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pose, logger, and barge shot tweaks

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This commit is contained in:
Tylr-J42
2025-04-13 04:32:46 -04:00
parent 339bf642a1
commit 0589463c4e
16 changed files with 289 additions and 99 deletions
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6
src/main/deploy/pathplanner/autos/1 L4 Center.auto
View File

@@ -27,6 +27,12 @@
"data": {
"pathName": "H Backup"
}
},
{
"type": "named",
"data": {
"name": "HP Pickup"
}
}
]
}

55
src/main/deploy/pathplanner/autos/1L4 + Algae Center.auto Normal file
View File

@@ -0,0 +1,55 @@
{
"version": "2025.0",
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "Start to H"
}
},
{
"type": "named",
"data": {
"name": "Shoot Coral L4"
}
},
{
"type": "path",
"data": {
"pathName": "H Backup"
}
},
{
"type": "named",
"data": {
"name": "Pickup Algae L2"
}
},
{
"type": "path",
"data": {
"pathName": "HG Algae"
}
},
{
"type": "path",
"data": {
"pathName": "HG to Barge"
}
},
{
"type": "named",
"data": {
"name": "Shoot Algae"
}
}
]
}
},
"resetOdom": true,
"folder": null,
"choreoAuto": false
}

24
src/main/deploy/pathplanner/paths/H Backup.path
View File

@@ -3,29 +3,29 @@
"waypoints": [
{
"anchor": {
"x": 5.7,
"y": 4.3
"x": 5.758260140458621,
"y": 4.193633481772718
},
"prevControl": null,
"nextControl": {
"x": 6.053790983606557,
"y": 4.312704918032787
"x": 6.112051124065178,
"y": 4.206338399805505
},
"isLocked": false,
"linkedName": "H"
},
{
"anchor": {
"x": 6.389446721311475,
"y": 4.3
"x": 6.5,
"y": 4.021985060730393
},
"prevControl": {
"x": 6.1394487099079695,
"y": 4.300997143065429
"x": 6.250001988596495,
"y": 4.022982203795822
},
"nextControl": null,
"isLocked": false,
"linkedName": null
"linkedName": "Behind HG Face"
}
],
"rotationTargets": [],
@@ -34,7 +34,7 @@
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 3.5,
"maxAcceleration": 1.75,
"maxAcceleration": 0.75,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 400.0,
"nominalVoltage": 12.0,
@@ -45,10 +45,10 @@
"rotation": 180.0
},
"reversed": false,
"folder": null,
"folder": "Center",
"idealStartingState": {
"velocity": 0,
"rotation": 180.0
},
"useDefaultConstraints": true
"useDefaultConstraints": false
}

26
src/main/deploy/pathplanner/paths/New Path.path → src/main/deploy/pathplanner/paths/HG Algae.path
View File

@@ -3,29 +3,29 @@
"waypoints": [
{
"anchor": {
"x": 8.786987704919465,
"y": 4.348668032784689
"x": 6.5,
"y": 4.021985060730393
},
"prevControl": null,
"nextControl": {
"x": 9.786987704919456,
"y": 4.348668032784689
"x": 6.224227344787433,
"y": 4.009974315068493
},
"isLocked": false,
"linkedName": null
"linkedName": "Behind HG Face"
},
{
"anchor": {
"x": 11.256454918034219,
"y": 4.348668032784689
"x": 5.872671261177789,
"y": 4.021985060730393
},
"prevControl": {
"x": 7.543546317006037,
"y": 6.492316813064786
"x": 6.125859753477119,
"y": 4.004837296105254
},
"nextControl": null,
"isLocked": false,
"linkedName": null
"linkedName": "HG Algae"
}
],
"rotationTargets": [],
@@ -42,13 +42,13 @@
},
"goalEndState": {
"velocity": 0,
"rotation": 0.0
"rotation": 180.0
},
"reversed": false,
"folder": null,
"folder": "Center",
"idealStartingState": {
"velocity": 0,
"rotation": 124.695153531234
"rotation": 180.0
},
"useDefaultConstraints": true
}

