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Eddie-EdwardEddie-Edward
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Auton fix
1 parent 42cdf92 commit bbb9bb2

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14 files changed

+273
-95
lines changed

14 files changed

+273
-95
lines changed

‎src/main/deploy/pathplanner/autos/Left_3.5_IKL.auto‎

Lines changed: 196 additions & 17 deletions
Original file line numberDiff line numberDiff line change
@@ -10,52 +10,205 @@
1010
"pathName": "Start_I"
1111
}
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},
13+
{
14+
"type": "race",
15+
"data": {
16+
"commands": [
17+
{
18+
"type": "named",
19+
"data": {
20+
"name": "PrimeScoreL4"
21+
}
22+
},
23+
{
24+
"type": "named",
25+
"data": {
26+
"name": "LineUpLeft"
27+
}
28+
},
29+
{
30+
"type": "wait",
31+
"data": {
32+
"waitTime": 2.5
33+
}
34+
}
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]
36+
}
37+
},
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{
1439
"type": "named",
1540
"data": {
1641
"name": "AutonScoreL4"
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}
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},
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{
20-
"type": "path",
45+
"type": "race",
2146
"data": {
22-
"pathName": "I_Load"
47+
"commands": [
48+
{
49+
"type": "path",
50+
"data": {
51+
"pathName": "I_Load"
52+
}
53+
},
54+
{
55+
"type": "named",
56+
"data": {
57+
"name": "HPPickup"
58+
}
59+
}
60+
]
2361
}
2462
},
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{
26-
"type": "named",
64+
"type": "race",
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"data": {
28-
"name": "HPPickup"
66+
"commands": [
67+
{
68+
"type": "named",
69+
"data": {
70+
"name": "HPPickup"
71+
}
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},
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{
74+
"type": "wait",
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"data": {
76+
"waitTime": 1.5
77+
}
78+
}
79+
]
2980
}
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},
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{
32-
"type": "path",
83+
"type": "race",
84+
"data": {
85+
"commands": [
86+
{
87+
"type": "path",
88+
"data": {
89+
"pathName": "Load_K"
90+
}
91+
},
92+
{
93+
"type": "named",
94+
"data": {
95+
"name": "ResetArmWrist"
96+
}
97+
}
98+
]
99+
}
100+
},
101+
{
102+
"type": "race",
33103
"data": {
34-
"pathName": "Load_K"
104+
"commands": [
105+
{
106+
"type": "named",
107+
"data": {
108+
"name": "PrimeScoreL4"
109+
}
110+
},
111+
{
112+
"type": "named",
113+
"data": {
114+
"name": "LineUpLeft"
115+
}
116+
},
117+
{
118+
"type": "wait",
119+
"data": {
120+
"waitTime": 2.5
121+
}
122+
}
123+
]
35124
}
36125
},
37126
{
38127
"type": "named",
39128
"data": {
40-
"name": "AutonScoreL1"
129+
"name": "AutonScoreL4"
41130
}
42131
},
43132
{
44-
"type": "path",
133+
"type": "race",
45134
"data": {
46-
"pathName": "K_Load"
135+
"commands": [
136+
{
137+
"type": "path",
138+
"data": {
139+
"pathName": "K_Load"
140+
}
141+
},
142+
{
143+
"type": "named",
144+
"data": {
145+
"name": "HPPickup"
146+
}
147+
}
148+
]
47149
}
48150
},
49151
{
50-
"type": "named",
152+
"type": "race",
51153
"data": {
52-
"name": "HPPickup"
154+
"commands": [
155+
{
156+
"type": "named",
157+
"data": {
158+
"name": "HPPickup"
159+
}
160+
},
161+
{
162+
"type": "wait",
163+
"data": {
164+
"waitTime": 1.5
165+
}
166+
}
167+
]
53168
}
54169
},
55170
{
56-
"type": "path",
171+
"type": "race",
172+
"data": {
173+
"commands": [
174+
{
175+
"type": "path",
176+
"data": {
177+
"pathName": "Load_L"
178+
}
179+
},
180+
{
181+
"type": "named",
182+
"data": {
183+
"name": "ResetArmWrist"
184+
}
185+
}
186+
]
187+
}
188+
},
189+
{
190+
"type": "race",
57191
"data": {
58-
"pathName": "Load_L"
192+
"commands": [
193+
{
194+
"type": "named",
195+
"data": {
196+
"name": "PrimeScoreL4"
197+
}
198+
},
199+
{
200+
"type": "named",
201+
"data": {
202+
"name": "LineUpLeft"
203+
}
204+
},
205+
{
206+
"type": "wait",
207+
"data": {
208+
"waitTime": 2.5
209+
}
210+
}
211+
]
59212
}
60213
},
61214
{
@@ -65,15 +218,41 @@
65218
}
66219
},
67220
{
68-
"type": "path",
221+
"type": "race",
69222
"data": {
70-
"pathName": "L_Load"
223+
"commands": [
224+
{
225+
"type": "path",
226+
"data": {
227+
"pathName": "L_Load"
228+
}
229+
},
230+
{
231+
"type": "named",
232+
"data": {
233+
"name": "HPPickup"
234+
}
235+
}
236+
]
71237
}
72238
},
73239
{
74-
"type": "named",
240+
"type": "race",
75241
"data": {
76-
"name": "HPPickup"
242+
"commands": [
243+
{
244+
"type": "named",
245+
"data": {
246+
"name": "HPPickup"
247+
}
248+
},
249+
{
250+
"type": "wait",
251+
"data": {
252+
"waitTime": 1.5
253+
}
254+
}
255+
]
77256
}
78257
}
79258
]

