Merge pull request #55 from 2491-NoMythic/AutoWork

2491-NoMythic · Feb 10, 2024 · 8b5e46e · 8b5e46e
2 parents 8b18bea + 041353e
commit 8b5e46e
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Showing 37 changed files with 384 additions and 229 deletions.
diff --git a/.pathplanner/settings.json b/.pathplanner/settings.json
@@ -1,6 +1,6 @@
 {
-  "robotWidth": 0.9,
-  "robotLength": 0.9,
+  "robotWidth": 0.81,
+  "robotLength": 0.813,
   "holonomicMode": true,
   "pathFolders": [
     "Collect Notes",

diff --git a/src/main/deploy/pathplanner/autos/FleeAmp.auto b/src/main/deploy/pathplanner/autos/FleeAmp.auto
@@ -2,19 +2,25 @@
   "version": 1.0,
   "startingPose": {
     "position": {
-      "x": 1.1333456901148034,
-      "y": 6.915037974220092
+      "x": 0.7523718013035084,
+      "y": 6.631709206478911
     },
-    "rotation": 0
+    "rotation": -120.37688046831643
   },
   "command": {
     "type": "sequential",
     "data": {
       "commands": [
         {
-          "type": "path",
+          "type": "named",
+          "data": {
+            "name": "initialShot"
+          }
+        },
+        {
+          "type": "wait",
           "data": {
-            "pathName": "initalShotBlueAmp"
+            "waitTime": 1.0
           }
         },
         {

diff --git a/src/main/deploy/pathplanner/autos/FleeMid.auto b/src/main/deploy/pathplanner/autos/FleeMid.auto
@@ -2,8 +2,8 @@
   "version": 1.0,
   "startingPose": {
     "position": {
-      "x": 1.3552185662929883,
-      "y": 4.779511541005064
+      "x": 1.3074487833435935,
+      "y": 5.52155524239874
     },
     "rotation": 179.80105712063937
   },
@@ -12,9 +12,15 @@
     "data": {
       "commands": [
         {
-          "type": "path",
+          "type": "named",
+          "data": {
+            "name": "initialShot"
+          }
+        },
+        {
+          "type": "wait",
           "data": {
-            "pathName": "initalShotBlueMiddle"
+            "waitTime": 1.25
           }
         },
         {

diff --git a/src/main/deploy/pathplanner/autos/FleeSource.auto b/src/main/deploy/pathplanner/autos/FleeSource.auto
@@ -2,19 +2,25 @@
   "version": 1.0,
   "startingPose": {
     "position": {
-      "x": 1.28,
-      "y": 2.87
+      "x": 0.7523718013035084,
+      "y": 4.450354048988052
     },
-    "rotation": 0
+    "rotation": 120.69972255081439
   },
   "command": {
     "type": "sequential",
     "data": {
       "commands": [
         {
-          "type": "path",
+          "type": "named",
+          "data": {
+            "name": "initialShot"
+          }
+        },
+        {
+          "type": "wait",
           "data": {
-            "pathName": "initalShotBlueSource"
+            "waitTime": 1.25
           }
         },
         {

diff --git a/src/main/deploy/pathplanner/autos/ShuffleShoot.auto b/src/main/deploy/pathplanner/autos/ShuffleShoot.auto
@@ -2,10 +2,10 @@
   "version": 1.0,
   "startingPose": {
     "position": {
-      "x": 0.7434431971001721,
-      "y": 2.17419608235891
+      "x": 0.7328954159687686,
+      "y": 4.421139470985942
     },
-    "rotation": 0
+    "rotation": 119.74488129694214
   },
   "command": {
     "type": "sequential",
@@ -14,13 +14,13 @@
         {
           "type": "named",
           "data": {
-            "name": "intakeOn"
+            "name": "initialShot"
           }
         },
         {
-          "type": "named",
+          "type": "wait",
           "data": {
-            "name": "shooterOn"
+            "waitTime": 1.25
           }
         },
         {

diff --git a/...y/pathplanner/autos/RightSideFarBlue.auto → ...loy/pathplanner/autos/SourceSideFar3.auto b/...y/pathplanner/autos/RightSideFarBlue.auto → ...loy/pathplanner/autos/SourceSideFar3.auto
@@ -2,10 +2,10 @@
   "version": 1.0,
   "startingPose": {
     "position": {
-      "x": 1.3182397535966242,
-      "y": 3.096975563320497
+      "x": 0.7621099939708783,
+      "y": 4.4600922416554205
     },
-    "rotation": 126.75928817029215
+    "rotation": 121.21840276434641
   },
   "command": {
     "type": "sequential",
@@ -14,13 +14,13 @@
         {
           "type": "named",
           "data": {
-            "name": "shooterOn"
+            "name": "initialShot"
           }
         },
         {
-          "type": "path",
+          "type": "wait",
           "data": {
-            "pathName": "initalShotBlueSource"
+            "waitTime": 1.25
           }
         },
         {
@@ -35,6 +35,12 @@
             "pathName": "BlueSourceShoot5"
           }
         },
+        {
+          "type": "named",
+          "data": {
+            "name": "shootNote"
+          }
+        },
         {
           "type": "path",
           "data": {
@@ -47,6 +53,12 @@
             "pathName": "BlueSourceShoot4"
           }
         },
+        {
+          "type": "named",
+          "data": {
+            "name": "shootNote"
+          }
+        },
         {
           "type": "path",
           "data": {
@@ -58,6 +70,12 @@
           "data": {
             "pathName": "BlueMiddleShoot3"
           }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "shootNote"
+          }
         }
       ]
     }

