Merge branch 'Upstream_Changes' into Limelight

awtybots · Apr 9, 2024 · d0a52de · d0a52de
2 parents b5175aa + 44cf072
commit d0a52de
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Showing 53 changed files with 376 additions and 115 deletions.
diff --git a/.pathplanner/settings.json b/.pathplanner/settings.json
@@ -15,8 +15,8 @@
     "RealAutons",
     "TestAutos"
   ],
-  "defaultMaxVel": 2.2,
-  "defaultMaxAccel": 1.8,
+  "defaultMaxVel": 2.0,
+  "defaultMaxAccel": 1.3,
   "defaultMaxAngVel": 260.0,
   "defaultMaxAngAccel": 300.0,
   "maxModuleSpeed": 4.5

diff --git a/src/main/deploy/pathplanner/autos/LClose2Far1.auto b/src/main/deploy/pathplanner/autos/LClose2Far1.auto
@@ -54,6 +54,12 @@
             "name": "ShootMediumGroup"
           }
         },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "1Back"
+          }
+        },
         {
           "type": "path",
           "data": {

diff --git a/src/main/deploy/pathplanner/autos/MClose2S1.auto b/src/main/deploy/pathplanner/autos/MClose2S1.auto
@@ -55,15 +55,15 @@
           }
         },
         {
-          "type": "path",
+          "type": "named",
           "data": {
-            "pathName": "Point2-1"
+            "name": "FloorPickupPosition"
           }
         },
         {
-          "type": "named",
+          "type": "path",
           "data": {
-            "name": "FloorPickupPosition"
+            "pathName": "Point2-1"
           }
         },
         {

diff --git a/src/main/deploy/pathplanner/autos/MClose2S3.auto b/src/main/deploy/pathplanner/autos/MClose2S3.auto
@@ -55,15 +55,15 @@
           }
         },
         {
-          "type": "path",
+          "type": "named",
           "data": {
-            "pathName": "Point2-3"
+            "name": "FloorPickupPosition"
           }
         },
         {
-          "type": "named",
+          "type": "path",
           "data": {
-            "name": "FloorPickupPosition"
+            "pathName": "Point2-3"
           }
         },
         {

diff --git a/src/main/deploy/pathplanner/autos/MClose3S13.auto b/src/main/deploy/pathplanner/autos/MClose3S13.auto
@@ -55,15 +55,15 @@
           }
         },
         {
-          "type": "path",
+          "type": "named",
           "data": {
-            "pathName": "Point2-1"
+            "name": "FloorPickupPosition"
           }
         },
         {
-          "type": "named",
+          "type": "path",
           "data": {
-            "name": "FloorPickupPosition"
+            "pathName": "Point2-1"
           }
         },
         {
@@ -97,16 +97,22 @@
             "name": "ShootMediumGroup"
           }
         },
+        {
+          "type": "named",
+          "data": {
+            "name": "FloorPickupPosition"
+          }
+        },
         {
           "type": "path",
           "data": {
-            "pathName": "Point1-3"
+            "pathName": "1Back"
           }
         },
         {
-          "type": "named",
+          "type": "path",
           "data": {
-            "name": "FloorPickupPosition"
+            "pathName": "Point1-3"
           }
         },
         {

diff --git a/src/main/deploy/pathplanner/autos/MClose3S31.auto b/src/main/deploy/pathplanner/autos/MClose3S31.auto
@@ -55,15 +55,15 @@
           }
         },
         {
-          "type": "path",
+          "type": "named",
           "data": {
-            "pathName": "Point2-3"
+            "name": "FloorPickupPosition"
           }
         },
         {
-          "type": "named",
+          "type": "path",
           "data": {
-            "name": "FloorPickupPosition"
+            "pathName": "Point2-3"
           }
         },
         {
@@ -97,16 +97,22 @@
             "name": "ShootMediumGroup"
           }
         },
+        {
+          "type": "named",
+          "data": {
+            "name": "FloorPickupPosition"
+          }
+        },
         {
           "type": "path",
           "data": {
-            "pathName": "Point3-1"
+            "pathName": "3Back"
           }
         },
         {
-          "type": "named",
+          "type": "path",
           "data": {
-            "name": "FloorPickupPosition"
+            "pathName": "Point3-1"
           }
         },
         {

