diff --git a/.pathplanner/settings.json b/.pathplanner/settings.json index aab5dcb..dc7326d 100644 --- a/.pathplanner/settings.json +++ b/.pathplanner/settings.json @@ -4,7 +4,7 @@ "holonomicMode": true, "pathFolders": [], "autoFolders": [], - "defaultMaxVel": 3.0, + "defaultMaxVel": 4.0, "defaultMaxAccel": 4.0, "defaultMaxAngVel": 540.0, "defaultMaxAngAccel": 720.0, diff --git a/src/main/deploy/pathplanner/autos/Gremlin Auto Left.auto b/src/main/deploy/pathplanner/autos/Gremlin Auto Left.auto new file mode 100644 index 0000000..ee46ece --- /dev/null +++ b/src/main/deploy/pathplanner/autos/Gremlin Auto Left.auto @@ -0,0 +1,37 @@ +{ + "version": 1.0, + "startingPose": { + "position": { + "x": 0.4585613729632017, + "y": 4.0695657459691 + }, + "rotation": 180.0 + }, + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "Gremlin Start" + } + }, + { + "type": "named", + "data": { + "name": "Speaker Note Shot" + } + }, + { + "type": "path", + "data": { + "pathName": "Gremlin Path" + } + } + ] + } + }, + "folder": null, + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Center Subwoofer to Center.path b/src/main/deploy/pathplanner/paths/Center Subwoofer to Center.path index ebfaf31..20dde80 100644 --- a/src/main/deploy/pathplanner/paths/Center Subwoofer to Center.path +++ b/src/main/deploy/pathplanner/paths/Center Subwoofer to Center.path @@ -54,7 +54,7 @@ "constraintZones": [], "eventMarkers": [], "globalConstraints": { - "maxVelocity": 3.0, + "maxVelocity": 4.0, "maxAcceleration": 4.0, "maxAngularVelocity": 540.0, "maxAngularAcceleration": 720.0 diff --git a/src/main/deploy/pathplanner/paths/From Subwoofer Far Edge to Amp.path b/src/main/deploy/pathplanner/paths/From Subwoofer Far Edge to Amp.path index 5390742..17ff326 100644 --- a/src/main/deploy/pathplanner/paths/From Subwoofer Far Edge to Amp.path +++ b/src/main/deploy/pathplanner/paths/From Subwoofer Far Edge to Amp.path @@ -32,7 +32,7 @@ "constraintZones": [], "eventMarkers": [], "globalConstraints": { - "maxVelocity": 3.0, + "maxVelocity": 4.0, "maxAcceleration": 4.0, "maxAngularVelocity": 540.0, "maxAngularAcceleration": 720.0 diff --git a/src/main/deploy/pathplanner/paths/From Subwoofer Front to Amp.path b/src/main/deploy/pathplanner/paths/From Subwoofer Front to Amp.path index 094e060..4b7e77d 100644 --- a/src/main/deploy/pathplanner/paths/From Subwoofer Front to Amp.path +++ b/src/main/deploy/pathplanner/paths/From Subwoofer Front to Amp.path @@ -32,7 +32,7 @@ "constraintZones": [], "eventMarkers": [], "globalConstraints": { - "maxVelocity": 3.0, + "maxVelocity": 4.0, "maxAcceleration": 4.0, "maxAngularVelocity": 540.0, "maxAngularAcceleration": 720.0 diff --git a/src/main/deploy/pathplanner/paths/Gremlin Path.path b/src/main/deploy/pathplanner/paths/Gremlin Path.path new file mode 100644 index 0000000..4356ba1 --- /dev/null +++ b/src/main/deploy/pathplanner/paths/Gremlin Path.path @@ -0,0 +1,123 @@ +{ + "version": 1.0, + "waypoints": [ + { + "anchor": { + "x": 0.8912450873334795, + "y": 4.4671669970120575 + }, + "prevControl": null, + "nextControl": { + "x": 1.8912450873334783, + "y": 4.4671669970120575 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 4.013584323464943, + "y": 1.9763121007723505 + }, + "prevControl": { + "x": 1.9257282443058341, + "y": 3.278151773659794 + }, + "nextControl": { + "x": 5.007587451072338, + "y": 1.3565219153230341 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 8.56261040157408, + "y": 1.2278862164561943 + }, + "prevControl": { + "x": 