Merge pull request #62 from TotalTaxAmount/colorado

Colorado all code
fairviewrobotics · Mar 31, 2024 · a7ee963 · a7ee963
2 parents 257bd0f + 4b0c4a1
commit a7ee963
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Showing 36 changed files with 276 additions and 266 deletions.
diff --git a/.pathplanner/settings.json b/.pathplanner/settings.json
@@ -15,9 +15,9 @@
     "Amp",
     "Source"
   ],
-  "defaultMaxVel": 1.0,
+  "defaultMaxVel": 2.0,
   "defaultMaxAccel": 3.0,
-  "defaultMaxAngVel": 360.0,
-  "defaultMaxAngAccel": 180.0,
-  "maxModuleSpeed": 7.0
+  "defaultMaxAngVel": 180.0,
+  "defaultMaxAngAccel": 360.0,
+  "maxModuleSpeed": 7.28
 }
diff --git a/src/main/deploy/pathplanner/autos/Center4Front.auto b/src/main/deploy/pathplanner/autos/Center4Front.auto
@@ -2,7 +2,7 @@
   "version": 1.0,
   "startingPose": {
     "position": {
-      "x": 1.2582679517210889,
+      "x": 1.35,
       "y": 5.4834346983508775
     },
     "rotation": 0

diff --git a/src/main/deploy/pathplanner/autos/Source2Front1Back.auto b/src/main/deploy/pathplanner/autos/Source2Front1Back.auto
@@ -95,7 +95,7 @@
                           {
                             "type": "path",
                             "data": {
-                              "pathName": "Back3"
+                              "pathName": "Back5"
                             }
                           }
                         ]
@@ -104,7 +104,7 @@
                     {
                       "type": "path",
                       "data": {
-                        "pathName": "StageShootSource"
+                        "pathName": "SourceShoot"
                       }
                     },
                     {

diff --git a/src/main/deploy/pathplanner/paths/AmpShoot.path b/src/main/deploy/pathplanner/paths/AmpShoot.path
@@ -3,25 +3,25 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 7.42,
-        "y": 1.910351815456254
+        "x": 7.412981126317702,
+        "y": 7.21941934701405
       },
       "prevControl": null,
       "nextControl": {
-        "x": 8.2020516600137,
-        "y": 4.0385533965512375
+        "x": 7.153856970628633,
+        "y": 7.333365584977615
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 2.216672428715228,
-        "y": 6.460664023179898
+        "x": 1.91,
+        "y": 6.66
       },
       "prevControl": {
-        "x": 7.82769604728111,
-        "y": 8.559223200424341
+        "x": 1.468403187289348,
+        "y": 6.573442186928081
       },
       "nextControl": null,
       "isLocked": false,
@@ -31,7 +31,7 @@
   "rotationTargets": [
     {
       "waypointRelativePos": 0.5,
-      "rotationDegrees": 32.50423861357956,
+      "rotationDegrees": 36.33,
       "rotateFast": true
     }
   ],
@@ -57,7 +57,7 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": 37.64115871011478,
+    "rotation": 35.75059492780064,
     "rotateFast": true
   },
   "reversed": false,

diff --git a/src/main/deploy/pathplanner/paths/Back1.path b/src/main/deploy/pathplanner/paths/Back1.path
@@ -3,13 +3,13 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 1.35,
-        "y": 5.5628329472550995
+        "x": 1.991967008223116,
+        "y": 7.30464155833525
       },
       "prevControl": null,
       "nextControl": {
-        "x": 3.0940132232588295,
-        "y": 6.890632027141115
+        "x": 4.270397835819368,
+        "y": 7.5883483135449685
       },
       "isLocked": false,
       "linkedName": null
@@ -20,16 +20,34 @@
         "y": 7.445059537795238
       },
       "prevControl": {
-        "x": 5.971130960780441,
-        "y": 6.85919258412591
+        "x": 5.8528409385017826,
+        "y": 7.471362496042528
       },
       "nextControl": null,
       "isLocked": false,
       "linkedName": null
     }
   ],
-  "rotationTargets": [],
-  "constraintZones": [],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 0.7,
+      "rotationDegrees": 0,
+      "rotateFast": false
+    }
+  ],
+  "constraintZones": [
+    {
+      "name": "New Constraints Zone",
+      "minWaypointRelativePos": 0.95,
+      "maxWaypointRelativePos": 1.0,
+      "constraints": {
+        "maxVelocity": 2.0,
+        "maxAcceleration": 3.0,
+        "maxAngularVelocity": 360.0,
+        "maxAngularAcceleration": 180.0
+      }
+    }
+  ],
   "eventMarkers": [],
   "globalConstraints": {
     "maxVelocity": 4.0,
@@ -39,7 +57,7 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": 14.872587473666167,
+    "rotation": 0.14065319019501973,
     "rotateFast": false
   },
   "reversed": false,

