[Robot] Mura changes

SouthwestRoboticsProgramming · Mar 30, 2024 · 9ef8710 · 9ef8710
1 parent da9794d
commit 9ef8710
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Showing 25 changed files with 152 additions and 102 deletions.
diff --git a/Robot/.pathplanner/settings.json b/Robot/.pathplanner/settings.json
@@ -10,8 +10,8 @@
     "Amp",
     "Source"
   ],
-  "defaultMaxVel": 4.5,
-  "defaultMaxAccel": 3.8,
+  "defaultMaxVel": 4.75,
+  "defaultMaxAccel": 3.9,
   "defaultMaxAngVel": 540.0,
   "defaultMaxAngAccel": 640.0,
   "maxModuleSpeed": 5.64

diff --git a/Robot/src/main/deploy/pathplanner/autos/Amp Standard.auto b/Robot/src/main/deploy/pathplanner/autos/Amp Standard.auto
@@ -5,7 +5,7 @@
       "x": 1.2991794154609702,
       "y": 6.737082927847566
     },
-    "rotation": -134.31522249299087
+    "rotation": -136.30933403146403
   },
   "command": {
     "type": "sequential",

diff --git a/Robot/src/main/deploy/pathplanner/autos/Source Standard.auto b/Robot/src/main/deploy/pathplanner/autos/Source Standard.auto
@@ -5,7 +5,7 @@
       "x": 1.2796798990272578,
       "y": 4.32889264828411
     },
-    "rotation": 133.38969939750103
+    "rotation": 134.2986105099582
   },
   "command": {
     "type": "sequential",

diff --git a/Robot/src/main/deploy/pathplanner/paths/Amp Center A Grab.path b/Robot/src/main/deploy/pathplanner/paths/Amp Center A Grab.path
@@ -16,12 +16,12 @@
     },
     {
       "anchor": {
-        "x": 7.8217676625377015,
-        "y": 7.390316728376925
+        "x": 8.036373451664282,
+        "y": 7.449176379834242
       },
       "prevControl": {
-        "x": 6.876041115502661,
-        "y": 7.302568904425221
+        "x": 7.090646904629241,
+        "y": 7.361428555882537
       },
       "nextControl": null,
       "isLocked": false,
@@ -56,8 +56,8 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 4.5,
-    "maxAcceleration": 3.8,
+    "maxVelocity": 4.75,
+    "maxAcceleration": 3.9,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 640.0
   },

diff --git a/Robot/src/main/deploy/pathplanner/paths/Amp Center A Score.path b/Robot/src/main/deploy/pathplanner/paths/Amp Center A Score.path
@@ -32,8 +32,8 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 4.5,
-    "maxAcceleration": 3.8,
+    "maxVelocity": 4.75,
+    "maxAcceleration": 3.9,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 640.0
   },

diff --git a/Robot/src/main/deploy/pathplanner/paths/Amp Center B Grab.path b/Robot/src/main/deploy/pathplanner/paths/Amp Center B Grab.path
@@ -16,12 +16,12 @@
     },
     {
       "anchor": {
-        "x": 7.753519355019709,
-        "y": 5.976601786932791
+        "x": 7.919431907239883,
+        "y": 5.917242147874609
       },
       "prevControl": {
-        "x": 6.690795709382394,
-        "y": 6.434840423125027
+        "x": 6.856708261602568,
+        "y": 6.375480784066845
       },
       "nextControl": null,
       "isLocked": false,
@@ -32,8 +32,8 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 4.5,
-    "maxAcceleration": 3.8,
+    "maxVelocity": 4.75,
+    "maxAcceleration": 3.9,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 640.0
   },

diff --git a/Robot/src/main/deploy/pathplanner/paths/Amp Center B Score.path b/Robot/src/main/deploy/pathplanner/paths/Amp Center B Score.path
@@ -3,13 +3,13 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 7.509775399598305,
-        "y": 6.074099369101352
+        "x": 7.627078046178885,
+        "y": 5.952324611201929
       },
       "prevControl": null,
       "nextControl": {
-        "x": 6.729794742249817,
-        "y": 6.600586312811582
+        "x": 6.847097388830397,
+        "y": 6.478811554912159
       },
       "isLocked": false,
       "linkedName": null
@@ -32,8 +32,8 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 4.5,
-    "maxAcceleration": 3.8,
+    "maxVelocity": 4.75,
+    "maxAcceleration": 3.9,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 640.0
   },