8.317033158282841, + "y": 0.09355323553951994 + }, + "nextControl": { + "x": 8.686725702060071, + "y": 1.801180699653394 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 8.761411027095559, + "y": 6.478561561111727 + }, + "prevControl": { + "x": 8.843270108192637, + "y": 4.794603321400375 + }, + "nextControl": { + "x": 8.68370806922782, + "y": 8.077022408676678 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 6.30563859418317, + "y": 7.203599136543003 + }, + "prevControl": { + "x": 7.451665729542288, + "y": 7.051575128791285 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [ + { + "waypointRelativePos": 1.7, + "rotationDegrees": -178.9636039256695, + "rotateFast": true + }, + { + "waypointRelativePos": 2.15, + "rotationDegrees": 151.60505283278198, + "rotateFast": true + } + ], + "constraintZones": [ + { + "name": "New Constraints Zone", + "minWaypointRelativePos": 1.7, + "maxWaypointRelativePos": 2.4, + "constraints": { + "maxVelocity": 3.0, + "maxAcceleration": 4.0, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0 + } + } + ], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 4.0, + "maxAcceleration": 4.0, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0 + }, + "goalEndState": { + "velocity": 0, + "rotation": 64.23067237566114, + "rotateFast": false + }, + "reversed": false, + "folder": null, + "previewStartingState": { + "rotation": 132.61405596961126, + "velocity": 0 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Gremlin Start.path b/src/main/deploy/pathplanner/paths/Gremlin Start.path new file mode 100644 index 0000000..318772e --- /dev/null +++ b/src/main/deploy/pathplanner/paths/Gremlin Start.path @@ -0,0 +1,52 @@ +{ + "version": 1.0, + "waypoints": [ + { + "anchor": { + "x": 0.4585613729632017, + "y": 4.0695657459691 + }, + "prevControl": null, + "nextControl": { + "x": 0.7743035429090797, + "y": 3.9643183559871398 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 0.9029392417759192, + "y": 4.408696224799858 + }, + "prevControl": { + "x": 1.2654580294915574, + "y": 4.02278912819934 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [], + "constraintZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 4.0, + "maxAcceleration": 4.0, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0 + }, + "goalEndState": { + "velocity": 0, + "rotation": 132.79740183823424, + "rotateFast": false + }, + "reversed": false, + "folder": null, + "previewStartingState": { + "rotation": 180.0, + "velocity": 0 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/He He He Haw.path b/src/main/deploy/pathplanner/paths/He He He Haw.path index b5c7130..c96613e 100644 --- a/src/main/deploy/pathplanner/paths/He He He Haw.path +++ b/src/main/deploy/pathplanner/paths/He He He Haw.path @@ -54,7 +54,7 @@ "constraintZones": [], "eventMarkers": [], "globalConstraints": { - "maxVelocity": 3.0, + "maxVelocity": 4.0, "maxAcceleration": 4.0, "maxAngularVelocity": 540.0, "maxAngularAcceleration": 720.0 diff --git a/src/main/deploy/pathplanner/paths/Just Backup.path b/src/main/deploy/pathplanner/paths/Just Backup.path index ac724c4..c7403d2 100644 --- a/src/main/deploy/pathplanner/paths/Just Backup.path +++ b/src/main/deploy/pathplanner/paths/Just Backup.path @@ -32,7 +32,7 @@ "constraintZones": [], "eventMarkers": [], "globalConstraints": { - "maxVelocity": 3.0, + "maxVelocity": 4.0, "maxAcceleration": 4.0, "maxAngularVelocity": 540.0, "maxAngularAcceleration": 720.0 diff --git a/src/main/deploy/pathplanner/paths/L Sub to