From fface774bc93849c6af3cbba7d8dc8bdb4686dd6 Mon Sep 17 00:00:00 2001 From: Noah Gleason Date: Sat, 21 Oct 2017 16:22:11 -0400 Subject: [PATCH] End of day code --- .../usfirst/frc/team449/pathgen/Pathgen.java | 12 +- .../org/usfirst/frc/team449/robot/Robot.java | 4 +- ...calciferLeftBlueBoilerToLoadingProfile.csv | 246 ++++++++-------- ...alciferLeftBlueLoadingToLoadingProfile.csv | 268 ++++++++---------- .../calciferLeftBlueRightProfile.csv | 152 +++++----- .../calciferLeftRedBoilerToLoadingProfile.csv | 246 ++++++++-------- ...calciferLeftRedLoadingToLoadingProfile.csv | 268 ++++++++---------- .../resources/calciferLeftRedRightProfile.csv | 157 +++++----- ...alciferRightBlueBoilerToLoadingProfile.csv | 246 ++++++++-------- ...lciferRightBlueLoadingToLoadingProfile.csv | 268 ++++++++---------- .../calciferRightBlueRightProfile.csv | 152 +++++----- ...calciferRightRedBoilerToLoadingProfile.csv | 246 ++++++++-------- ...alciferRightRedLoadingToLoadingProfile.csv | 268 ++++++++---------- .../calciferRightRedRightProfile.csv | 157 +++++----- RoboRIO/src/main/resources/nate_map.yml | 2 +- 15 files changed, 1277 insertions(+), 1415 deletions(-) diff --git a/Pathgen/src/main/java/org/usfirst/frc/team449/pathgen/Pathgen.java b/Pathgen/src/main/java/org/usfirst/frc/team449/pathgen/Pathgen.java index 21690024..ba2fb75f 100644 --- a/Pathgen/src/main/java/org/usfirst/frc/team449/pathgen/Pathgen.java +++ b/Pathgen/src/main/java/org/usfirst/frc/team449/pathgen/Pathgen.java @@ -32,8 +32,8 @@ public static void main(String[] args) throws IOException { final double RED_BACK_CORNER_TO_SIDE_PEG = 97.; final double RED_HALF_KEY_LENGTH = 152./2.; final double RED_KEY_CORNER_TO_SIDE_PEG = 21.; - final double AIRSHIP_PARALLEL_OFFSET_BLUE = 0.; - final double AIRSHIP_PARALLEL_OFFSET_RED = 0.; + final double AIRSHIP_PARALLEL_OFFSET_BLUE = 1.; + final double AIRSHIP_PARALLEL_OFFSET_RED = 2.; final double PEG_BASE_TO_CENTER = CENTER_TO_FRONT + CARRIAGE_LEN + BACK_FROM_PEG; @@ -106,24 +106,24 @@ public static void main(String[] args) throws IOException { Waypoint[] blueLoadingToLoading = new Waypoint[]{ new Waypoint(0, 0, 0), - new Waypoint(27, -5, 0) + new Waypoint(22, -5, 0) }; Waypoint[] blueBoilerToLoading = new Waypoint[]{ new Waypoint(0, 0, 0), new Waypoint(5, 0, 0), - new Waypoint(27, -15, 0) + new Waypoint(22, -15, 0) }; Waypoint[] redLoadingToLoading = new Waypoint[]{ new Waypoint(0, 0, 0), - new Waypoint(27, 5, 0) + new Waypoint(22, 5, 0) }; Waypoint[] redBoilerToLoading = new Waypoint[]{ new Waypoint(0, 0, 0), new Waypoint(5, 0, 0), - new Waypoint(27, 15, 0) + new Waypoint(22, 15, 0) }; Map profiles = new HashMap<>(); diff --git a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/Robot.java b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/Robot.java index 243dc071..70783cfa 100644 --- a/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/Robot.java +++ b/RoboRIO/src/main/java/org/usfirst/frc/team449/robot/Robot.java @@ -92,8 +92,8 @@ public void robotInit() { try { //Read the yaml file with SnakeYaml so we can use anchors and merge syntax. // Map normalized = (Map) yaml.load(new FileReader(RESOURCES_PATH+"ballbasaur_map.yml")); - Map normalized = (Map) yaml.load(new FileReader(RESOURCES_PATH + "naveen_map.yml")); -// Map normalized = (Map) yaml.load(new FileReader(RESOURCES_PATH + "nate_map.yml")); +// Map normalized = (Map) yaml.load(new FileReader(RESOURCES_PATH + "naveen_map.yml")); + Map normalized = (Map) yaml.load(new FileReader(RESOURCES_PATH + "nate_map.yml")); // Map normalized = (Map) yaml.load(new FileReader(RESOURCES_PATH + "calcifer_outreach_map.yml")); YAMLMapper mapper = new YAMLMapper(); //Turn the Map read by SnakeYaml into a String so Jackson can read it. diff --git a/RoboRIO/src/main/resources/calciferLeftBlueBoilerToLoadingProfile.csv b/RoboRIO/src/main/resources/calciferLeftBlueBoilerToLoadingProfile.csv index 3a4db407..6763d63a 100644 --- 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-3.377974004046602, 0.05 +12.265934270193144, 0.5173602765677655, -2.969001432345718, 0.05 +12.284696643000816, 0.3752474561534228, -2.558850258903871, 0.05 +12.297499740623595, 0.2560619524555835, -2.147831692916183, 0.05 +12.305488408696931, 0.15977336146672824, -1.7362049772638855, 0.05 +12.309806498388182, 0.08636179382503076, -1.3241802985540134, 0.05 +12.311597275845134, 0.03581554913902305, -0.9119215315504878, 0.05 +12.312003719327572, 0.008128869648755244, -0.49954762449480866, 0.05 +12.312003719327572, 0.0, -0.14667194496173624, 0.05 diff --git a/RoboRIO/src/main/resources/nate_map.yml b/RoboRIO/src/main/resources/nate_map.yml index 5e44dbbe..c8e81bbb 100644 --- a/RoboRIO/src/main/resources/nate_map.yml +++ b/RoboRIO/src/main/resources/nate_map.yml @@ -117,7 +117,7 @@ oi: '@id': scaleRotByFwdPoly powerToCoefficientMap: !!map 0.5: 0.6 - 0: 0.1 + 0: 0.2 drive: org.usfirst.frc.team449.robot.drive.unidirectional.DriveTalonClusterShiftable: '@id': drive