControl": { - "x": 3.375866748817143, - "y": 2.44952641875826 + "x": 3.3663739673478354, + "y": 2.4885532563913615 }, "isLocked": false, "linkedName": "RightShootingPosition" }, { "anchor": { - "x": 3.316035362352576, - "y": 0.8414318552141526 + "x": 3.331530249110321, + "y": 0.7373072360616835 }, "prevControl": { - "x": 2.5411861689289856, - "y": 1.5957582528387624 + "x": 2.7322899338192608, + "y": 1.2023165144112689 }, "nextControl": { - "x": 3.5569251650807385, - "y": 0.6069223033443585 + "x": 3.529038535573395, + "y": 0.5840412033655232 }, "isLocked": false, "linkedName": null @@ -33,79 +33,63 @@ { "anchor": { "x": 4.546764819987586, - "y": 0.5985862818125383 + "y": 0.6081969157769855 }, "prevControl": { - "x": 3.751465111594494, - "y": 0.48866846123591967 + "x": 3.762417679716169, + "y": 0.5425383493948823 }, "nextControl": { - "x": 4.794410765317636, - "y": 0.6328132559935237 + "x": 4.989406971858295, + "y": 0.6452509797493012 }, "isLocked": false, "linkedName": null }, { "anchor": { - "x": 5.901256207324643, - 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"x": 6.844677831629464, - "y": 3.2840204646165554 - }, - "isLocked": false, - "linkedName": null - }, - { - "anchor": { - "x": 6.9143416370106765, - "y": 2.286631079478054 - }, - "prevControl": { - "x": 7.075221044754985, - "y": 2.6992411485193815 - }, - "nextControl": { - "x": 6.694468969864822, - "y": 1.7227200255814639 + "x": 7.2810632962671935, + "y": 1.5998070048166078 }, "isLocked": false, "linkedName": null @@ -113,15 +97,15 @@ { "anchor": { "x": 4.546764819987586, - "y": 2.6663886949099935 + "y": 2.5556109134045073 }, "prevControl": { - "x": 5.654961735764574, - "y": 2.429686441054715 + "x": 5.357551431755909, + "y": 2.652368658832191 }, "nextControl": { - "x": 4.086408986753175, - "y": 2.7647171253095766 + "x": 4.182916380208135, + "y": 2.512189926674525 }, "isLocked": false, "linkedName": null @@ -132,8 +116,8 @@ "y": 2.6663886949099935 }, "prevControl": { - "x": 2.8661171232939484, - "y": 2.6932776165817467 + "x": 2.9128994348403503, + "y": 2.7121538953563573 }, "nextControl": null, "isLocked": false, @@ -142,29 +126,54 @@ ], "rotationTargets": [ { - 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{ - "name": "IntakeDeployExtend", - "waypointRelativePos": 3.5882547669491487, - "endWaypointRelativePos": null, - "command": null - }, { "name": "CollectorIntake", - "waypointRelativePos": 3.8779793432203387, + "waypointRelativePos": 3.45, "endWaypointRelativePos": 6.582693326271185, "command": { "type": "named", @@ -204,15 +207,9 @@ } }, { - "name": "WaitForRotationAndHoodAndShooterToBeAtGoalCommandGroup", - "waypointRelativePos": 6.09, - "endWaypointRelativePos": 8.0, - "command": null - }, - { - "name": "WarmupShooterNear", - "waypointRelativePos": 6.092955508474575, - "endWaypointRelativePos": 8.0, + "name": "IntakeDeployExtend", + "waypointRelativePos": 3.637795275590581, + "endWaypointRelativePos": null, "command": null } ],