Merge pull request #12 from awtybots/periodicUpdateAutonFix

Periodic update auton fix
awtybots · Apr 2, 2024 · 1c9acc2 · 1c9acc2
2 parents 7e0ca8d + e69a851
commit 1c9acc2
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Showing 40 changed files with 144 additions and 145 deletions.
diff --git a/.pathplanner/settings.json b/.pathplanner/settings.json
@@ -15,9 +15,9 @@
     "RealAutons",
     "TestAutos"
   ],
-  "defaultMaxVel": 3.0,
-  "defaultMaxAccel": 3.0,
-  "defaultMaxAngVel": 540.0,
-  "defaultMaxAngAccel": 720.0,
+  "defaultMaxVel": 2.4,
+  "defaultMaxAccel": 1.8,
+  "defaultMaxAngVel": 300.0,
+  "defaultMaxAngAccel": 400.0,
   "maxModuleSpeed": 4.5
 }
diff --git a/src/main/deploy/pathplanner/paths/1Meter.path b/src/main/deploy/pathplanner/paths/1Meter.path
@@ -32,10 +32,10 @@
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   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
-    "maxAngularVelocity": 540.0,
-    "maxAngularAcceleration": 720.0
+    "maxVelocity": 2.4,
+    "maxAcceleration": 1.8,
+    "maxAngularVelocity": 300.0,
+    "maxAngularAcceleration": 400.0
   },
   "goalEndState": {
     "velocity": 0,

diff --git a/src/main/deploy/pathplanner/paths/1Pickup.path b/src/main/deploy/pathplanner/paths/1Pickup.path
@@ -32,10 +32,10 @@
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   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
-    "maxAngularVelocity": 540.0,
-    "maxAngularAcceleration": 720.0
+    "maxVelocity": 2.4,
+    "maxAcceleration": 1.8,
+    "maxAngularVelocity": 300.0,
+    "maxAngularAcceleration": 400.0
   },
   "goalEndState": {
     "velocity": 0,

diff --git a/src/main/deploy/pathplanner/paths/1Reverse.path b/src/main/deploy/pathplanner/paths/1Reverse.path
@@ -56,10 +56,10 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
-    "maxAngularVelocity": 540.0,
-    "maxAngularAcceleration": 720.0
+    "maxVelocity": 2.4,
+    "maxAcceleration": 1.8,
+    "maxAngularVelocity": 300.0,
+    "maxAngularAcceleration": 400.0
   },
   "goalEndState": {
     "velocity": 0,

diff --git a/src/main/deploy/pathplanner/paths/1toF1.path b/src/main/deploy/pathplanner/paths/1toF1.path
@@ -32,10 +32,10 @@
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   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
-    "maxAngularVelocity": 540.0,
-    "maxAngularAcceleration": 720.0
+    "maxVelocity": 2.4,
+    "maxAcceleration": 1.8,
+    "maxAngularVelocity": 300.0,
+    "maxAngularAcceleration": 400.0
   },
   "goalEndState": {
     "velocity": 0,

diff --git a/src/main/deploy/pathplanner/paths/2Pickup.path b/src/main/deploy/pathplanner/paths/2Pickup.path
@@ -32,10 +32,10 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
-    "maxAngularVelocity": 540.0,
-    "maxAngularAcceleration": 720.0
+    "maxVelocity": 2.4,
+    "maxAcceleration": 1.8,
+    "maxAngularVelocity": 300.0,
+    "maxAngularAcceleration": 400.0
   },
   "goalEndState": {
     "velocity": 0,

diff --git a/src/main/deploy/pathplanner/paths/2Reverse.path b/src/main/deploy/pathplanner/paths/2Reverse.path
@@ -68,10 +68,10 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
-    "maxAngularVelocity": 540.0,
-    "maxAngularAcceleration": 720.0
+    "maxVelocity": 2.4,
+    "maxAcceleration": 1.8,
+    "maxAngularVelocity": 300.0,
+    "maxAngularAcceleration": 400.0
   },
   "goalEndState": {
     "velocity": 0,

diff --git a/src/main/deploy/pathplanner/paths/3Pickup.path b/src/main/deploy/pathplanner/paths/3Pickup.path
@@ -32,10 +32,10 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
-    "maxAngularVelocity": 540.0,
-    "maxAngularAcceleration": 720.0
+    "maxVelocity": 2.4,
+    "maxAcceleration": 1.8,
+    "maxAngularVelocity": 300.0,
+    "maxAngularAcceleration": 400.0
   },
   "goalEndState": {
     "velocity": 0,