71
src/main/deploy/pathplanner/paths/HG to Barge.path Normal file
View File

@@ -0,0 +1,71 @@
{
"version": "2025.0",
"waypoints": [
{
"anchor": {
"x": 5.872671261177789,
"y": 4.021985060730393
},
"prevControl": null,
"nextControl": {
"x": 7.829105562465259,
"y": 3.8676166530198106
},
"isLocked": false,
"linkedName": "HG Algae"
},
{
"anchor": {
"x": 7.032020547945206,
"y": 4.761258561643835
},
"prevControl": {
"x": 7.262336691900294,
"y": 4.359747737103425
},
"nextControl": null,
"isLocked": false,
"linkedName": "Pre-Barge"
}
],
"rotationTargets": [
{
"waypointRelativePos": 0.17234468937875755,
"rotationDegrees": 180.0
}
],
"constraintZones": [],
"pointTowardsZones": [],
"eventMarkers": [
{
"name": "Processor Position",
"waypointRelativePos": 0.188095238095238,
"endWaypointRelativePos": null,
"command": {
"type": "named",
"data": {
"name": "Processor Position"
}
}
}
],
"globalConstraints": {
"maxVelocity": 3.5,
"maxAcceleration": 1.75,
"maxAngularVelocity": 360.0,
"maxAngularAcceleration": 300.0,
"nominalVoltage": 12.0,
"unlimited": false
},
"goalEndState": {
"velocity": 0,
"rotation": 0.0
},
"reversed": false,
"folder": "Center",
"idealStartingState": {
"velocity": 0,
"rotation": 180.0
},
"useDefaultConstraints": false
}

4
src/main/deploy/pathplanner/paths/HP to K.path
View File

@@ -46,7 +46,7 @@
],
"globalConstraints": {
"maxVelocity": 3.5,
"maxAcceleration": 1.75,
"maxAcceleration": 1.5,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 400.0,
"nominalVoltage": 12.0,
@@ -62,5 +62,5 @@
"velocity": 0,
"rotation": -53.97262661489646
},
"useDefaultConstraints": true
"useDefaultConstraints": false
}

28
src/main/deploy/pathplanner/paths/Start to H.path
View File

@@ -16,12 +16,12 @@
},
{
"anchor": {
"x": 5.7,
"y": 4.3
"x": 5.758260140458621,
"y": 4.193633481772718
},
"prevControl": {
"x": 6.347336065573771,
"y": 4.2640368852459005
"x": 6.405596206032391,
"y": 4.157670367018619
},
"nextControl": null,
"isLocked": false,
@@ -31,10 +31,22 @@
"rotationTargets": [],
"constraintZones": [],
"pointTowardsZones": [],
"eventMarkers": [],
"eventMarkers": [
{
"name": "Lift L4",
"waypointRelativePos": 0.10238095238095252,
"endWaypointRelativePos": null,
"command": {
"type": "named",
"data": {
"name": "Lift L4"
}
}
}
],
"globalConstraints": {
"maxVelocity": 3.5,
"maxAcceleration": 1.75,
"maxAcceleration": 1.0,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 400.0,
"nominalVoltage": 12.0,
@@ -45,10 +57,10 @@
"rotation": 180.0
},
"reversed": false,
"folder": null,
"folder": "Center",
"idealStartingState": {
"velocity": 0,
"rotation": 180.0
},
"useDefaultConstraints": true
"useDefaultConstraints": false
}

3
src/main/deploy/pathplanner/settings.json
View File

@@ -3,7 +3,8 @@
"robotLength": 0.8763,
"holonomicMode": true,
"pathFolders": [
"Left Paths"
"Left Paths",
"Center"
],
"autoFolders": [],
"defaultMaxVel": 3.5,