New Top Ferry Auton (#104)

* added HGFED Ferry auton * FERRY PATHS AUTON FERRY PATHS * Actually finished ferry autons * Add CHGFEDJerk.java * move to ferry folder * CHGFEDJerk working in sim * Edit ferry path auton to not shoot every shot * Remove uppercase To * Delete unused new path * Rename paths in robot container * Revert CShoot to H path * Jerk and Ferry path fixed * revert intake to blue * update jerk name (doesnt score C) * Made F to Ferry Shot not hit stage * wrote bottom ferry auton (not sure where its shooting) * intake is solid now * BottomFerry now aligns to amp zone * revert intake color change * Remove navgrid * add paths to prep for TopFerry Co-authored-by: Richie Xue <rxue40@stuy.edu> * Moved ferry shot positions closer to wing line; added a new path for F to Shoot that goes under stage and between B + C. * TopFerry * adding the shoot to alignment * Clean up + organize paths * Add new top ferry auton paths * Change starting pose of NTF, change path folders * Write Top Ferry auton * Rename top ferry auton for merge * Make robot not stop to shoot * Delete a ton of stuff, remove everything but top ferry autos from this branch * Remove auton configs * Remove autos, fix F to Shoot, separate non-moving and moving shot ferry commands * Revert linked F pose * Delete amp zone align command * Lower shooter speeds --------- Co-authored-by: BrianZ60 <zhengbrian1@gmail.com> Co-authored-by: Edgar Ganahl <ganahledgar@gmail.com> Co-authored-by: Keobkeig <angela.xue3@gmail.com> Co-authored-by: Awang70 <148587179+Awang70@users.noreply.github.com> Co-authored-by: hahafoot <gordondoan13@gmail.com> Co-authored-by: Ivan Chen <ivanchen07@gmail.com> Co-authored-by: Prog694 <prog692@gmail.com>
StuyPulse · Apr 9, 2024 · b891061 · b891061
1 parent be16f2e
commit b891061
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Showing 26 changed files with 1,048 additions and 205 deletions.
diff --git a/.pathplanner/settings.json b/.pathplanner/settings.json
@@ -5,7 +5,8 @@
   "pathFolders": [
     "ABCDE",
     "HGF",
-    "Tests"
+    "Tests",
+    "Top Ferry"
   ],
   "autoFolders": [],
   "defaultMaxVel": 4.5,

diff --git a/src/main/deploy/pathplanner/autos/4.5 ADEF.auto b/src/main/deploy/pathplanner/autos/4.5 ADEF.auto
diff --git a/src/main/deploy/pathplanner/autos/3 ADE.auto → ...n/deploy/pathplanner/autos/DEF Ferry.auto b/src/main/deploy/pathplanner/autos/3 ADE.auto → ...n/deploy/pathplanner/autos/DEF Ferry.auto
@@ -8,31 +8,37 @@
         {
           "type": "path",
           "data": {
-            "pathName": "Preload to A"
+            "pathName": "NTF Start To D"
           }
         },
         {
           "type": "path",
           "data": {
-            "pathName": "A to D"
+            "pathName": "D to Ferry Shot"
           }
         },
         {
           "type": "path",
           "data": {
-            "pathName": "D to Ferry Shot"
+            "pathName": "Ferry Shot to E"
           }
         },
         {
           "type": "path",
           "data": {
-            "pathName": "Ferry Shot to E"
+            "pathName": "E to Ferry Shot"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Ferry Shot to F"
           }
         },
         {
           "type": "path",
           "data": {
-            "pathName": "E to Shoot"
+            "pathName": "F to Shoot (TopFerry)"
           }
         }
       ]

diff --git a/src/main/deploy/pathplanner/autos/2 DE.auto → src/main/deploy/pathplanner/autos/NTF.auto b/src/main/deploy/pathplanner/autos/2 DE.auto → src/main/deploy/pathplanner/autos/NTF.auto
@@ -1,32 +1,38 @@
 {
   "version": 1.0,
-  "startingPose": null,
+  "startingPose": {
+    "position": {
+      "x": 2.157525588199325,
+      "y": 7.431149973519566
+    },
+    "rotation": 40.419189934887385
+  },
   "command": {
     "type": "sequential",
     "data": {
       "commands": [
         {
           "type": "path",
           "data": {
-            "pathName": "Preload Shot to D"
+            "pathName": "NTF Start To D"
           }
         },
         {
           "type": "path",
           "data": {
-            "pathName": "D to Ferry Shot"
+            "pathName": "NTF D To E"
           }
         },
         {
           "type": "path",
           "data": {
-            "pathName": "Ferry Shot to E"
+            "pathName": "NTF E To F"
           }
         },
         {
           "type": "path",
           "data": {
-            "pathName": "E to Shoot"
+            "pathName": "NTF F To Shoot"
           }
         }
       ]

diff --git a/src/main/deploy/pathplanner/navgrid.json b/src/main/deploy/pathplanner/navgrid.json
diff --git a/src/main/deploy/pathplanner/paths/D to Ferry Shot.path b/src/main/deploy/pathplanner/paths/D to Ferry Shot.path
@@ -16,12 +16,12 @@
     },
     {
       "anchor": {
-        "x": 5.135414608792181,
-        "y": 6.653128792368697
+        "x": 5.499492913428859,
+        "y": 6.563657142562062
       },
       "prevControl": {
-        "x": 5.5734337811268215,
-        "y": 6.740245674935794
+        "x": 5.937512085763499,
+        "y": 6.650774025129159
       },
       "nextControl": null,
       "isLocked": false,
@@ -43,7 +43,7 @@
     "rotateFast": false
   },
   "reversed": false,
-  "folder": "ABCDE",
+  "folder": "Top Ferry",
   "previewStartingState": {
     "rotation": 0,
     "velocity": 0