diff --git a/Robot/src/main/deploy/pathplanner/paths/Amp End.path b/Robot/src/main/deploy/pathplanner/paths/Amp End.path
@@ -16,16 +16,16 @@
     },
     {
       "anchor": {
-        "x": 8.007013068657967,
-        "y": 4.358141922934678
+        "x": 8.118232532761363,
+        "y": 4.268366371490578
       },
       "prevControl": {
-        "x": 7.151210230531631,
-        "y": 5.5081269866669444
+        "x": 7.262429694635027,
+        "y": 5.418351435222845
       },
       "nextControl": {
-        "x": 8.319005331597362,
-        "y": 3.9389023196098654
+        "x": 8.430224795700758,
+        "y": 3.8491267681657657
       },
       "isLocked": false,
       "linkedName": null
@@ -78,6 +78,17 @@
         "maxAngularVelocity": 540.0,
         "maxAngularAcceleration": 640.0
       }
+    },
+    {
+      "name": "New Constraints Zone",
+      "minWaypointRelativePos": 0.85,
+      "maxWaypointRelativePos": 1.4,
+      "constraints": {
+        "maxVelocity": 2.0,
+        "maxAcceleration": 3.8,
+        "maxAngularVelocity": 540.0,
+        "maxAngularAcceleration": 640.0
+      }
     }
   ],
   "eventMarkers": [
@@ -117,8 +128,8 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 4.5,
-    "maxAcceleration": 3.8,
+    "maxVelocity": 4.75,
+    "maxAcceleration": 3.9,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 640.0
   },

diff --git a/Robot/src/main/deploy/pathplanner/paths/Amp Start Greedy A.path b/Robot/src/main/deploy/pathplanner/paths/Amp Start Greedy A.path
@@ -38,8 +38,8 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 4.5,
-    "maxAcceleration": 3.8,
+    "maxVelocity": 4.75,
+    "maxAcceleration": 3.9,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 640.0
   },

diff --git a/Robot/src/main/deploy/pathplanner/paths/Source Center A Fast.path b/Robot/src/main/deploy/pathplanner/paths/Source Center A Fast.path
@@ -32,12 +32,7 @@
     {
       "waypointRelativePos": 0.65,
       "rotationDegrees": 172.72588892230365,
-      "rotateFast": false
-    },
-    {
-      "waypointRelativePos": 0.2,
-      "rotationDegrees": 107.2001259424182,
-      "rotateFast": false
+      "rotateFast": true
     }
   ],
   "constraintZones": [],

diff --git a/Robot/src/main/deploy/pathplanner/paths/Source Center A Grab.path b/Robot/src/main/deploy/pathplanner/paths/Source Center A Grab.path
@@ -16,12 +16,12 @@
     },
     {
       "anchor": {
-        "x": 7.763269113236564,
-        "y": 0.8482289648664817
+        "x": 7.8726552894701225,
+        "y": 0.7133434209888375
       },
       "prevControl": {
-        "x": 6.105810216371027,
-        "y": 0.8677284813001925
+        "x": 6.215196392604585,
+        "y": 0.7328429374225484
       },
       "nextControl": null,
       "isLocked": false,
@@ -50,8 +50,8 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 4.5,
-    "maxAcceleration": 3.8,
+    "maxVelocity": 4.75,
+    "maxAcceleration": 3.9,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 640.0
   },

