better path before UNH

src/main/deploy/pathplanner/paths/back from center.path

@@ -3,16 +3,16 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 6.428375634517765,
+        "x": 5.894304568527918,
-        "y": 5.715482233502538
+        "y": 5.614192893401015
       },
       "prevControl": null,
       "nextControl": {
-        "x": 5.507563451776648,
+        "x": 5.074781725888325,
-        "y": 5.7523147208121825
+        "y": 5.632609137055837
       },
       "isLocked": false,
-      "linkedName": "over bump"
+      "linkedName": "after center grab"
     },
     {
       "anchor": {
@@ -43,7 +43,7 @@
   "eventMarkers": [],
   "globalConstraints": {
     "maxVelocity": 4.0,
-    "maxAcceleration": 2.0,
+    "maxAcceleration": 2.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
@@ -56,7 +56,7 @@
   "reversed": false,
   "folder": null,
   "idealStartingState": {
-    "velocity": 0,
+    "velocity": 2.0,
     "rotation": -129.95754893082906
   },
   "useDefaultConstraints": false

src/main/deploy/pathplanner/paths/left start to center.path

@@ -8,23 +8,23 @@
       },
       "prevControl": null,
       "nextControl": {
-        "x": 2.9108730964467004,
+        "x": 3.0213705583756347,
-        "y": 6.498172588832488
+        "y": 6.461340101522843
       },
       "isLocked": false,
       "linkedName": "start left"
     },
     {
       "anchor": {
-        "x": 2.5885888324873094,
+        "x": 3.0766192893401025,
         "y": 5.936477157360406
       },
       "prevControl": {
-        "x": 2.3675939086294413,
+        "x": 2.8556243654822344,
         "y": 6.28638578680203
       },
       "nextControl": {
-        "x": 2.8493791599284664,
+        "x": 3.3374096167812595,
         "y": 5.523559138911907
       },
       "isLocked": false,
@@ -36,24 +36,24 @@
         "y": 5.715482233502538
       },
       "prevControl": {
-        "x": 3.565840773084476,
+        "x": 3.5645859798769006,
-        "y": 5.768729726877464
+        "y": 5.732650999050524
       },
       "nextControl": {
-        "x": 5.102406091370558,
+        "x": 5.120822335025381,
-        "y": 5.687857868020306
+        "y": 5.706274111675127
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 6.428375634517765,
+        "x": 6.041634517766498,
-        "y": 5.715482233502538
+        "y": 6.3692588832487305
       },
       "prevControl": {
-        "x": 5.903512690355329,
+        "x": 5.931137055837564,
-        "y": 5.807563451776649
+        "y": 5.65102538071066
       },
       "nextControl": null,
       "isLocked": false,
@@ -70,15 +70,15 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
+    "maxVelocity": 4.0,
-    "maxAcceleration": 2.0,
+    "maxAcceleration": 2.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
     "unlimited": false
   },
   "goalEndState": {
-    "velocity": 1.0,
+    "velocity": 2.0,
     "rotation": -129.95754893082906
   },
   "reversed": false,

src/main/deploy/pathplanner/paths/over bump to pile move.path

@@ -3,13 +3,13 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 6.428375634517765,
+        "x": 6.041634517766498,
-        "y": 5.715482233502538
+        "y": 6.3692588832487305
       },
       "prevControl": null,
       "nextControl": {
-        "x": 6.897989847715735,
+        "x": 6.511248730964468,
-        "y": 6.406091370558377
+        "y": 7.059868020304569
       },
       "isLocked": false,
       "linkedName": "over bump"
@@ -48,16 +48,16 @@
     },
     {
       "anchor": {
-        "x": 6.428375634517765,
+        "x": 5.894304568527918,
-        "y": 5.715482233502538
+        "y": 5.614192893401015
       },
       "prevControl": {
-        "x": 7.375431472081217,
+        "x": 6.841360406091369,
-        "y": 5.183713197969544
+        "y": 5.0824238578680205
       },
       "nextControl": null,
       "isLocked": false,
-      "linkedName": "over bump"
+      "linkedName": "after center grab"
     }
   ],
   "rotationTargets": [
@@ -103,7 +103,7 @@
     "unlimited": false
   },
   "goalEndState": {
-    "velocity": 2.0,
+    "velocity": 3.0,
     "rotation": -129.95754893082906
   },
   "reversed": false,

src/main/deploy/pathplanner/paths/over bump to pile.path

@@ -3,29 +3,29 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 6.428375634517765,
+        "x": 6.041634517766498,
-        "y": 5.715482233502538
+        "y": 6.3692588832487305
       },
       "prevControl": null,
       "nextControl": {
-        "x": 6.897989847715735,
+        "x": 6.511248730964468,
-        "y": 6.406091370558377
+        "y": 7.059868020304569
       },
       "isLocked": false,
       "linkedName": "over bump"
     },
     {
       "anchor": {
-        "x": 7.017695431472081,
+        "x": 7.220274111675127,
-        "y": 7.216406091370559
+        "y": 7.299279187817259
       },
       "prevControl": {
-        "x": 6.017695431472081,
+        "x": 6.220274111675127,
-        "y": 7.216406091370559
+        "y": 7.299279187817259
       },
       "nextControl": {
-        "x": 8.017695431472081,
+        "x": 8.220274111675131,
-        "y": 7.216406091370559
+        "y": 7.299279187817259
       },
       "isLocked": false,
       "linkedName": null
@@ -36,28 +36,28 @@
         "y": 4.831502538071066
       },
       "prevControl": {
-        "x": 7.941269035532995,
+        "x": 7.952417879560978,
-        "y": 6.042370558375635
+        "y": 6.041784973535379
       },
       "nextControl": {
-        "x": 7.825248730964466,
+        "x": 7.846426395939085,
-        "y": 3.620634517766498
+        "y": 4.186934010152284
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 6.428375634517765,
+        "x": 5.894304568527918,
-        "y": 5.715482233502538
+        "y": 5.614192893401015
       },
       "prevControl": {
-        "x": 7.375431472081217,
+        "x": 6.750659898477156,
-        "y": 5.183713197969544
+        "y": 5.614192893401015
       },
       "nextControl": null,
       "isLocked": false,
-      "linkedName": "over bump"
+      "linkedName": "after center grab"
     }
   ],
   "rotationTargets": [
@@ -73,7 +73,7 @@
   "constraintZones": [
     {
       "name": "Constraints Zone",
-      "minWaypointRelativePos": 1.1243680485338854,
+      "minWaypointRelativePos": 1.3403967538322836,
       "maxWaypointRelativePos": 2.0,
       "constraints": {
         "maxVelocity": 1.0,
@@ -95,22 +95,22 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 2.0,
+    "maxVelocity": 3.0,
-    "maxAcceleration": 1.5,
+    "maxAcceleration": 2.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
     "unlimited": false
   },
   "goalEndState": {
-    "velocity": 0,
+    "velocity": 3.0,
     "rotation": -129.95754893082906
   },
   "reversed": false,
   "folder": null,
   "idealStartingState": {
-    "velocity": 0,
+    "velocity": 2.0,
     "rotation": -129.95754893082906
   },
-  "useDefaultConstraints": true
+  "useDefaultConstraints": false
 }