Merge pull request #115 from strykeforce/grg-hotfix

GRG Hotfix
strykeforce · Oct 15, 2024 · a0a1cb7 · a0a1cb7
2 parents 2c9ed3c + a9c2037
commit a0a1cb7
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Showing 4 changed files with 24 additions and 4 deletions.
diff --git a/src/main/deploy/paths/MiddleNote1_MiddleShoot.toml b/src/main/deploy/paths/MiddleNote1_MiddleShoot.toml
@@ -10,8 +10,7 @@ target_yaw = 13.0 #degrees
     dX = -0.5
     angle = 180.0
 [end_pose]
-    x = 4.3
-    y = 6.5
+    dataPoint = "MS2"
     angle = 180.0
 
 [[internal_points]]

diff --git a/src/main/deploy/paths/MiddleNote5_NonAmpShoot2.toml b/src/main/deploy/paths/MiddleNote5_NonAmpShoot2.toml
@@ -1,5 +1,5 @@
 max_velocity = 5.0 #m/s
-max_acceleration = 1.5 #m/s
+max_acceleration = 3.0 #m/s 1.5
 start_velocity = 0.0 #m/s
 end_velocity = 0.0 #m/s 
 is_reversed = false

diff --git a/src/main/deploy/paths/WingNote1_MiddleNote1.toml b/src/main/deploy/paths/WingNote1_MiddleNote1.toml
@@ -0,0 +1,21 @@
+max_velocity = 5.0 #m/s
+max_acceleration = 4.4 #m/s
+start_velocity = 0.0 #m/s
+end_velocity = 0.0 #m/s 
+is_reversed = false
+target_yaw = 0.0 #degrees
+
+[start_pose]
+    dataPoint = "W1"
+    dY = 0.1
+    dX = 1.0
+    angle = 0.0
+
+[end_pose]
+    dataPoint = "M1"
+    dX = -0.5
+
+
+[[internal_points]]
+    x = 5.72
+    y = 7.4
diff --git a/src/main/java/frc/robot/constants/AutonConstants.java b/src/main/java/frc/robot/constants/AutonConstants.java
@@ -204,7 +204,7 @@ public final class Setpoints {
         MI1; // new Pose2d(1.57, 4.737, Rotation2d.fromDegrees(0.0)); // y = 5.05
     public static final Pose2d NAS1 = new Pose2d(4.2, 2.8, Rotation2d.fromDegrees(-33.2));
     public static final Pose2d NAS2 =
-        new Pose2d(4.55, 4.6, Rotation2d.fromDegrees(-12.2)); // 4,5.1, -6.7
+        new Pose2d(4.4, 4.6, Rotation2d.fromDegrees(-12.2)); // 4.55, 4.6 -12.2 -> 4,5.1, -6.7
     public static final Pose2d NAS2_SPIN =
         new Pose2d(4.36, 4.74, Rotation2d.fromDegrees(-12.2)); // 4,5.1, -6.7
     public static final Pose2d NAS3 =