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joelzotojoelzoto
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Merge pull request #41 from joelzoto/main
auton tuning
2 parents 43c68dc + 471769a commit 46cce87

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10 files changed

+61
-79
lines changed

10 files changed

+61
-79
lines changed

‎src/main/deploy/pathplanner/autos/Right_3.5_FDC.auto‎

Lines changed: 3 additions & 21 deletions
Original file line numberDiff line numberDiff line change
@@ -70,16 +70,10 @@
7070
"name": "HPPickup"
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}
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},
73-
{
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"type": "named",
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"data": {
76-
"name": "LineUpHPStationRight"
77-
}
78-
},
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{
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"type": "wait",
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"data": {
82-
"waitTime": 0.75
76+
"waitTime": 0.8
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}
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}
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]
@@ -164,16 +158,10 @@
164158
"name": "HPPickup"
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}
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},
167-
{
168-
"type": "named",
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"data": {
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"name": "LineUpHPStationRight"
171-
}
172-
},
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{
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"type": "wait",
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"data": {
176-
"waitTime": 0.75
164+
"waitTime": 0.8
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}
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}
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]
@@ -258,16 +246,10 @@
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"name": "HPPickup"
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}
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},
261-
{
262-
"type": "named",
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"data": {
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"name": "LineUpHPStationRight"
265-
}
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},
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{
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"type": "wait",
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"data": {
270-
"waitTime": 0.75
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"waitTime": 0.8
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}
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}
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]

‎src/main/deploy/pathplanner/paths/C_Load.path‎

Lines changed: 9 additions & 9 deletions
Original file line numberDiff line numberDiff line change
@@ -3,29 +3,29 @@
33
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44
{
55
"anchor": {
6-
"x": 3.5483606557377048,
7-
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6+
"x": 3.1785,
7+
"y": 2.61125
88
},
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"prevControl": null,
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"nextControl": {
11-
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12-
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11+
"x": 1.4994485959043433,
12+
"y": 2.4900073898447963
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},
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"isLocked": false,
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"linkedName": "C"
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},
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{
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"anchor": {
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},
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"nextControl": null,
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"isLocked": false,
28-
"linkedName": "RightLoad"
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"linkedName": null
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}
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],
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"rotationTargets": [],

‎src/main/deploy/pathplanner/paths/D_Load.path‎

Lines changed: 8 additions & 8 deletions
Original file line numberDiff line numberDiff line change
@@ -3,25 +3,25 @@
33
"waypoints": [
44
{
55
"anchor": {
6-
"x": 3.6202868852459016,
7-
"y": 2.388678278688524
6+
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7+
"y": 2.5429999999999997
88
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"nextControl": {
11-
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12-
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11+
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12+
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},
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"isLocked": false,
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"linkedName": "D"
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},
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{
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"anchor": {
19-
"x": 1.41375,
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},
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"prevControl": {
23-
"x": 2.277592483249231,
24-
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23+
"x": 2.5408424832492305,
24+
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},
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"nextControl": null,
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"isLocked": false,

‎src/main/deploy/pathplanner/paths/F_Load.path‎

Lines changed: 7 additions & 7 deletions
Original file line numberDiff line numberDiff line change
@@ -8,24 +8,24 @@
88
},
99
"prevControl": null,
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"nextControl": {
11-
"x": 4.781005953468027,
12-
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11+
"x": 5.03061125192863,
12+
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},
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"isLocked": false,
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"linkedName": "F"
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},
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{
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"anchor": {
19-
"x": 1.41375,
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"y": 1.0707499999999994
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"x": 1.7355,
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},
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"prevControl": {
23-
"x": 2.8896639125659895,
24-
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24+
"y": 1.471976733921906
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},
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"nextControl": null,
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"isLocked": false,
28-
"linkedName": "RightLoad"
28+
"linkedName": null
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}
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],
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"rotationTargets": [],