Note 1.path b/src/main/deploy/pathplanner/paths/L Sub to Note 1.path index deffe14..1bcaad6 100644 --- a/src/main/deploy/pathplanner/paths/L Sub to Note 1.path +++ b/src/main/deploy/pathplanner/paths/L Sub to Note 1.path @@ -49,7 +49,7 @@ } ], "globalConstraints": { - "maxVelocity": 3.0, + "maxVelocity": 4.0, "maxAcceleration": 4.0, "maxAngularVelocity": 540.0, "maxAngularAcceleration": 720.0 diff --git a/src/main/deploy/pathplanner/paths/L Sub to Note 2.path b/src/main/deploy/pathplanner/paths/L Sub to Note 2.path index 5d96175..0586b80 100644 --- a/src/main/deploy/pathplanner/paths/L Sub to Note 2.path +++ b/src/main/deploy/pathplanner/paths/L Sub to Note 2.path @@ -38,7 +38,7 @@ "constraintZones": [], "eventMarkers": [], "globalConstraints": { - "maxVelocity": 3.0, + "maxVelocity": 4.0, "maxAcceleration": 4.0, "maxAngularVelocity": 540.0, "maxAngularAcceleration": 720.0 diff --git a/src/main/deploy/pathplanner/paths/Left Note 3 to Sub.path b/src/main/deploy/pathplanner/paths/Left Note 3 to Sub.path index d92e578..a2ec2ec 100644 --- a/src/main/deploy/pathplanner/paths/Left Note 3 to Sub.path +++ b/src/main/deploy/pathplanner/paths/Left Note 3 to Sub.path @@ -32,7 +32,7 @@ "constraintZones": [], "eventMarkers": [], "globalConstraints": { - "maxVelocity": 3.0, + "maxVelocity": 4.0, "maxAcceleration": 4.0, "maxAngularVelocity": 540.0, "maxAngularAcceleration": 720.0 diff --git a/src/main/deploy/pathplanner/paths/Left Preloaded+Pickup.path b/src/main/deploy/pathplanner/paths/Left Preloaded+Pickup.path index a17c739..0936163 100644 --- a/src/main/deploy/pathplanner/paths/Left Preloaded+Pickup.path +++ b/src/main/deploy/pathplanner/paths/Left Preloaded+Pickup.path @@ -32,7 +32,7 @@ "constraintZones": [], "eventMarkers": [], "globalConstraints": { - "maxVelocity": 3.0, + "maxVelocity": 4.0, "maxAcceleration": 4.0, "maxAngularVelocity": 540.0, "maxAngularAcceleration": 720.0 diff --git a/src/main/deploy/pathplanner/paths/Left Sub to Note 3.path b/src/main/deploy/pathplanner/paths/Left Sub to Note 3.path index 98e08c0..d8a8f69 100644 --- a/src/main/deploy/pathplanner/paths/Left Sub to Note 3.path +++ b/src/main/deploy/pathplanner/paths/Left Sub to Note 3.path @@ -16,12 +16,12 @@ }, { "anchor": { - "x": 2.4231793192931113, - "y": 4.081259900411539 + "x": 2.2243786937716323, + "y": 4.151424827066179 }, "prevControl": { - "x": 0.9029392417759192, - "y": 4.280060525933019 + "x": 0.7041386162544403, + "y": 4.350225452587658 }, "nextControl": null, "isLocked": false, @@ -32,7 +32,7 @@ "constraintZones": [], "eventMarkers": [], "globalConstraints": { - "maxVelocity": 3.0, + "maxVelocity": 4.0, "maxAcceleration": 4.0, "maxAngularVelocity": 540.0, "maxAngularAcceleration": 720.0 diff --git a/src/main/deploy/pathplanner/paths/Left Subwoofer.path b/src/main/deploy/pathplanner/paths/Left Subwoofer.path index 9fdfc9a..4a56ab2 100644 --- a/src/main/deploy/pathplanner/paths/Left Subwoofer.path +++ b/src/main/deploy/pathplanner/paths/Left Subwoofer.path @@ -16,12 +16,12 @@ }, { "anchor": { - "x": 1.2771521839339972, - "y": 6.268066781147808 + "x": 1.382399573915957, + "y": 5.964018765644369 }, "prevControl": { - "x": 1.709835898304275, - "y": 6.572114796651247 + "x": 1.8150832882862347, + "y": 6.268066781147808 }, "nextControl": null, "isLocked": false, @@ -32,14 +32,14 @@ "constraintZones": [], "eventMarkers": [], "globalConstraints": { - "maxVelocity": 3.0, + "maxVelocity": 4.0, "maxAcceleration": 4.0, "maxAngularVelocity": 540.0, "maxAngularAcceleration": 