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code made for betterAutos and better april tags #82

Merged
merged 9 commits into from
Feb 27, 2024
Merged

code made for betterAutos and better april tags #82

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f88fac1
edited paths for better pickup
rflood07 Feb 24, 2024
e3b6221
started code for aprilTagDistance
rflood07 Feb 24, 2024
5fd5e15
fixed build issues
trixydevs Feb 24, 2024
3e573e8
integrated tag distance into note trustworthness
trixydevs Feb 24, 2024
015afd8
changed tagDistance calculations
2491NoMythic Feb 26, 2024
7855b0f
did some chnages so that we don't have to decode the json file every …
2491NoMythic Feb 26, 2024
b8d4013
tuned allowed april tag distance
rflood07 Feb 27, 2024
62496ba
one more tune
rflood07 Feb 27, 2024
8a8e39f
Merge branch 'main' into practiceFieldTest
Serena1528 Feb 27, 2024
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10 changes: 5 additions & 5 deletions src/main/deploy/pathplanner/autos/StartAmpScore3Close.auto
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Original file line number Diff line number Diff line change
Expand Up @@ -2,8 +2,8 @@
"version": 1.0,
"startingPose": {
"position": {
"x": 0.7523718013035084,
"y": 6.641447399146282
"x": 1.3070140425995143,
"y": 5.673210203563265
},
"rotation": -120.96375653207352
},
Expand Down Expand Up @@ -32,7 +32,7 @@
{
"type": "path",
"data": {
"pathName": "CloseLeftPickup"
"pathName": "CloseAmpPickup"
}
},
{
Expand All @@ -44,7 +44,7 @@
{
"type": "path",
"data": {
"pathName": "CloseMiddlePickupFromLeft"
"pathName": "CloseMiddlePickupFromAmp"
}
},
{
Expand All @@ -56,7 +56,7 @@
{
"type": "path",
"data": {
"pathName": "CloseRightPickupFromMiddle"
"pathName": "CloseSourcePickupFromMiddle"
}
}
]
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67 changes: 67 additions & 0 deletions src/main/deploy/pathplanner/autos/StartMidScore3Close.auto
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Original file line number Diff line number Diff line change
@@ -0,0 +1,67 @@
{
"version": 1.0,
"startingPose": {
"position": {
"x": 0.7939330164374621,
"y": 4.441815740774339
},
"rotation": 180.0
},
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "initialShot"
}
},
{
"type": "wait",
"data": {
"waitTime": 1.25
}
},
{
"type": "named",
"data": {
"name": "conditionlIndexer"
}
},
{
"type": "path",
"data": {
"pathName": "CloseAmpPickup"
}
},
{
"type": "named",
"data": {
"name": "conditionlIndexer"
}
},
{
"type": "path",
"data": {
"pathName": "CloseMiddlePickupFromAmp"
}
},
{
"type": "named",
"data": {
"name": "conditionlIndexer"
}
},
{
"type": "path",
"data": {
"pathName": "CloseSourcePickupFromMiddle"
}
}
]
}
},
"folder": null,
"choreoAuto": false
}
0 ...eploy/pathplanner/autos/StartMRight3.auto → ...lanner/autos/StartMidScore3FarSource.auto
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67 changes: 67 additions & 0 deletions src/main/deploy/pathplanner/autos/StartSourceScore3Close.auto
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Original file line number Diff line number Diff line change
@@ -0,0 +1,67 @@
{
"version": 1.0,
"startingPose": {
"position": {
"x": 0.6766573533147072,
"y": 4.41249682499365
},
"rotation": 121.42956561483847
},
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "initialShot"
}
},
{
"type": "wait",
"data": {
"waitTime": 1.25
}
},
{
"type": "named",
"data": {
"name": "conditionlIndexer"
}
},
{
"type": "path",
"data": {
"pathName": "CloseSourcePickup"
}
},
{
"type": "named",
"data": {
"name": "conditionlIndexer"
}
},
{
"type": "path",
"data": {
"pathName": "CloseMiddlePickupFromSource"
}
},
{
"type": "named",
"data": {
"name": "conditionlIndexer"
}
},
{
"type": "path",
"data": {
"pathName": "CloseAmpPickup"
}
}
]
}
},
"folder": null,
"choreoAuto": false
}
0 ...loy/pathplanner/autos/SourceSideFar3.auto → ...ner/autos/StartSourceScore3FarSource.auto
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14 changes: 7 additions & 7 deletions src/main/deploy/pathplanner/paths/Blue3PickupAmpSide.path