diff --git a/src/main/deploy/pathplanner/paths/3Reverse.path b/src/main/deploy/pathplanner/paths/3Reverse.path
@@ -68,10 +68,10 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
-    "maxAngularVelocity": 540.0,
-    "maxAngularAcceleration": 720.0
+    "maxVelocity": 2.4,
+    "maxAcceleration": 1.8,
+    "maxAngularVelocity": 300.0,
+    "maxAngularAcceleration": 400.0
   },
   "goalEndState": {
     "velocity": 0,

diff --git a/src/main/deploy/pathplanner/paths/ALFirst.path b/src/main/deploy/pathplanner/paths/ALFirst.path
@@ -44,10 +44,10 @@
   ],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
-    "maxAngularVelocity": 540.0,
-    "maxAngularAcceleration": 720.0
+    "maxVelocity": 2.4,
+    "maxAcceleration": 1.8,
+    "maxAngularVelocity": 300.0,
+    "maxAngularAcceleration": 400.0
   },
   "goalEndState": {
     "velocity": 0,

diff --git a/src/main/deploy/pathplanner/paths/AMFirst.path b/src/main/deploy/pathplanner/paths/AMFirst.path
@@ -44,10 +44,10 @@
   ],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
-    "maxAngularVelocity": 540.0,
-    "maxAngularAcceleration": 720.0
+    "maxVelocity": 2.4,
+    "maxAcceleration": 1.8,
+    "maxAngularVelocity": 300.0,
+    "maxAngularAcceleration": 400.0
   },
   "goalEndState": {
     "velocity": 0,

diff --git a/src/main/deploy/pathplanner/paths/ARFirst.path b/src/main/deploy/pathplanner/paths/ARFirst.path
@@ -44,10 +44,10 @@
   ],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
-    "maxAngularVelocity": 540.0,
-    "maxAngularAcceleration": 720.0
+    "maxVelocity": 2.4,
+    "maxAcceleration": 1.8,
+    "maxAngularVelocity": 300.0,
+    "maxAngularAcceleration": 400.0
   },
   "goalEndState": {
     "velocity": 0,

diff --git a/src/main/deploy/pathplanner/paths/ARMidway.path b/src/main/deploy/pathplanner/paths/ARMidway.path
@@ -32,10 +32,10 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
-    "maxAngularVelocity": 540.0,
-    "maxAngularAcceleration": 720.0
+    "maxVelocity": 2.4,
+    "maxAcceleration": 1.8,
+    "maxAngularVelocity": 300.0,
+    "maxAngularAcceleration": 400.0
   },
   "goalEndState": {
     "velocity": 0,

diff --git a/src/main/deploy/pathplanner/paths/ARSecond.path b/src/main/deploy/pathplanner/paths/ARSecond.path
@@ -32,10 +32,10 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
-    "maxAngularVelocity": 540.0,
-    "maxAngularAcceleration": 720.0
+    "maxVelocity": 2.4,
+    "maxAcceleration": 1.8,
+    "maxAngularVelocity": 300.0,
+    "maxAngularAcceleration": 400.0
   },
   "goalEndState": {
     "velocity": 0,

diff --git a/src/main/deploy/pathplanner/paths/BlueShoot1.path b/src/main/deploy/pathplanner/paths/BlueShoot1.path
@@ -62,10 +62,10 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
-    "maxAngularVelocity": 540.0,
-    "maxAngularAcceleration": 720.0
+    "maxVelocity": 2.4,
+    "maxAcceleration": 1.8,
+    "maxAngularVelocity": 300.0,
+    "maxAngularAcceleration": 400.0
   },
   "goalEndState": {
     "velocity": 0,

diff --git a/src/main/deploy/pathplanner/paths/LFirst.path b/src/main/deploy/pathplanner/paths/LFirst.path
@@ -62,10 +62,10 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
-    "maxAngularVelocity": 540.0,
-    "maxAngularAcceleration": 720.0
+    "maxVelocity": 2.4,
+    "maxAcceleration": 1.8,
+    "maxAngularVelocity": 300.0,
+    "maxAngularAcceleration": 400.0
   },
   "goalEndState": {
     "velocity": 0,

diff --git a/src/main/deploy/pathplanner/paths/MFirst.path b/src/main/deploy/pathplanner/paths/MFirst.path
@@ -62,10 +62,10 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
-    "maxAngularVelocity": 540.0,
-    "maxAngularAcceleration": 720.0
+    "maxVelocity": 2.4,
+    "maxAcceleration": 1.8,
+    "maxAngularVelocity": 300.0,
+    "maxAngularAcceleration": 400.0
   },
   "goalEndState": {
     "velocity": 0.5,