diff --git a/src/main/deploy/pathplanner/paths/Back5.path b/src/main/deploy/pathplanner/paths/Back5.path
@@ -32,7 +32,7 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 4.0,
+    "maxVelocity": 4.5,
     "maxAcceleration": 3.0,
     "maxAngularVelocity": 360.0,
     "maxAngularAcceleration": 180.0

diff --git a/src/main/deploy/pathplanner/paths/BasicPath2.path b/src/main/deploy/pathplanner/paths/BasicPath2.path
@@ -32,10 +32,10 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 1.0,
+    "maxVelocity": 2.0,
     "maxAcceleration": 3.0,
-    "maxAngularVelocity": 360.0,
-    "maxAngularAcceleration": 180.0
+    "maxAngularVelocity": 180.0,
+    "maxAngularAcceleration": 360.0
   },
   "goalEndState": {
     "velocity": 0,

diff --git a/src/main/deploy/pathplanner/paths/Front1FromStart.path b/src/main/deploy/pathplanner/paths/Front1FromStart.path
@@ -38,10 +38,10 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 1.0,
+    "maxVelocity": 2.0,
     "maxAcceleration": 3.0,
-    "maxAngularVelocity": 360.0,
-    "maxAngularAcceleration": 180.0
+    "maxAngularVelocity": 180.0,
+    "maxAngularAcceleration": 360.0
   },
   "goalEndState": {
     "velocity": 0,

diff --git a/src/main/deploy/pathplanner/paths/Front2FromShoot.path b/src/main/deploy/pathplanner/paths/Front2FromShoot.path
@@ -3,12 +3,12 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 2.4630582131534635,
+        "x": 2.0,
         "y": 5.534386494698915
       },
       "prevControl": null,
       "nextControl": {
-        "x": 2.647547666562195,
+        "x": 2.1844894534087316,
         "y": 5.509447041930756
       },
       "isLocked": false,
@@ -32,10 +32,10 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 1.0,
+    "maxVelocity": 2.0,
     "maxAcceleration": 3.0,
-    "maxAngularVelocity": 360.0,
-    "maxAngularAcceleration": 180.0
+    "maxAngularVelocity": 180.0,
+    "maxAngularAcceleration": 360.0
   },
   "goalEndState": {
     "velocity": 0,

diff --git a/src/main/deploy/pathplanner/paths/Front2FromStart.path b/src/main/deploy/pathplanner/paths/Front2FromStart.path
@@ -32,10 +32,10 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 1.0,
+    "maxVelocity": 2.0,
     "maxAcceleration": 3.0,
-    "maxAngularVelocity": 360.0,
-    "maxAngularAcceleration": 180.0
+    "maxAngularVelocity": 180.0,
+    "maxAngularAcceleration": 360.0
   },
   "goalEndState": {
     "velocity": 0,

diff --git a/src/main/deploy/pathplanner/paths/Front3FromShoot.path b/src/main/deploy/pathplanner/paths/Front3FromShoot.path
@@ -32,12 +32,12 @@
     },
     {
       "anchor": {
-        "x": 2.567841826336065,
-        "y": 4.104187711527835
+        "x": 2.792554264018481,
+        "y": 4.080179594008477
       },
       "prevControl": {
-        "x": 2.3969634004082825,
-        "y": 4.100016227810234
+        "x": 2.6216758380906984,
+        "y": 4.076008110290876
       },
       "nextControl": null,
       "isLocked": false,
@@ -48,10 +48,10 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 1.0,
+    "maxVelocity": 2.0,
     "maxAcceleration": 3.0,
-    "maxAngularVelocity": 360.0,
-    "maxAngularAcceleration": 180.0
+    "maxAngularVelocity": 180.0,
+    "maxAngularAcceleration": 360.0
   },
   "goalEndState": {
     "velocity": 0,

