From 9c0e0036917341559ab520175e28a3cf95bb949f Mon Sep 17 00:00:00 2001 From: Victor C Date: Thu, 9 Apr 2026 23:24:02 -0700 Subject: [PATCH] optimized & created path for right side --- .../autos/NormalBumpAutoRight.auto | 21 +-- .../pathplanner/paths/FirstCycleRight.path | 70 ++++---- ...t.path => SecondCycleRightNoShooting.path} | 151 +++++++++--------- 3 files changed, 121 insertions(+), 121 deletions(-) rename src/main/deploy/pathplanner/paths/{SecondCycleRight.path => SecondCycleRightNoShooting.path} (56%) 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 e4921dd1..11a0cc51 100644 --- a/src/main/deploy/pathplanner/paths/FirstCycleRight.path +++ b/src/main/deploy/pathplanner/paths/FirstCycleRight.path @@ -3,29 +3,29 @@ "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": 7.504845059357542, - "y": 1.3144065700651766 + "x": 7.484578884934758, + "y": 1.3828588374851711 }, "prevControl": { - "x": 6.829058463314399, - "y": 0.5373698829729924 + "x": 6.656120996441281, + "y": 0.6189561091340455 }, "nextControl": { - "x": 7.668903909913637, - "y": 1.5030456263451872 + "x": 7.809782355876498, + "y": 1.6827217782236579 }, "isLocked": false, "linkedName": null @@ -36,12 +36,12 @@ "y": 3.4767954201582865 }, "prevControl": { - "x": 8.884254955045044, - "y": 2.9510337592701927 + "x": 7.955284332188758, + "y": 3.139609604996897 }, "nextControl": { - "x": 6.37622982619491, - "y": 3.7894750446151453 + "x": 6.561135667541527, + "y": 3.8698562062348394 }, "isLocked": false, "linkedName": null @@ -52,12 +52,12 @@ "y": 2.547092401846678 }, "prevControl": { - "x": 5.901383796943115, - "y": 2.7195510358522097 + "x": 5.649838774115803, + "y": 2.6490688250869683 }, "nextControl": { - "x": 4.427452434749036, - "y": 2.3517711039177316 + "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", @@ -157,7 +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 0cf2b9f9..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 @@ -33,95 +33,79 @@ { "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, - "y": 0.8414318552141526 + "x": 6.042846975088969, + "y": 1.1676749703440101 }, "prevControl": { - "x": 5.590031044236949, - "y": 0.46279177063104265 + "x": 5.920476908386938, + "y": 0.48986019726194197 }, "nextControl": { - "x": 6.13360509197508, - "y": 1.1241101594489669 + "x": 6.150199779624124, + "y": 1.7623082724807353 }, "isLocked": false, "linkedName": null }, { "anchor": { - "x": 5.901256207324643, - "y": 1.655708798882681 + "x": 6.473214709371295, + "y": 3.7176037959667845 }, "prevControl": { - "x": 5.831667651571537, - "y": 1.314066957150576 + "x": 5.665257753687279, + "y": 3.4211446410038553 }, "nextControl": { - "x": 6.262831095065817, - "y": 3.4308442250329767 + "x": 7.443492370675145, + "y": 4.073622385231882 }, "isLocked": false, "linkedName": null }, { "anchor": { - "x": 6.5981932320763494, - "y": 3.2422431719428926 + "x": 7.9472241992882555, + "y": 2.265112692763938 }, "prevControl": { - "x": 6.351708632523235, - "y": 3.2004658792692298 + "x": 8.507832091786602, + "y": 2.825000878780047 }, "nextControl": { - "x": 6.844677831629464, - "y": 3.2840204646165554 + "x": 7.2810632962671935, + "y": 1.5998070048166078 }, "isLocked": false, "linkedName": null }, { "anchor": { - "x": 6.941919663640595, - "y": 2.274901216247672 - }, - "prevControl": { - "x": 7.102799071384903, - "y": 2.6875112852889993 - }, - "nextControl": { - "x": 6.722046996494741, - "y": 1.7109901623510817 - }, - "isLocked": false, - "linkedName": null - }, - { - "anchor": { - "x": 4.692769873137803, - "y": 2.4328996935133453 + "x": 4.546764819987586, + "y": 2.5556109134045073 }, "prevControl": { - "x": 5.80281866101594, - "y": 2.1379342780591113 + "x": 5.357551431755909, + "y": 2.652368658832191 }, "nextControl": { - "x": 4.237817899646556, - "y": 2.5537908645483447 + "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": [ { - "waypointRelativePos": 4.0, - "rotationDegrees": 90.0 + "waypointRelativePos": 1.0, + "rotationDegrees": 0.0 + }, + { + "waypointRelativePos": 2.5, + "rotationDegrees": 0.0 + }, + { + "waypointRelativePos": 2.8, + "rotationDegrees": 45.0 }, { - "waypointRelativePos": 4.85, + "waypointRelativePos": 3.0, "rotationDegrees": 90.0 }, { - "waypointRelativePos": 5.3649614337568075, + "waypointRelativePos": 3.8, + "rotationDegrees": 20.0 + }, + { + "waypointRelativePos": 4.3649614337568075, "rotationDegrees": -62.91546008567048 }, { - "waypointRelativePos": 6.2102427404718705, + "waypointRelativePos": 5.2102427404718705, "rotationDegrees": -112.62895408092294 } ], "constraintZones": [ { - "name": "Constraints Zone", - "minWaypointRelativePos": 4.15, - "maxWaypointRelativePos": 5.657176906779662, + "name": "Slow Down For Trench", + "minWaypointRelativePos": 0.9921259842519532, + "maxWaypointRelativePos": 1.02362204724414, + "constraints": { + "maxVelocity": 2.0, + "maxAcceleration": 2.0, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0, + "nominalVoltage": 12.0, + "unlimited": false + } + }, + { + "name": "Speed Up For Bump", + "minWaypointRelativePos": 5.606299212598456, + "maxWaypointRelativePos": 6.425196850393698, "constraints": { - "maxVelocity": 1.5, + "maxVelocity": 3.0, "maxAcceleration": 3.0, "maxAngularVelocity": 540.0, "maxAngularAcceleration": 720.0, @@ -186,15 +195,9 @@ } } }, - { - "name": "IntakeDeployExtend", - "waypointRelativePos": 3.5882547669491487, - "endWaypointRelativePos": null, - "command": null - }, { "name": "CollectorIntake", - "waypointRelativePos": 3.8779793432203387, + "waypointRelativePos": 3.45, "endWaypointRelativePos": 6.582693326271185, "command": { "type": "named", @@ -204,9 +207,9 @@ } }, { - "name": "WarmupShooterNear", - "waypointRelativePos": 6.092955508474575, - "endWaypointRelativePos": 8.0, + "name": "IntakeDeployExtend", + "waypointRelativePos": 3.637795275590581, + "endWaypointRelativePos": null, "command": null } ],