‎src/main/deploy/pathplanner/paths/I_Load.path‎

Lines changed: 8 additions & 8 deletions
Original file line numberDiff line numberDiff line change
@@ -3,25 +3,25 @@
33
"waypoints": [
44
{
55
"anchor": {
6-
"x": 5.5672500000000005,
7-
"y": 5.604500000000001
6+
"x": 5.5575,
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"y": 5.38025
88
},
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"prevControl": null,
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"nextControl": {
11-
"x": 4.656518608927145,
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"x": 4.700934999670552,
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},
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"isLocked": false,
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"linkedName": "I"
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},
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{
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"anchor": {
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"x": 1.6867500000000002,
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"x": 1.7745,
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"y": 7.27175
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},
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"prevControl": {
23-
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24-
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24+
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},
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"nextControl": null,
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"isLocked": false,
@@ -42,7 +42,7 @@
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},
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"goalEndState": {
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"velocity": 0,
45-
"rotation": -54.293308599397086
45+
"rotation": -53.97262661489624
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},
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"reversed": false,
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"folder": "Left",

‎src/main/deploy/pathplanner/paths/L_Load.path‎

Lines changed: 4 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -16,12 +16,12 @@
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},
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{
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"anchor": {
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"x": 1.7647500000000003,
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},
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"prevControl": {
23-
"x": 2.1830634369758912,
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23+
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24+
"y": 6.63102809735326
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},
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"nextControl": null,
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"isLocked": false,

‎src/main/deploy/pathplanner/paths/Load_C.path‎

Lines changed: 8 additions & 8 deletions
Original file line numberDiff line numberDiff line change
@@ -3,25 +3,25 @@
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"waypoints": [
44
{
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"anchor": {
6-
"x": 1.41375,
7-
"y": 1.0707499999999994
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"y": 0.8367499999999995
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},
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"prevControl": null,
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"nextControl": {
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"x": 1.8983041185724925,
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},
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"isLocked": false,
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"linkedName": "RightLoad"
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},
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{
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"anchor": {
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"x": 3.5483606557377048,
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},
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"prevControl": {
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"x": 2.1155935941598862,
24-
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"y": 2.24923454838888
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},
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"nextControl": null,
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"isLocked": false,

‎src/main/deploy/pathplanner/paths/Load_D.path‎

Lines changed: 8 additions & 8 deletions
Original file line numberDiff line numberDiff line change
@@ -3,25 +3,25 @@
33
"waypoints": [
44
{
55
"anchor": {
6-
"x": 1.41375,
7-
"y": 1.0707499999999994
6+
"x": 1.6769999999999998,
7+
"y": 0.8367499999999995
88
},
99
"prevControl": null,
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"nextControl": {
11-
"x": 1.88702349243721,
12-
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11+
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12+
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1313
},
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"isLocked": false,
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"linkedName": "RightLoad"
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},
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{
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"anchor": {
19-
"x": 3.6202868852459016,
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20+
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23-
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24-
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23+
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},
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"nextControl": null,
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"isLocked": false,

‎src/main/deploy/pathplanner/paths/Start_I.path‎

Lines changed: 4 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -16,12 +16,12 @@
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},
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{
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"anchor": {
19-
"x": 5.5672500000000005,
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"y": 5.604500000000001
19+
"x": 5.5575,
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"y": 5.38025
2121
},
2222
"prevControl": {
23-
"x": 6.2633439197057355,
24-
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23+
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24+
"y": 5.603620866046262
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},
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"nextControl": null,
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"isLocked": false,

‎src/main/java/frc/robot/driver/DriverXbox.java‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -283,8 +283,8 @@ public void setupTeleopButtons() {
283283
RushinatorWrist.kLastState == RushinatorWrist.State.kHPMid)
284284
);
285285

286-
// controller.povUp().whileTrue(new AutoAlignHP(() -> HPStation.BLU_RIGHT_STATION.AprilTag));
287-
// controller.povDown().whileTrue(new AutoAlignHP(() -> HPStation.BLU_LEFT_STATION.AprilTag));
286+
controller.povUp().onTrue(new AutoAlignHP(() -> HPStation.BLU_RIGHT_STATION.AprilTag));
287+
controller.povDown().onTrue(new AutoAlignHP(() -> HPStation.BLU_LEFT_STATION.AprilTag));
288288

289289
//Align to Reef
290290
// controller.povLeft().whileTrue(new DriveToPoseCommand(

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