diff --git a/src/main/deploy/pathplanner/paths/E to Ferry Shot.path b/src/main/deploy/pathplanner/paths/E to Ferry Shot.path
@@ -0,0 +1,52 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 8.17,
+        "y": 5.84
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 7.901123246690937,
+        "y": 5.852924298441191
+      },
+      "isLocked": false,
+      "linkedName": "E"
+    },
+    {
+      "anchor": {
+        "x": 5.499492913428859,
+        "y": 6.563657142562062
+      },
+      "prevControl": {
+        "x": 5.767026853498151,
+        "y": 6.480854711709423
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": "Ferry Shot"
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 5.0,
+    "maxAcceleration": 4.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": -4.860211087167981,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": "Top Ferry",
+  "previewStartingState": {
+    "rotation": 0,
+    "velocity": 0
+  },
+  "useDefaultConstraints": true
+}
diff --git a/src/main/deploy/pathplanner/paths/F to Shoot (HGF).path b/src/main/deploy/pathplanner/paths/F to Shoot (HGF).path
@@ -9,7 +9,7 @@
       "prevControl": null,
       "nextControl": {
         "x": 4.984199142187458,
-        "y": 5.4377818157345725
+        "y": 5.437781815734572
       },
       "isLocked": false,
       "linkedName": "F"

diff --git a/.../pathplanner/paths/Shoot to F (ADEF).path → ...hplanner/paths/F to Shoot (TopFerry).path b/.../pathplanner/paths/Shoot to F (ADEF).path → ...hplanner/paths/F to Shoot (TopFerry).path
@@ -3,25 +3,25 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 2.729397148609112,
-        "y": 6.342607879660204
+        "x": 8.098576303634088,
+        "y": 4.038315859039126
       },
       "prevControl": null,
       "nextControl": {
-        "x": 6.23533205862708,
-        "y": 6.780508283238789
+        "x": 5.1332173868051445,
+        "y": 3.478499327369026
       },
       "isLocked": false,
-      "linkedName": "Top Side Shoot"
+      "linkedName": null
     },
     {
       "anchor": {
-        "x": 8.166630800854193,
-        "y": 4.34729277791889
+        "x": 3.0013182155993943,
+        "y": 5.17790207339674
       },
       "prevControl": {
-        "x": 6.841112098890864,
-        "y": 6.429546609093219
+        "x": 4.795439044581793,
+        "y": 5.480762401339618
       },
       "nextControl": null,
       "isLocked": false,
@@ -32,18 +32,21 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 5.55,
-    "maxAcceleration": 5.5,
+    "maxVelocity": 4.5,
+    "maxAcceleration": 4.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": -66.116446904775,
+    "rotation": 0,
     "rotateFast": false
   },
   "reversed": false,
-  "folder": "ABCDE",
-  "previewStartingState": null,
-  "useDefaultConstraints": false
+  "folder": "Top Ferry",
+  "previewStartingState": {
+    "rotation": 0,
+    "velocity": 0
+  },
+  "useDefaultConstraints": true
 }
diff --git a/src/main/deploy/pathplanner/paths/Ferry Shot to E.path b/src/main/deploy/pathplanner/paths/Ferry Shot to E.path
@@ -3,13 +3,13 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 5.135414608792181,
-        "y": 6.653128792368697
+        "x": 5.499492913428859,
+        "y": 6.563657142562062
       },
       "prevControl": null,
       "nextControl": {
-        "x": 5.815009430944788,
-        "y": 6.526818220303108
+        "x": 6.179087735581466,
+        "y": 6.437346570496473
       },
       "isLocked": false,
       "linkedName": "Ferry Shot"
@@ -43,7 +43,7 @@
     "rotateFast": false
   },
   "reversed": false,
-  "folder": "ABCDE",
+  "folder": "Top Ferry",
   "previewStartingState": {
     "rotation": 0,
     "velocity": 0

diff --git a/.../pathplanner/paths/F to Shoot (ADEF).path → ...oy/pathplanner/paths/Ferry Shot to F.path b/.../pathplanner/paths/F to Shoot (ADEF).path → ...oy/pathplanner/paths/Ferry Shot to F.path
@@ -3,37 +3,37 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 8.054038020113078,
-        "y": 4.244082728906199
+        "x": 5.499492913428859,
+        "y": 6.563657142562062
       },
       "prevControl": null,
       "nextControl": {
-        "x": 7.772039976857732,
-        "y": 6.730308751728615
+        "x": 6.7801243426560935,
+        "y": 6.476519652113379
       },
       "isLocked": false,
-      "linkedName": null
+      "linkedName": "Ferry Shot"
     },
     {
       "anchor": {
-        "x": 2.729397148609112,
-        "y": 6.342607879660204
+        "x": 8.153314996088682,
+        "y": 3.8006001937929805
       },
       "prevControl": {
-        "x": 5.268376231196907,
-        "y": 7.065196991505094
+        "x": 8.13811259531351,
+        "y": 3.7853977930178084
       },
       "nextControl": null,
       "isLocked": false,
-      "linkedName": "Top Side Shoot"
+      "linkedName": "F"
     }
   ],
   "rotationTargets": [],
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 5.55,
-    "maxAcceleration": 5.5,
+    "maxVelocity": 4.5,
+    "maxAcceleration": 4.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0
   },
@@ -43,7 +43,7 @@
     "rotateFast": false
   },
   "reversed": false,
-  "folder": "ABCDE",
+  "folder": "Top Ferry",
   "previewStartingState": null,
   "useDefaultConstraints": false
 }