diff --git a/src/main/deploy/pathplanner/paths/Measuring.path b/src/main/deploy/pathplanner/paths/Measuring.path
@@ -32,10 +32,10 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
-    "maxAngularVelocity": 540.0,
-    "maxAngularAcceleration": 720.0
+    "maxVelocity": 2.4,
+    "maxAcceleration": 1.8,
+    "maxAngularVelocity": 300.0,
+    "maxAngularAcceleration": 400.0
   },
   "goalEndState": {
     "velocity": 0,

diff --git a/src/main/deploy/pathplanner/paths/MoveForward.path b/src/main/deploy/pathplanner/paths/MoveForward.path
@@ -32,10 +32,10 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
-    "maxAngularVelocity": 540.0,
-    "maxAngularAcceleration": 720.0
+    "maxVelocity": 2.4,
+    "maxAcceleration": 1.8,
+    "maxAngularVelocity": 300.0,
+    "maxAngularAcceleration": 400.0
   },
   "goalEndState": {
     "velocity": 0,

diff --git a/src/main/deploy/pathplanner/paths/Point1-2.path b/src/main/deploy/pathplanner/paths/Point1-2.path
@@ -32,10 +32,10 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
-    "maxAngularVelocity": 540.0,
-    "maxAngularAcceleration": 720.0
+    "maxVelocity": 2.4,
+    "maxAcceleration": 1.8,
+    "maxAngularVelocity": 300.0,
+    "maxAngularAcceleration": 400.0
   },
   "goalEndState": {
     "velocity": 0,

diff --git a/src/main/deploy/pathplanner/paths/Point1-3.path b/src/main/deploy/pathplanner/paths/Point1-3.path
@@ -32,10 +32,10 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
-    "maxAngularVelocity": 540.0,
-    "maxAngularAcceleration": 720.0
+    "maxVelocity": 2.4,
+    "maxAcceleration": 1.8,
+    "maxAngularVelocity": 300.0,
+    "maxAngularAcceleration": 400.0
   },
   "goalEndState": {
     "velocity": 0,

diff --git a/src/main/deploy/pathplanner/paths/Point2-1.path b/src/main/deploy/pathplanner/paths/Point2-1.path
@@ -32,10 +32,10 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
-    "maxAngularVelocity": 540.0,
-    "maxAngularAcceleration": 720.0
+    "maxVelocity": 2.4,
+    "maxAcceleration": 1.8,
+    "maxAngularVelocity": 300.0,
+    "maxAngularAcceleration": 400.0
   },
   "goalEndState": {
     "velocity": 0,

diff --git a/src/main/deploy/pathplanner/paths/Point2-3.path b/src/main/deploy/pathplanner/paths/Point2-3.path
@@ -32,10 +32,10 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
-    "maxAngularVelocity": 540.0,
-    "maxAngularAcceleration": 720.0
+    "maxVelocity": 2.4,
+    "maxAcceleration": 1.8,
+    "maxAngularVelocity": 300.0,
+    "maxAngularAcceleration": 400.0
   },
   "goalEndState": {
     "velocity": 0,

diff --git a/src/main/deploy/pathplanner/paths/Point3-1.path b/src/main/deploy/pathplanner/paths/Point3-1.path
@@ -32,10 +32,10 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
-    "maxAngularVelocity": 540.0,
-    "maxAngularAcceleration": 720.0
+    "maxVelocity": 2.4,
+    "maxAcceleration": 1.8,
+    "maxAngularVelocity": 300.0,
+    "maxAngularAcceleration": 400.0
   },
   "goalEndState": {
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diff --git a/src/main/deploy/pathplanner/paths/Point3-2.path b/src/main/deploy/pathplanner/paths/Point3-2.path
@@ -32,10 +32,10 @@
   "constraintZones": [],
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   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
-    "maxAngularVelocity": 540.0,
-    "maxAngularAcceleration": 720.0
+    "maxVelocity": 2.4,
+    "maxAcceleration": 1.8,
+    "maxAngularVelocity": 300.0,
+    "maxAngularAcceleration": 400.0
   },
   "goalEndState": {
     "velocity": 0,

diff --git a/src/main/deploy/pathplanner/paths/PointF1-F2.path b/src/main/deploy/pathplanner/paths/PointF1-F2.path
@@ -32,10 +32,10 @@
   "constraintZones": [],
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   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
-    "maxAngularVelocity": 540.0,
-    "maxAngularAcceleration": 720.0
+    "maxVelocity": 2.4,
+    "maxAcceleration": 1.8,
+    "maxAngularVelocity": 300.0,
+    "maxAngularAcceleration": 400.0
   },
   "goalEndState": {
     "velocity": 0,