diff --git a/src/main/deploy/pathplanner/paths/Front3FromStart.path b/src/main/deploy/pathplanner/paths/Front3FromStart.path
@@ -48,10 +48,10 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 1.0,
+    "maxVelocity": 2.0,
     "maxAcceleration": 3.0,
-    "maxAngularVelocity": 360.0,
-    "maxAngularAcceleration": 180.0
+    "maxAngularVelocity": 180.0,
+    "maxAngularAcceleration": 360.0
   },
   "goalEndState": {
     "velocity": 0,

diff --git a/src/main/deploy/pathplanner/paths/InitialShootCenter.path b/src/main/deploy/pathplanner/paths/InitialShootCenter.path
@@ -16,12 +16,12 @@
     },
     {
       "anchor": {
-        "x": 2.2013210254490687,
-        "y": 5.511964812992126
+        "x": 2.28,
+        "y": 5.49
       },
       "prevControl": {
-        "x": 2.071321025449069,
-        "y": 5.511964812992126
+        "x": 2.15,
+        "y": 5.49
       },
       "nextControl": null,
       "isLocked": false,
@@ -32,10 +32,10 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 1.0,
+    "maxVelocity": 2.0,
     "maxAcceleration": 3.0,
-    "maxAngularVelocity": 360.0,
-    "maxAngularAcceleration": 180.0
+    "maxAngularVelocity": 180.0,
+    "maxAngularAcceleration": 360.0
   },
   "goalEndState": {
     "velocity": 0.01,

diff --git a/src/main/deploy/pathplanner/paths/InitialShootLeft.path b/src/main/deploy/pathplanner/paths/InitialShootLeft.path
@@ -38,10 +38,10 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 1.0,
+    "maxVelocity": 2.0,
     "maxAcceleration": 3.0,
-    "maxAngularVelocity": 360.0,
-    "maxAngularAcceleration": 180.0
+    "maxAngularVelocity": 180.0,
+    "maxAngularAcceleration": 360.0
   },
   "goalEndState": {
     "velocity": 0,

diff --git a/src/main/deploy/pathplanner/paths/InitialShootRight.path b/src/main/deploy/pathplanner/paths/InitialShootRight.path
@@ -38,10 +38,10 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 1.0,
+    "maxVelocity": 2.0,
     "maxAcceleration": 3.0,
-    "maxAngularVelocity": 360.0,
-    "maxAngularAcceleration": 180.0
+    "maxAngularVelocity": 180.0,
+    "maxAngularAcceleration": 360.0
   },
   "goalEndState": {
     "velocity": 0,

diff --git a/src/main/deploy/pathplanner/paths/ShootFrom1.path b/src/main/deploy/pathplanner/paths/ShootFrom1.path
@@ -16,19 +16,25 @@
     },
     {
       "anchor": {
-        "x": 2.154437600541868,
+        "x": 2.35,
         "y": 5.547569826621134
       },
       "prevControl": {
-        "x": 2.333362731540278,
-        "y": 5.572789348912032
+        "x": 2.5289264494583534,
+        "y": 5.572779993054668
       },
       "nextControl": null,
       "isLocked": false,
       "linkedName": null
     }
   ],
-  "rotationTargets": [],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 0.7,
+      "rotationDegrees": 0.0,
+      "rotateFast": true
+    }
+  ],
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
@@ -39,7 +45,7 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": 0,
+    "rotation": 6.780012820312957,
     "rotateFast": false
   },
   "reversed": false,

diff --git a/src/main/deploy/pathplanner/paths/ShootFrom3.path b/src/main/deploy/pathplanner/paths/ShootFrom3.path
@@ -28,7 +28,13 @@
       "linkedName": null
     }
   ],
-  "rotationTargets": [],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 0.85,
+      "rotationDegrees": 0,
+      "rotateFast": true
+    }
+  ],
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {