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ARC6014 · Apr 18, 2024 · 6a61c3b · 6a61c3b
1 parent 61fc406
commit 6a61c3b
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Showing 27 changed files with 63 additions and 167 deletions.
diff --git a/.pathplanner/settings.json b/.pathplanner/settings.json
@@ -1,6 +1,6 @@
 {
-  "robotWidth": 0.56,
-  "robotLength": 0.56,
+  "robotWidth": 0.75,
+  "robotLength": 0.75,
   "holonomicMode": true,
   "pathFolders": [
     "2Note",
@@ -16,9 +16,9 @@
     "4Note",
     "3Note"
   ],
-  "defaultMaxVel": 3.5,
+  "defaultMaxVel": 4.5,
   "defaultMaxAccel": 2.5,
   "defaultMaxAngVel": 750.0,
   "defaultMaxAngAccel": 650.0,
-  "maxModuleSpeed": 4.0
+  "maxModuleSpeed": 5.0
 }
diff --git a/src/main/deploy/pathplanner/paths/2NoteCenter.path b/src/main/deploy/pathplanner/paths/2NoteCenter.path
@@ -32,7 +32,7 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.5,
+    "maxVelocity": 4.5,
     "maxAcceleration": 2.5,
     "maxAngularVelocity": 750.0,
     "maxAngularAcceleration": 650.0

diff --git a/src/main/deploy/pathplanner/paths/2NoteLeft.path b/src/main/deploy/pathplanner/paths/2NoteLeft.path
@@ -32,7 +32,7 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.5,
+    "maxVelocity": 4.5,
     "maxAcceleration": 2.5,
     "maxAngularVelocity": 750.0,
     "maxAngularAcceleration": 650.0

diff --git a/src/main/deploy/pathplanner/paths/2NoteRight.path b/src/main/deploy/pathplanner/paths/2NoteRight.path
@@ -32,7 +32,7 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.5,
+    "maxVelocity": 4.5,
     "maxAcceleration": 2.5,
     "maxAngularVelocity": 750.0,
     "maxAngularAcceleration": 650.0

diff --git a/src/main/deploy/pathplanner/paths/3NoteLong1.path b/src/main/deploy/pathplanner/paths/3NoteLong1.path
@@ -32,7 +32,7 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.5,
+    "maxVelocity": 4.5,
     "maxAcceleration": 2.5,
     "maxAngularVelocity": 750.0,
     "maxAngularAcceleration": 650.0

diff --git a/src/main/deploy/pathplanner/paths/3NoteLong2.path b/src/main/deploy/pathplanner/paths/3NoteLong2.path
@@ -32,7 +32,7 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.5,
+    "maxVelocity": 4.5,
     "maxAcceleration": 2.5,
     "maxAngularVelocity": 750.0,
     "maxAngularAcceleration": 650.0

diff --git a/src/main/deploy/pathplanner/paths/3NoteLong3.path b/src/main/deploy/pathplanner/paths/3NoteLong3.path
@@ -32,7 +32,7 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.5,
+    "maxVelocity": 4.5,
     "maxAcceleration": 2.5,
     "maxAngularVelocity": 750.0,
     "maxAngularAcceleration": 650.0

diff --git a/src/main/deploy/pathplanner/paths/3NoteLongFar1.path b/src/main/deploy/pathplanner/paths/3NoteLongFar1.path
@@ -32,7 +32,7 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.5,
+    "maxVelocity": 4.5,
     "maxAcceleration": 2.5,
     "maxAngularVelocity": 750.0,
     "maxAngularAcceleration": 650.0

diff --git a/src/main/deploy/pathplanner/paths/3NoteLongFar2.path b/src/main/deploy/pathplanner/paths/3NoteLongFar2.path
@@ -32,7 +32,7 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.5,
+    "maxVelocity": 4.5,
     "maxAcceleration": 2.5,
     "maxAngularVelocity": 750.0,
     "maxAngularAcceleration": 650.0

diff --git a/src/main/deploy/pathplanner/paths/3NoteLongFar3.path b/src/main/deploy/pathplanner/paths/3NoteLongFar3.path
@@ -32,7 +32,7 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.5,
+    "maxVelocity": 4.5,
     "maxAcceleration": 2.5,
     "maxAngularVelocity": 750.0,
     "maxAngularAcceleration": 650.0