diff --git a/src/main/deploy/pathplanner/autos/MClose3S31Far1.auto b/src/main/deploy/pathplanner/autos/MClose3S31Far1.auto
@@ -97,6 +97,12 @@
             "name": "ShootMediumGroup"
           }
         },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "3Back"
+          }
+        },
         {
           "type": "path",
           "data": {
@@ -140,6 +146,12 @@
             "name": "ShootMediumGroup"
           }
         },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "1Back"
+          }
+        },
         {
           "type": "path",
           "data": {

diff --git a/src/main/deploy/pathplanner/paths/1Back.path b/src/main/deploy/pathplanner/paths/1Back.path
@@ -0,0 +1,76 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 1.9042256991849056,
+        "y": 6.461989037114649
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 1.9481582241497215,
+        "y": 6.485862311925948
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 2.23,
+        "y": 6.63
+      },
+      "prevControl": {
+        "x": 2.186067475035184,
+        "y": 6.606126725188701
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "eventMarkers": [
+    {
+      "name": "New Event Marker",
+      "waypointRelativePos": 0,
+      "command": {
+        "type": "parallel",
+        "data": {
+          "commands": [
+            {
+              "type": "named",
+              "data": {
+                "name": "ShootMediumPosition"
+              }
+            },
+            {
+              "type": "named",
+              "data": {
+                "name": "PreRunShooter"
+              }
+            }
+          ]
+        }
+      }
+    }
+  ],
+  "globalConstraints": {
+    "maxVelocity": 2.0,
+    "maxAcceleration": 1.3,
+    "maxAngularVelocity": 260.0,
+    "maxAngularAcceleration": 300.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 28.52,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": "PickupPaths",
+  "previewStartingState": {
+    "rotation": 28.52,
+    "velocity": 0
+  },
+  "useDefaultConstraints": true
+}
diff --git a/src/main/deploy/pathplanner/paths/1Meter.path b/src/main/deploy/pathplanner/paths/1Meter.path
@@ -32,8 +32,8 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 2.2,
-    "maxAcceleration": 1.8,
+    "maxVelocity": 2.0,
+    "maxAcceleration": 1.3,
     "maxAngularVelocity": 260.0,
     "maxAngularAcceleration": 300.0
   },

diff --git a/src/main/deploy/pathplanner/paths/1Pickup.path b/src/main/deploy/pathplanner/paths/1Pickup.path
@@ -32,8 +32,8 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 2.2,
-    "maxAcceleration": 1.8,
+    "maxVelocity": 2.0,
+    "maxAcceleration": 1.3,
     "maxAngularVelocity": 260.0,
     "maxAngularAcceleration": 300.0
   },

diff --git a/src/main/deploy/pathplanner/paths/1Reverse.path b/src/main/deploy/pathplanner/paths/1Reverse.path
@@ -56,8 +56,8 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 2.2,
-    "maxAcceleration": 1.8,
+    "maxVelocity": 2.0,
+    "maxAcceleration": 1.3,
     "maxAngularVelocity": 260.0,
     "maxAngularAcceleration": 300.0
   },

diff --git a/src/main/deploy/pathplanner/paths/1toF1.path b/src/main/deploy/pathplanner/paths/1toF1.path
@@ -32,8 +32,8 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 2.2,
-    "maxAcceleration": 1.8,
+    "maxVelocity": 2.0,
+    "maxAcceleration": 1.3,
     "maxAngularVelocity": 260.0,
     "maxAngularAcceleration": 300.0
   },

diff --git a/src/main/deploy/pathplanner/paths/2Pickup.path b/src/main/deploy/pathplanner/paths/2Pickup.path
@@ -32,8 +32,8 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 2.2,
-    "maxAcceleration": 1.8,
+    "maxVelocity": 2.0,
+    "maxAcceleration": 1.3,
     "maxAngularVelocity": 260.0,
     "maxAngularAcceleration": 300.0
   },

diff --git a/src/main/deploy/pathplanner/paths/2Reverse.path b/src/main/deploy/pathplanner/paths/2Reverse.path
@@ -68,8 +68,8 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 2.2,
-    "maxAcceleration": 1.8,
+    "maxVelocity": 2.0,
+    "maxAcceleration": 1.3,
     "maxAngularVelocity": 260.0,
     "maxAngularAcceleration": 300.0
   },