commot

SouthwestRoboticsProgramming · Apr 13, 2024 · 73294dc · 73294dc
1 parent f736452
commit 73294dc
Show file tree

Hide file tree

Showing 6 changed files with 31 additions and 125 deletions.
diff --git a/Robot/src/main/deploy/pathplanner/autos/Center Through 3 note.auto b/Robot/src/main/deploy/pathplanner/autos/Center Through 3 note.auto
@@ -18,21 +18,28 @@
           }
         },
         {
-          "type": "named",
+          "type": "race",
           "data": {
-            "name": "Intake Until Note"
-          }
-        },
-        {
-          "type": "path",
-          "data": {
-            "pathName": "Start Center"
+            "commands": [
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "Center Start"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "Intake Until Note"
+                }
+              }
+            ]
           }
         },
         {
           "type": "named",
           "data": {
-            "name": "Shoot"
+            "name": "Wait and Shoot"
           }
         },
         {

diff --git a/Robot/src/main/deploy/pathplanner/autos/Just Center.auto b/Robot/src/main/deploy/pathplanner/autos/Just Center.auto
diff --git a/Robot/src/main/deploy/pathplanner/paths/Center Grab Middle A.path b/Robot/src/main/deploy/pathplanner/paths/Center Grab Middle A.path
@@ -3,25 +3,25 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 2.5763977418691195,
-        "y": 5.537862667174266
+        "x": 2.48022029840356,
+        "y": 5.562475305506168
       },
       "prevControl": null,
       "nextControl": {
-        "x": 4.469656346720101,
-        "y": 5.776912294565331
+        "x": 4.373478903254542,
+        "y": 5.801524932897233
       },
       "isLocked": false,
       "linkedName": "End of Start Center"
     },
     {
       "anchor": {
-        "x": 8.065511617959103,
-        "y": 4.114397967513275
+        "x": 7.785620631426448,
+        "y": 4.086239052107734
       },
       "prevControl": {
-        "x": 3.3173793663501825,
-        "y": 3.5099129580681963
+        "x": 3.037488379817527,
+        "y": 3.481754042662655
       },
       "nextControl": null,
       "isLocked": false,
@@ -75,7 +75,7 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": -172.51911382047635,
+    "rotation": -177.42565247212445,
     "rotateFast": false
   },
   "reversed": false,

diff --git a/Robot/src/main/deploy/pathplanner/paths/Center Middle Score A.path b/Robot/src/main/deploy/pathplanner/paths/Center Middle Score A.path
@@ -3,13 +3,13 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 8.065511617959103,
-        "y": 4.114397967513275
+        "x": 7.785620631426448,
+        "y": 4.086239052107734
       },
       "prevControl": null,
       "nextControl": {
-        "x": 5.520824723359662,
-        "y": 4.299643373633541
+        "x": 5.240933736827007,
+        "y": 4.271484458228
       },
       "isLocked": false,
       "linkedName": "End of Center Grab Middle A"
@@ -81,7 +81,7 @@
   "reversed": false,
   "folder": "Center",
   "previewStartingState": {
-    "rotation": -176.28471089457122,
+    "rotation": -179.8158220862596,
     "velocity": 0
   },
   "useDefaultConstraints": true

diff --git a/Robot/src/main/deploy/pathplanner/paths/Start Center.path b/Robot/src/main/deploy/pathplanner/paths/Start Center.path
diff --git a/Robot/src/main/java/com/swrobotics/robot/commands/RobotCommands.java b/Robot/src/main/java/com/swrobotics/robot/commands/RobotCommands.java
@@ -38,7 +38,7 @@ public static Command aimAndShoot(RobotContainer robot, boolean waitForNote, boo
         ));
 
         if (useVision) {
-            commands.add(0, Comm`ands.runOnce(() -> robot.drive.setEstimatorIgnoreVision(false)));
+            commands.add(0, Commands.runOnce(() -> robot.drive.setEstimatorIgnoreVision(false)));
             commands.add(Commands.runOnce(() -> robot.drive.setEstimatorIgnoreVision(true)));
         }