720.0 }, "goalEndState": { "velocity": 0, - "rotation": -151.50436138175493, + "rotation": -164.4071890607336, "rotateFast": false }, "reversed": false, diff --git a/src/main/deploy/pathplanner/paths/Leftmost Center Note.path b/src/main/deploy/pathplanner/paths/Leftmost Center Note.path index 77a7b93..f78a265 100644 --- a/src/main/deploy/pathplanner/paths/Leftmost Center Note.path +++ b/src/main/deploy/pathplanner/paths/Leftmost Center Note.path @@ -82,7 +82,7 @@ ], "eventMarkers": [], "globalConstraints": { - "maxVelocity": 3.0, + "maxVelocity": 4.0, "maxAcceleration": 4.0, "maxAngularVelocity": 540.0, "maxAngularAcceleration": 720.0 diff --git a/src/main/deploy/pathplanner/paths/Note 1 to Speaker.path b/src/main/deploy/pathplanner/paths/Note 1 to Speaker.path index 91d3d92..ef2ad34 100644 --- a/src/main/deploy/pathplanner/paths/Note 1 to Speaker.path +++ b/src/main/deploy/pathplanner/paths/Note 1 to Speaker.path @@ -16,12 +16,12 @@ }, { "anchor": { - "x": 1.3122346472613169, - "y": 6.232984317820488 + "x": 1.3707054194735169, + "y": 5.940630456759489 }, "prevControl": { - "x": 1.756612516074035, - "y": 6.466867406669287 + "x": 1.8150832882862349, + "y": 6.1745135456082885 }, "nextControl": null, "isLocked": false, @@ -32,14 +32,14 @@ "constraintZones": [], "eventMarkers": [], "globalConstraints": { - "maxVelocity": 3.0, + "maxVelocity": 4.0, "maxAcceleration": 4.0, "maxAngularVelocity": 540.0, "maxAngularAcceleration": 720.0 }, "goalEndState": { "velocity": 0, - "rotation": -141.34019174590983, + "rotation": -165.25643716352937, "rotateFast": false }, "reversed": false, diff --git a/src/main/deploy/pathplanner/paths/Note 1 to amp.path b/src/main/deploy/pathplanner/paths/Note 1 to amp.path index 850550b..7b99108 100644 --- a/src/main/deploy/pathplanner/paths/Note 1 to amp.path +++ b/src/main/deploy/pathplanner/paths/Note 1 to amp.path @@ -43,7 +43,7 @@ } ], "globalConstraints": { - "maxVelocity": 3.0, + "maxVelocity": 4.0, "maxAcceleration": 4.0, "maxAngularVelocity": 540.0, "maxAngularAcceleration": 720.0 diff --git a/src/main/deploy/pathplanner/paths/Note 2 to L Sub (4S).path b/src/main/deploy/pathplanner/paths/Note 2 to L Sub (4S).path index bc62b07..6ce2bb1 100644 --- a/src/main/deploy/pathplanner/paths/Note 2 to L Sub (4S).path +++ b/src/main/deploy/pathplanner/paths/Note 2 to L Sub (4S).path @@ -38,7 +38,7 @@ "constraintZones": [], "eventMarkers": [], "globalConstraints": { - "maxVelocity": 3.0, + "maxVelocity": 4.0, "maxAcceleration": 4.0, "maxAngularVelocity": 540.0, "maxAngularAcceleration": 720.0 diff --git a/src/main/deploy/pathplanner/paths/Note 2 to L Sub.path b/src/main/deploy/pathplanner/paths/Note 2 to L Sub.path index ebec484..d593d5d 100644 --- a/src/main/deploy/pathplanner/paths/Note 2 to L Sub.path +++ b/src/main/deploy/pathplanner/paths/Note 2 to L Sub.path @@ -16,12 +16,12 @@ }, { "anchor": { - "x": 1.2888463383764373, - "y": 6.232984317820488 + "x": 1.2537638750491173, + "y": 6.385008325572207 }, "prevControl": { - "x": 1.6630592805345157, - "y": 6.373314171129768 + "x": 1.6279768172071958, + "y": 6.525338178881487 }, "nextControl": null, "isLocked": false, @@ -38,14 +38,14 @@ "constraintZones": [], "eventMarkers": [], "globalConstraints": { - "maxVelocity": 3.0, + "maxVelocity": 4.0, "maxAcceleration": 4.0, "maxAngularVelocity": 540.0, "maxAngularAcceleration": 720.0 }, "goalEndState": { "velocity": 0, - "rotation": -144.293308599397, + "rotation": -152.10272896905224, "rotateFast": false }, "reversed": false, diff --git a/src/main/deploy/pathplanner/paths/Note 3 to Sub.path b/src/main/deploy/pathplanner/paths/Note 3 to Sub.path index e8ef1cf..05ffd5b 100644 --- a/src/main/deploy/pathplanner/paths/Note 3 to Sub.path +++ b/src/main/deploy/pathplanner/paths/Note 3 to Sub.path @@ -32,7 +32,7 @@ "constraintZones": [], "eventMarkers": [], "globalConstraints": { - "maxVelocity": 3.0, + "maxVelocity": 4.0, "maxAcceleration": 4.0, "maxAngularVelocity": 540.0, "maxAngularAcceleration": 720.0 diff --git a/src/main/deploy/pathplanner/paths/Right Sub Note 3.path b/src/main/deploy/pathplanner/paths/Right Sub Note 3.path index aed3235..9aaba6c 100644 --- a/src/main/deploy/pathplanner/paths/Right Sub Note 3.path +++ b/src/main/deploy/pathplanner/paths/Right Sub Note 3.path @@ -38,7 +38,7 @@ "constraintZones": [], "eventMarkers": [], "globalConstraints": { - "maxVelocity": 3.0, + "maxVelocity": 4.0, "maxAcceleration": 4.0, "maxAngularVelocity": 540.0, "maxAngularAcceleration": 720.0 diff --git a/src/main/deploy/pathplanner/paths/Right Sub from Center.path b/src/main/deploy/pathplanner/paths/Right Sub from Center.path index c8f78e2..75e545e 100644 --- a/src/main/deploy/pathplanner/paths/Right Sub from Center.path +++ b/src/main/deploy/pathplanner/paths/Right Sub from Center.path @@ -32,7 +32,7 @@ "constraintZones": [], "eventMarkers": [], "globalConstraints": { - "maxVelocity": 3.0, + "maxVelocity": 4.0, "maxAcceleration": 4.0, "maxAngularVelocity": 540.0, "maxAngularAcceleration": 720.0 diff --git a/src/main/deploy/pathplanner/paths/Right Sub to Right Center Note.path b/src/main/deploy/pathplanner/paths/Right Sub to Right Center Note.path index 1c92871..21c679c 100644 --- a/src/main/deploy/pathplanner/paths/Right Sub to Right Center Note.path +++ b/src/main/deploy/pathplanner/paths/Right Sub to Right Center Note.path @@ -56,7 +56,7 @@ } ], "globalConstraints": { - "maxVelocity": 3.0, + "maxVelocity": 4.0, "maxAcceleration": 4.0, "maxAngularVelocity": 540.0, "maxAngularAcceleration": 720.0 diff --git a/src/main/deploy/pathplanner/paths/Right Sub.path b/src/main/deploy/pathplanner/paths/Right Sub.path index 9221446..851e8f6 100644 --- a/src/main/deploy/pathplanner/paths/Right Sub.path +++ b/src/main/deploy/pathplanner/paths/Right Sub.path @@ -32,7 +32,7 @@ "constraintZones": [], "eventMarkers": [], "globalConstraints": { - "maxVelocity": 3.0, + "maxVelocity": 4.0, "maxAcceleration": 4.0, "maxAngularVelocity": 540.0, "maxAngularAcceleration": 720.0 diff --git a/src/main/deploy/pathplanner/paths/Right Subwoofer to Center.path b/src/main/deploy/pathplanner/paths/Right Subwoofer to Center.path index 18bda27..bc6daf2 100644 --- a/src/main/deploy/pathplanner/paths/Right Subwoofer to Center.path +++ b/src/main/deploy/pathplanner/paths/Right Subwoofer to Center.path @@ -32,7 +32,7 @@ "constraintZones": [], "eventMarkers": [], "globalConstraints": { - "maxVelocity": 3.0, + "maxVelocity": 4.0, "maxAcceleration": 4.0, "maxAngularVelocity": 540.0, "maxAngularAcceleration": 720.0 diff --git a/src/main/deploy/pathplanner/paths/Right Wall to Sub.path b/src/main/deploy/pathplanner/paths/Right Wall to Sub.path index 1da30fb..2ab135a 100644 --- a/src/main/deploy/pathplanner/paths/Right Wall to Sub.path +++ b/src/main/deploy/pathplanner/paths/Right Wall to Sub.path @@ -32,7 +32,7 @@ "constraintZones": [], "eventMarkers": [], "globalConstraints": { - "maxVelocity": 3.0, + "maxVelocity": 4.0, "maxAcceleration": 4.0, "maxAngularVelocity": 540.0, "maxAngularAcceleration": 720.0