diff --git a/src/main/deploy/pathplanner/paths/4NoteFar1.path b/src/main/deploy/pathplanner/paths/4NoteFar1.path
@@ -16,12 +16,12 @@
     },
     {
       "anchor": {
-        "x": 7.861252448483544,
-        "y": 0.7595790280548544
+        "x": 7.877250726723676,
+        "y": 0.7441456410690599
       },
       "prevControl": {
-        "x": 7.378279301981696,
-        "y": 0.5791099032277166
+        "x": 7.394277580221828,
+        "y": 0.563676516241922
       },
       "nextControl": null,
       "isLocked": false,
@@ -32,8 +32,8 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 4.0,
-    "maxAcceleration": 3.5,
+    "maxVelocity": 4.5,
+    "maxAcceleration": 2.5,
     "maxAngularVelocity": 750.0,
     "maxAngularAcceleration": 650.0
   },
@@ -48,5 +48,5 @@
     "rotation": 120.0,
     "velocity": 0
   },
-  "useDefaultConstraints": false
+  "useDefaultConstraints": true
 }
diff --git a/src/main/deploy/pathplanner/paths/4NoteFar2.path b/src/main/deploy/pathplanner/paths/4NoteFar2.path
@@ -3,25 +3,25 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 7.86,
-        "y": 0.76
+        "x": 7.88,
+        "y": 0.74
       },
       "prevControl": null,
       "nextControl": {
-        "x": 7.038403841992869,
-        "y": 0.7686479647033372
+        "x": 5.1696668595189035,
+        "y": 0.5868489590682893
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 2.526361960131328,
-        "y": 3.377842806611539
+        "x": 0.7276091496627439,
+        "y": 4.394622127207218
       },
       "prevControl": {
-        "x": 2.069874246229974,
-        "y": 3.2112696262429563
+        "x": 0.7478592225702972,
+        "y": 2.8420175636647573
       },
       "nextControl": null,
       "isLocked": false,
@@ -32,14 +32,14 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 4.0,
-    "maxAcceleration": 3.5,
+    "maxVelocity": 4.5,
+    "maxAcceleration": 2.5,
     "maxAngularVelocity": 750.0,
     "maxAngularAcceleration": 650.0
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": 140.0,
+    "rotation": 120.0,
     "rotateFast": true
   },
   "reversed": false,
@@ -48,5 +48,5 @@
     "rotation": 180.0,
     "velocity": 0
   },
-  "useDefaultConstraints": false
+  "useDefaultConstraints": true
 }
diff --git a/src/main/deploy/pathplanner/paths/4NoteFar3.path b/src/main/deploy/pathplanner/paths/4NoteFar3.path
@@ -3,13 +3,13 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 2.53,
-        "y": 3.38
+        "x": 0.73,
+        "y": 4.39
       },
       "prevControl": null,
       "nextControl": {
-        "x": 3.3101169813450735,
-        "y": 1.5388867722179895
+        "x": 1.5101169813450737,
+        "y": 2.5488867722179895
       },
       "isLocked": false,
       "linkedName": null
@@ -20,8 +20,8 @@
         "y": 2.4150717815077387
       },
       "prevControl": {
-        "x": 6.22438145251933,
-        "y": 1.6572677334922357
+        "x": 3.7492644568622473,
+        "y": 1.3023587945324044
       },
       "nextControl": null,
       "isLocked": false,
@@ -32,8 +32,8 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 4.0,
-    "maxAcceleration": 3.5,
+    "maxVelocity": 4.5,
+    "maxAcceleration": 2.5,
     "maxAngularVelocity": 750.0,
     "maxAngularAcceleration": 650.0
   },
@@ -45,8 +45,8 @@
   "reversed": false,
   "folder": "4NoteFarSide",
   "previewStartingState": {
-    "rotation": 180.0,
+    "rotation": 120.0,
     "velocity": 0
   },
-  "useDefaultConstraints": false
+  "useDefaultConstraints": true
 }
diff --git a/src/main/deploy/pathplanner/paths/4NoteFar4.path b/src/main/deploy/pathplanner/paths/4NoteFar4.path
@@ -8,20 +8,20 @@
       },
       "prevControl": null,
       "nextControl": {
-        "x": 6.91237765642198,
-        "y": 0.9940225684155071
+        "x": 4.158244668341188,
+        "y": 0.06615419712320972
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 2.83,
-        "y": 3.197848756808625
+        "x": 0.7571231855426677,
+        "y": 4.39634427417003
       },
       "prevControl": {
-        "x": 3.4800214018946556,
-        "y": 2.0599253050357955
+        "x": 0.7697720580626349,
+        "y": 3.9270889189926534
       },
       "nextControl": null,
       "isLocked": false,
@@ -32,14 +32,14 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 4.0,
-    "maxAcceleration": 3.5,
+    "maxVelocity": 4.5,
+    "maxAcceleration": 2.5,
     "maxAngularVelocity": 750.0,
     "maxAngularAcceleration": 650.0
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": 140.0,
+    "rotation": 120.0,
     "rotateFast": true
   },
   "reversed": false,
@@ -48,5 +48,5 @@
     "rotation": 180.0,
     "velocity": 0
   },
-  "useDefaultConstraints": false
+  "useDefaultConstraints": true
 }
diff --git a/src/main/deploy/pathplanner/paths/4NoteFar5.path b/src/main/deploy/pathplanner/paths/4NoteFar5.path