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Original file line number Diff line number Diff line change
Expand Up @@ -8,20 +8,20 @@
},
"prevControl": null,
"nextControl": {
"x": 8.665673221827673,
"y": 7.19589929449488
"x": 8.240937624732393,
"y": 5.731848035124642
},
"isLocked": false,
"linkedName": "SourceSideShoot"
},
{
"anchor": {
"x": 8.006386298486884,
"y": 4.485794114445372
"x": 8.29957545629377,
"y": 4.089988751406074
},
"prevControl": {
"x": 7.4979276239118775,
"y": 5.280838587417197
"x": 7.449326898653798,
"y": 4.764323814361915
},
"nextControl": null,
"isLocked": false,
Expand All @@ -30,7 +30,7 @@
],
"rotationTargets": [
{
"waypointRelativePos": 1,
"waypointRelativePos": 0.95,
"rotationDegrees": 127.97,
"rotateFast": true
}
Expand Down
14 changes: 7 additions & 7 deletions src/main/deploy/pathplanner/paths/Blue4AutoPickupUnderStage.path
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Expand Up @@ -8,20 +8,20 @@
},
"prevControl": null,
"nextControl": {
"x": 3.196658160813356,
"y": 3.496011167585799
"x": 2.4064733843753405,
"y": 3.1957618200950693
},
"isLocked": false,
"linkedName": "SourceSideShoot"
},
{
"anchor": {
"x": 7.311335876233006,
"y": 3.0521743094768246
"x": 7.595921477557241,
"y": 3.049167241191626
},
"prevControl": {
"x": 6.48105091081977,
"y": 4.02278912819934
"x": 6.27657026742625,
"y": 4.64704815123916
},
"nextControl": null,
"isLocked": false,
Expand All @@ -30,7 +30,7 @@
],
"rotationTargets": [
{
"waypointRelativePos": 1,
"waypointRelativePos": 1.0,
"rotationDegrees": 145.3,
"rotateFast": true
}
Expand Down
21 changes: 13 additions & 8 deletions src/main/deploy/pathplanner/paths/Blue4PickupSourceSide.path
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Original file line number Diff line number Diff line change
Expand Up @@ -8,20 +8,20 @@
},
"prevControl": null,
"nextControl": {
"x": 6.912961158238873,
"y": 0.24326353075685425
"x": 7.346710693421388,
"y": 1.7444754889509784
},
"isLocked": false,
"linkedName": "SourceSideBlueShoot"
},
{
"anchor": {
"x": 7.8597917195834395,
"y": 2.2575565151130306
"x": 8.270256540513081,
"y": 2.4041510940164743
},
"prevControl": {
"x": 6.657716172575203,
"y": 1.7884538626220112
"x": 7.0681809935048445,
"y": 1.935048441525455
},
"nextControl": null,
"isLocked": false,
Expand All @@ -30,8 +30,13 @@
],
"rotationTargets": [
{
"waypointRelativePos": 1,
"rotationDegrees": -157.01,
"waypointRelativePos": 0.35,
"rotationDegrees": -153.3479005035105,
"rotateFast": true
},
{
"waypointRelativePos": 0.7,
"rotationDegrees": -159.58424098764888,
"rotateFast": true
}
],
Expand Down
8 changes: 4 additions & 4 deletions src/main/deploy/pathplanner/paths/Blue5PickupSourceSide.path
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Original file line number Diff line number Diff line change
Expand Up @@ -16,12 +16,12 @@
},
{
"anchor": {
"x": 7.713197140679996,
"y": 0.8649080155303174
"x": 8.255597082622737,
"y": 0.7769512681882514
},
"prevControl": {
"x": 6.320548641097282,
"y": 1.2313944627889262
"x": 6.862948583040024,
"y": 1.1434377154468605
},
"nextControl": null,
"isLocked": false,
Expand Down
8 changes: 4 additions & 4 deletions ...oy/pathplanner/paths/CloseLeftPickup.path → ...loy/pathplanner/paths/CloseAmpPickup.path
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Original file line number Diff line number Diff line change
Expand Up @@ -16,12 +16,12 @@
},
{
"anchor": {
"x": 2.6117057948372984,
"y": 6.7433506295548105
"x": 2.890235494756704,
"y": 6.992561413694256
},
"prevControl": {
"x": 2.391813926482133,
"y": 6.684712797993434
"x": 2.670343626401539,
"y": 6.93392358213288
},
"nextControl": null,
"isLocked": false,
Expand Down
0 ...nner/paths/CloseMiddlePickupFromLeft.path → ...anner/paths/CloseMiddlePickupFromAmp.path
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File renamed without changes.
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