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

Lines changed: 7 additions & 7 deletions
Original file line numberDiff line numberDiff line change
@@ -3,13 +3,13 @@
33
"waypoints": [
44
{
55
"anchor": {
6-
"x": 3.6464999999999996,
7-
"y": 2.962249999999999
6+
"x": 3.5600328947368416,
7+
"y": 2.3700657894736845
88
},
99
"prevControl": null,
1010
"nextControl": {
11-
"x": 1.5525720113388313,
12-
"y": 2.319423439505629
11+
"x": 2.2715463165880676,
12+
"y": 2.1817625358646877
1313
},
1414
"isLocked": false,
1515
"linkedName": "C"
@@ -20,8 +20,8 @@
2020
"y": 0.6807499999999993
2121
},
2222
"prevControl": {
23-
"x": 2.6971693420687526,
24-
"y": 1.8021495342358533
23+
"x": 2.091426034836473,
24+
"y": 1.5330974051593276
2525
},
2626
"nextControl": null,
2727
"isLocked": false,
@@ -38,7 +38,7 @@
3838
"maxAngularVelocity": 400.0,
3939
"maxAngularAcceleration": 600.0,
4040
"nominalVoltage": 12.0,
41-
"unlimited": false
41+
"unlimited": true
4242
},
4343
"goalEndState": {
4444
"velocity": 0,

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

Lines changed: 7 additions & 7 deletions
Original file line numberDiff line numberDiff line change
@@ -3,13 +3,13 @@
33
"waypoints": [
44
{
55
"anchor": {
6-
"x": 3.9585000000000004,
7-
"y": 2.767249999999999
6+
"x": 3.5407894736842103,
7+
"y": 2.302713815789474
88
},
99
"prevControl": null,
1010
"nextControl": {
11-
"x": 2.1536086956521734,
12-
"y": 2.363717391304348
11+
"x": 1.9377365362453047,
12+
"y": 2.0688270329268477
1313
},
1414
"isLocked": false,
1515
"linkedName": "D"
@@ -20,8 +20,8 @@
2020
"y": 0.6807499999999993
2121
},
2222
"prevControl": {
23-
"x": 2.538157817193807,
24-
"y": 1.3221791696022822
23+
"x": 2.1224648400109403,
24+
"y": 0.9559681053027043
2525
},
2626
"nextControl": null,
2727
"isLocked": false,
@@ -45,7 +45,7 @@
4545
"maxAngularVelocity": 400.0,
4646
"maxAngularAcceleration": 600.0,
4747
"nominalVoltage": 12.0,
48-
"unlimited": false
48+
"unlimited": true
4949
},
5050
"goalEndState": {
5151
"velocity": 0,

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

Lines changed: 5 additions & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -3,13 +3,13 @@
33
"waypoints": [
44
{
55
"anchor": {
6-
"x": 5.3245,
7-
"y": 2.988
6+
"x": 5.455509868421052,
7+
"y": 2.4277960526315794
88
},
99
"prevControl": null,
1010
"nextControl": {
11-
"x": 6.065532608695652,
12-
"y": 2.2983260869565223
11+
"x": 6.196542477116704,
12+
"y": 1.7381221395881017
1313
},
1414
"isLocked": false,
1515
"linkedName": "F"
@@ -45,7 +45,7 @@
4545
"maxAngularVelocity": 400.0,
4646
"maxAngularAcceleration": 600.0,
4747
"nominalVoltage": 12.0,
48-
"unlimited": false
48+
"unlimited": true
4949
},
5050
"goalEndState": {
5151
"velocity": 0,

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

Lines changed: 5 additions & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -3,13 +3,13 @@
33
"waypoints": [
44
{
55
"anchor": {
6-
"x": 5.3245,
7-
"y": 5.0636
6+
"x": 5.455509868421052,
7+
"y": 5.6606907894736835
88
},
99
"prevControl": null,
1010
"nextControl": {
11-
"x": 6.028847826086957,
12-
"y": 5.8780021739130435
11+
"x": 6.159857694508009,
12+
"y": 6.475092963386727
1313
},
1414
"isLocked": false,
1515
"linkedName": "I"
@@ -38,7 +38,7 @@
3838
"maxAngularVelocity": 400.0,
3939
"maxAngularAcceleration": 600.0,
4040
"nominalVoltage": 12.0,
41-
"unlimited": false
41+
"unlimited": true
4242
},
4343
"goalEndState": {
4444
"velocity": 0,

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