diff --git a/src/main/deploy/pathplanner/autos/StartAmpScore3Close.auto b/src/main/deploy/pathplanner/autos/StartAmpScore3Close.auto
@@ -2,10 +2,10 @@
   "version": 1.0,
   "startingPose": {
     "position": {
-      "x": 1.087122174244349,
-      "y": 7.036539787365289
+      "x": 0.7523718013035084,
+      "y": 6.641447399146282
     },
-    "rotation": 0
+    "rotation": -120.96375653207352
   },
   "command": {
     "type": "sequential",
@@ -14,7 +14,13 @@
         {
           "type": "named",
           "data": {
-            "name": "intakeOn"
+            "name": "initialShot"
+          }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 1.25
           }
         },
         {

diff --git a/src/main/deploy/pathplanner/autos/StartMLeft3.auto b/src/main/deploy/pathplanner/autos/StartMLeft3.auto
@@ -2,10 +2,10 @@
   "version": 1.0,
   "startingPose": {
     "position": {
-      "x": 1.4649253051475237,
-      "y": 4.114397967513275
+      "x": 1.3171869760109631,
+      "y": 5.560508013068222
     },
-    "rotation": 0
+    "rotation": 180.0
   },
   "command": {
     "type": "sequential",
@@ -14,7 +14,13 @@
         {
           "type": "named",
           "data": {
-            "name": "intakeOn"
+            "name": "initialShot"
+          }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 1.25
           }
         },
         {
@@ -32,7 +38,7 @@
         {
           "type": "named",
           "data": {
-            "name": "shooterOn"
+            "name": "shootNote"
           }
         },
         {
@@ -50,7 +56,7 @@
         {
           "type": "named",
           "data": {
-            "name": "shooterOn"
+            "name": "shootNote"
           }
         },
         {
@@ -68,7 +74,7 @@
         {
           "type": "named",
           "data": {
-            "name": "shooterOn"
+            "name": "shootNote"
           }
         }
       ]

diff --git a/src/main/deploy/pathplanner/autos/StartMRight3.auto b/src/main/deploy/pathplanner/autos/StartMRight3.auto
@@ -2,10 +2,10 @@
   "version": 1.0,
   "startingPose": {
     "position": {
-      "x": 1.4649253051475237,
-      "y": 3.17842117869509
+      "x": 1.3171869760109631,
+      "y": 5.531293435066112
     },
-    "rotation": 0
+    "rotation": 180.0
   },
   "command": {
     "type": "sequential",
@@ -14,7 +14,13 @@
         {
           "type": "named",
           "data": {
-            "name": "intakeOn"
+            "name": "initialShot"
+          }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 1.25
           }
         },
         {
@@ -32,7 +38,7 @@
         {
           "type": "named",
           "data": {
-            "name": "shooterOn"
+            "name": "shootNote"
           }
         },
         {
@@ -50,7 +56,7 @@
         {
           "type": "named",
           "data": {
-            "name": "shooterOn"
+            "name": "shootNote"
           }
         },
         {
@@ -68,7 +74,7 @@
         {
           "type": "named",
           "data": {
-            "name": "shooterOn"
+            "name": "shootNote"
           }
         }
       ]

diff --git a/src/main/deploy/pathplanner/paths/Blue2AutoPickup.path b/src/main/deploy/pathplanner/paths/Blue2AutoPickup.path
@@ -16,16 +16,16 @@
     },
     {
       "anchor": {
-        "x": 7.5585241906825855,
-        "y": 5.937602754065366
+        "x": 7.491201127123489,
+        "y": 5.940297527095648
       },
       "prevControl": {
-        "x": 7.231087866294267,
-        "y": 6.007767680720005
+        "x": 7.16376480273517,
+        "y": 6.0104624537502875
       },
       "nextControl": null,
       "isLocked": false,
-      "linkedName": "CollectNote2Blue"
+      "linkedName": null
     }
   ],
   "rotationTargets": [
@@ -54,7 +54,7 @@
     "rotateFast": false
   },
   "reversed": false,
-  "folder": "Collect Notes",
+  "folder": null,
   "previewStartingState": null,
   "useDefaultConstraints": false
 }