Merge pull request #58 from zaneal/main

Autos
fairviewrobotics · Mar 20, 2024 · b87006d · b87006d
2 parents bc5945e + b407827
commit b87006d
Show file tree

Hide file tree

Showing 5 changed files with 22 additions and 40 deletions.
diff --git a/src/main/deploy/pathplanner/autos/Basic Auto.auto b/src/main/deploy/pathplanner/autos/Basic Auto.auto
diff --git a/src/main/deploy/pathplanner/autos/Spoiler.auto b/src/main/deploy/pathplanner/autos/Spoiler.auto
@@ -2,15 +2,22 @@
   "version": 1.0,
   "startingPose": {
     "position": {
-      "x": 2,
-      "y": 2
+      "x": 1.3835096049821733,
+      "y": 5.539671704343409
     },
     "rotation": 0
   },
   "command": {
     "type": "sequential",
     "data": {
-      "commands": []
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Spoiler"
+          }
+        }
+      ]
     }
   },
   "folder": null,

diff --git a/src/main/deploy/pathplanner/paths/ShootFrom1.path b/src/main/deploy/pathplanner/paths/ShootFrom1.path
@@ -16,12 +16,12 @@
     },
     {
       "anchor": {
-        "x": 2.178428889265186,
-        "y": 5.56
+        "x": 2.154437600541868,
+        "y": 5.547569826621134
       },
       "prevControl": {
-        "x": 2.357354020263596,
-        "y": 5.585219522290897
+        "x": 2.333362731540278,
+        "y": 5.572789348912032
       },
       "nextControl": null,
       "isLocked": false,

diff --git a/src/main/deploy/pathplanner/paths/Spoiler.path b/src/main/deploy/pathplanner/paths/Spoiler.path
@@ -3,13 +3,13 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 6.35024083010384,
-        "y": 7.4510172955587075
+        "x": 6.020657532055806,
+        "y": 6.818454900798691
       },
       "prevControl": null,
       "nextControl": {
-        "x": 6.3872966819933215,
-        "y": 6.674566552842408
+        "x": 6.837845958099324,
+        "y": 6.973685664963923
       },
       "isLocked": false,
       "linkedName": null
@@ -59,8 +59,8 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 1.0,
-    "maxAcceleration": 0.5,
+    "maxVelocity": 7.0,
+    "maxAcceleration": 3.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0
   },

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -55,9 +55,9 @@ public RobotContainer() {
 //FOR ALL: tune timeouts
 
     NamedCommands.registerCommand("AutoSpinUp", new SpinUpCommand(shooterSubsystem, ledSubsystem).withTimeout(20.0));
-    NamedCommands.registerCommand("LongIntakeCommand", new AutoIntakeOrShoot(indexerSubsystem, intakeSubsystem, AutoIntakeOrShoot.Goal.INTAKE).withTimeout(3.5));
+    NamedCommands.registerCommand("LongIntakeCommand", new AutoIntakeOrShoot(indexerSubsystem, intakeSubsystem, AutoIntakeOrShoot.Goal.INTAKE).withTimeout(3.3));
     NamedCommands.registerCommand("ShortIntakeCommand", new AutoIntakeOrShoot(indexerSubsystem, intakeSubsystem, AutoIntakeOrShoot.Goal.INTAKE).withTimeout(1.5));
-    NamedCommands.registerCommand("MediumIntakeCommand", new AutoIntakeOrShoot(indexerSubsystem, intakeSubsystem, AutoIntakeOrShoot.Goal.INTAKE).withTimeout(2.5));
+    NamedCommands.registerCommand("MediumIntakeCommand", new AutoIntakeOrShoot(indexerSubsystem, intakeSubsystem, AutoIntakeOrShoot.Goal.INTAKE).withTimeout(2.3));
     NamedCommands.registerCommand("AutoSpinForShoot", new SpinUpCommand(shooterSubsystem, ledSubsystem).withTimeout(1.5));
     NamedCommands.registerCommand("AutoShoot", new AutoIntakeOrShoot(indexerSubsystem, intakeSubsystem, AutoIntakeOrShoot.Goal.SHOOT).withTimeout(0.7));
 ////