From 73294dcefac1d758d253182eb01a1a5b48dcb756 Mon Sep 17 00:00:00 2001 From: freaker2112 Date: Sat, 13 Apr 2024 12:50:40 -0500 Subject: [PATCH] commot --- .../autos/Center Through 3 note.auto | 25 +++++---- .../deploy/pathplanner/autos/Just Center.auto | 49 ----------------- .../paths/Center Grab Middle A.path | 18 +++---- .../paths/Center Middle Score A.path | 10 ++-- .../pathplanner/paths/Start Center.path | 52 ------------------- .../robot/commands/RobotCommands.java | 2 +- 6 files changed, 31 insertions(+), 125 deletions(-) delete mode 100644 Robot/src/main/deploy/pathplanner/autos/Just Center.auto delete mode 100644 Robot/src/main/deploy/pathplanner/paths/Start Center.path 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 index 51c39ae..e037fb5 100644 --- 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 deleted file mode 100644 index caa334a..0000000 --- a/Robot/src/main/deploy/pathplanner/autos/Just Center.auto +++ /dev/null @@ -1,49 +0,0 @@ -{ - "version": 1.0, - "startingPose": { - "position": { - "x": 1.382399573915957, - "y": 5.5430292057165325 - }, - "rotation": 180.0 - }, - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "wait", - "data": { - "waitTime": 0.5 - } - }, - { - "type": "named", - "data": { - "name": "Shoot" - } - }, - { - "type": "named", - "data": { - "name": "Intake Until Note" - } - }, - { - "type": "path", - "data": { - "pathName": "Start Center" - } - }, - { - "type": "named", - "data": { - "name": "Shoot" - } - } - ] - } - }, - "folder": "Center", - "choreoAuto": false -} \ No newline at end of file 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 index f1d12bb..ac78c13 100644 --- 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 index d6c986f..daa1c8e 100644 --- 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 deleted file mode 100644 index 6ca97e4..0000000 --- a/Robot/src/main/deploy/pathplanner/paths/Start Center.path +++ /dev/null @@ -1,52 +0,0 @@ -{ - "version": 1.0, - "waypoints": [ - { - "anchor": { - "x": 1.3576779647621067, - "y": 5.537862667174266 - }, - "prevControl": null, - "nextControl": { - "x": 2.357677964762106, - "y": 5.537862667174266 - }, - "isLocked": false, - "linkedName": null - }, - { - "anchor": { - "x": 2.5763977418691195, - "y": 5.537862667174266 - }, - "prevControl": { - "x": 1.5763977418691195, - "y": 5.537862667174266 - }, - "nextControl": null, - "isLocked": false, - "linkedName": "End of Start Center" - } - ], - "rotationTargets": [], - "constraintZones": [], - "eventMarkers": [], - "globalConstraints": { - "maxVelocity": 5.7, - "maxAcceleration": 3.8, - "maxAngularVelocity": 540.0, - "maxAngularAcceleration": 640.0 - }, - "goalEndState": { - "velocity": 0, - "rotation": 180.0, - "rotateFast": false - }, - "reversed": false, - "folder": "Center", - "previewStartingState": { - "rotation": 179.620563298581, - "velocity": 0 - }, - "useDefaultConstraints": true -} \ No newline at end of file diff --git a/Robot/src/main/java/com/swrobotics/robot/commands/RobotCommands.java b/Robot/src/main/java/com/swrobotics/robot/commands/RobotCommands.java index 656117c..0e598fd 100644 --- 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))); }