themilkenknights · qrAIhttps · Apr 4, 2024 · Apr 3, 2024 · Apr 5, 2024 · Apr 5, 2024
diff --git a/Cresendo/simgui-ds.json b/Cresendo/simgui-ds.json
@@ -1,4 +1,9 @@
 {
+  "Keyboard 0 Settings": {
+    "window": {
+      "visible": true
+    }
+  },
   "System Joysticks": {
     "window": {
       "visible": false
@@ -16,10 +21,15 @@
           "incKey": 83
         },
         {
-          "decayRate": 0.0,
-          "keyRate": 0.009999999776482582
+          "decayRate": 1.0,
+          "incKey": 50,
+          "keyRate": 1.0
+        },
+        {
+          "decayRate": 1.0,
+          "incKey": 49,
+          "keyRate": 1.0
         },
-        {},
         {},
         {
           "decKey": 82,
@@ -40,7 +50,6 @@
         {
           "key0": 56,
           "key135": 323,
-          "key180": 50,
           "key225": 321,
           "key270": 324,
           "key315": 327,

diff --git a/Cresendo/simgui.json b/Cresendo/simgui.json
@@ -81,6 +81,13 @@
       "/SmartDashboard/Module 2": "Mechanism2d",
       "/SmartDashboard/Module 3": "Mechanism2d",
       "/SmartDashboard/intake": "Subsystem"
+    },
+    "windows": {
+      "/Shuffleboard/Autos/Type": {
+        "window": {
+          "visible": true
+        }
+      }
     }
   },
   "NetworkTables": {

diff --git a/Cresendo/src/main/deploy/pathplanner/autos/BottomSingle.auto b/Cresendo/src/main/deploy/pathplanner/autos/BottomSingle.auto
@@ -14,32 +14,7 @@
         {
           "type": "path",
           "data": {
-            "pathName": "bottom avoider"
-          }
-        },
-        {
-          "type": "named",
-          "data": {
-            "name": "Outtake"
-          }
-        },
-        {
-          "type": "parallel",
-          "data": {
-            "commands": [
-              {
-                "type": "named",
-                "data": {
-                  "name": "GoDown"
-                }
-              },
-              {
-                "type": "path",
-                "data": {
-                  "pathName": "mobility path"
-                }
-              }
-            ]
+            "pathName": "Mobility path bottom"
           }
         }
       ]

diff --git a/Cresendo/src/main/deploy/pathplanner/autos/TOP_OUT.auto b/Cresendo/src/main/deploy/pathplanner/autos/TOP_OUT.auto
@@ -35,28 +35,40 @@
             "pathName": "GetTopNote"
           }
         },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Top"
+          }
+        },
         {
           "type": "named",
           "data": {
-            "name": "ground"
+            "name": "Outtake"
           }
         },
         {
-          "type": "path",
+          "type": "named",
           "data": {
-            "pathName": "Top"
+            "name": "GoDown"
           }
         },
         {
-          "type": "wait",
+          "type": "path",
           "data": {
-            "waitTime": 1.0
+            "pathName": "mobility path"
           }
         },
         {
           "type": "named",
           "data": {
-            "name": "Outtake"
+            "name": "GoDown"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "mobility path 2"
           }
         }
       ]

diff --git a/Cresendo/src/main/deploy/pathplanner/autos/TopSingle.auto b/Cresendo/src/main/deploy/pathplanner/autos/TopSingle.auto
@@ -32,7 +32,7 @@
         {
           "type": "path",
           "data": {
-            "pathName": "mobility path"
+            "pathName": "goback"
           }
         }
       ]

diff --git a/Cresendo/src/main/deploy/pathplanner/paths/GetTopNote.path b/Cresendo/src/main/deploy/pathplanner/paths/GetTopNote.path
@@ -16,28 +16,28 @@
     },
     {
       "anchor": {
-        "x": 1.8798445179828744,
-        "y": 6.88647140327456
+        "x": 1.7631246636900852,
+        "y": 6.985103093013204
       },
       "prevControl": {
-        "x": 2.1327375356172515,
-        "y": 6.6043984220669865
+        "x": 1.538777792542104,
+        "y": 6.991148732918093
       },
       "nextControl": {
-        "x": 1.6269515003484973,
-        "y": 7.168544384482133
+        "x": 2.1418275806074405,
+        "y": 6.9748979073785735
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 4.058615131448272,
-        "y": 6.88647140327456
+        "x": 4.001010909289989,
+        "y": 6.985103093013204
       },
       "prevControl": {
-        "x": 3.9175786408444853,
-        "y": 7.027507893878346
+        "x": 3.7772978552288103,
+        "y": 6.9559231294400075
       },
       "nextControl": null,
       "isLocked": false,
@@ -55,9 +55,9 @@
   "eventMarkers": [
     {
       "name": "New Event Marker",
-      "waypointRelativePos": 0,
+      "waypointRelativePos": 0.85,
       "command": {
-        "type": "sequential",
+        "type": "parallel",
         "data": {
           "commands": [
             {
@@ -72,15 +72,15 @@
     },
     {
       "name": "New Event Marker",
-      "waypointRelativePos": 0,
+      "waypointRelativePos": 1.2,
       "command": {
         "type": "parallel",
         "data": {
           "commands": [
             {
               "type": "named",
               "data": {
-                "name": "GoDown"
+                "name": "ground"
               }
             }
           ]

diff --git a/Cresendo/src/main/deploy/pathplanner/paths/HP m aligner.path b/Cresendo/src/main/deploy/pathplanner/paths/HP m aligner.path
@@ -0,0 +1,49 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 14.836991141855448,
+        "y": 1.9383620126262662
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 14.917813280351576,
+        "y": 1.8986932481035517
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 15.349171323342647,
+        "y": 0.8933785830534634
+      },
+      "prevControl": {
+        "x": 15.132655881052504,
+        "y": 1.1819272758915895
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": "Right HP"
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": -59.772908996530006,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": null,
+  "previewStartingState": null,
+  "useDefaultConstraints": false
+}
diff --git a/Cresendo/src/main/deploy/pathplanner/paths/Mobility path bottom.path b/Cresendo/src/main/deploy/pathplanner/paths/Mobility path bottom.path
@@ -0,0 +1,52 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 0.5667461571889965,
+        "y": 2.04259745012381
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 1.5667461571889967,
+        "y": 2.04259745012381
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 2.9595031701911747,
+        "y": 0.4376994535979591
+      },
+      "prevControl": {
+        "x": 1.9595031701911747,
+        "y": 0.4376994535979591
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.5,
+    "maxAcceleration": 3.5,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 0,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": null,
+  "previewStartingState": {
+    "rotation": 0,
+    "velocity": 0
+  },
+  "useDefaultConstraints": true
+}
diff --git a/Cresendo/src/main/deploy/pathplanner/paths/goback.path b/Cresendo/src/main/deploy/pathplanner/paths/goback.path
@@ -0,0 +1,52 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 1.76,
+        "y": 8.034216637153653
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 0.9363590291161621,
+        "y": 7.907770128336465
+      },
+      "isLocked": false,
+      "linkedName": "Amp"
+    },
+    {
+      "anchor": {
+        "x": 0.5764728117085322,
+        "y": 7.538157256414163
+      },
+      "prevControl": {
+        "x": 0.7418259386233159,
+        "y": 7.518703947365365
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.5,
+    "maxAcceleration": 3.5,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 0,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": null,
+  "previewStartingState": {
+    "rotation": 85.47861194542871,
+    "velocity": 0
+  },
+  "useDefaultConstraints": true
+}