diff --git a/Robot/src/main/deploy/pathplanner/paths/Source Center A Score.path b/Robot/src/main/deploy/pathplanner/paths/Source Center A Score.path
@@ -3,13 +3,13 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 7.763269113236564,
-        "y": 0.8482289648664817
+        "x": 7.8726552894701225,
+        "y": 0.7133434209888375
       },
       "prevControl": null,
       "nextControl": {
-        "x": 6.369053688226141,
-        "y": 0.9554763052518983
+        "x": 6.478439864459699,
+        "y": 0.8205907613742541
       },
       "isLocked": false,
       "linkedName": "End of Source Center A Grab"
@@ -32,8 +32,8 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 4.5,
-    "maxAcceleration": 3.8,
+    "maxVelocity": 4.75,
+    "maxAcceleration": 3.9,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 640.0
   },

diff --git a/Robot/src/main/deploy/pathplanner/paths/Source Center B Grab.path b/Robot/src/main/deploy/pathplanner/paths/Source Center B Grab.path
@@ -8,20 +8,36 @@
       },
       "prevControl": null,
       "nextControl": {
-        "x": 5.24783149328769,
-        "y": 1.296717842841861
+        "x": 3.955113551252743,
+        "y": 1.719040703038672
       },
       "isLocked": false,
       "linkedName": "Score Location Source"
     },
     {
       "anchor": {
-        "x": 7.929015002923118,
-        "y": 2.281443422744329
+        "x": 5.685848408733854,
+        "y": 1.777511475250871
       },
       "prevControl": {
-        "x": 6.203307798539589,
-        "y": 1.3162173592755742
+        "x": 4.973000273866197,
+        "y": 1.7237116160155765
+      },
+      "nextControl": {
+        "x": 6.925428779632489,
+        "y": 1.8710647107903897
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 7.767407899488164,
+        "y": 2.408995815142628
+      },
+      "prevControl": {
+        "x": 6.399191829722692,
+        "y": 2.3973016607001885
       },
       "nextControl": null,
       "isLocked": false,
@@ -50,14 +66,14 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 4.5,
-    "maxAcceleration": 3.8,
+    "maxVelocity": 4.75,
+    "maxAcceleration": 3.9,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 640.0
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": -151.0948368231641,
+    "rotation": -176.9335144988741,
     "rotateFast": false
   },
   "reversed": false,

diff --git a/Robot/src/main/deploy/pathplanner/paths/Source Center B Score.path b/Robot/src/main/deploy/pathplanner/paths/Source Center B Score.path
@@ -32,8 +32,8 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 4.5,
-    "maxAcceleration": 3.8,
+    "maxVelocity": 4.75,
+    "maxAcceleration": 3.9,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 640.0
   },

diff --git a/Robot/src/main/deploy/pathplanner/paths/Source End Grab.path b/Robot/src/main/deploy/pathplanner/paths/Source End Grab.path
@@ -20,24 +20,24 @@
         "y": 4.055899418212139
       },
       "prevControl": {
-        "x": 4.618322305528223,
-        "y": 4.055899418212139
+        "x": 4.270855721198622,
+        "y": 4.0695657459691
       },
       "nextControl": {
-        "x": 6.618322305528223,
-        "y": 4.055899418212139
+        "x": 6.618270876992775,
+        "y": 4.045757701098955
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 7.782768629670277,
-        "y": 4.055899418212139
+        "x": 7.802490362815484,
+        "y": 4.174813135951059
       },
       "prevControl": {
-        "x": 6.878803446442999,
-        "y": 4.060774297320568
+        "x": 6.898525179588206,
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       },
       "nextControl": null,
       "isLocked": false,
@@ -67,7 +67,7 @@
   "eventMarkers": [
     {
       "name": "New Event Marker",
-      "waypointRelativePos": 1.1,
+      "waypointRelativePos": 0.9,
       "command": {
         "type": "parallel",
         "data": {
@@ -101,8 +101,8 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 4.5,
-    "maxAcceleration": 3.8,
+    "maxVelocity": 4.75,
+    "maxAcceleration": 3.9,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 640.0
   },

diff --git a/Robot/src/main/deploy/pathplanner/paths/Source End Score.path b/Robot/src/main/deploy/pathplanner/paths/Source End Score.path
@@ -50,8 +50,8 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 4.5,
-    "maxAcceleration": 3.8,
+    "maxVelocity": 4.75,
+    "maxAcceleration": 3.9,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 640.0
   },