paths bruh

Team334 · Jan 20, 2024 · 837e619 · 837e619
1 parent 8d45556
commit 837e619
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Showing 6 changed files with 146 additions and 132 deletions.
diff --git a/.pathplanner/settings.json b/.pathplanner/settings.json
@@ -9,4 +9,4 @@
   "defaultMaxAngVel": 540.0,
   "defaultMaxAngAccel": 720.0,
   "maxModuleSpeed": 2.88
-}
+}
diff --git a/src/main/deploy/pathplanner/autos/Move Backward + Apriltag.auto b/src/main/deploy/pathplanner/autos/Move Backward + Apriltag.auto
@@ -34,4 +34,4 @@
   },
   "folder": null,
   "choreoAuto": false
-}
+}
diff --git a/src/main/deploy/pathplanner/autos/New Auto.auto b/src/main/deploy/pathplanner/autos/New Auto.auto
@@ -0,0 +1,25 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 1.9099007567375976,
+      "y": 6.998240302783657
+    },
+    "rotation": 0
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Test Path"
+          }
+        }
+      ]
+    }
+  },
+  "folder": null,
+  "choreoAuto": false
+}
diff --git a/src/main/deploy/pathplanner/paths/Test Path.path b/src/main/deploy/pathplanner/paths/Test Path.path
@@ -0,0 +1,118 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 1.9099007567375976,
+        "y": 6.998240302783657
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 2.455338244008969,
+        "y": 7.007485005957748
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 2.889839293191247,
+        "y": 6.998240302783657
+      },
+      "prevControl": {
+        "x": 2.5374475056350487,
+        "y": 6.998240302783657
+      },
+      "nextControl": {
+        "x": 2.8990839963653383,
+        "y": 6.998240302783657
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 1.9099007567375976,
+        "y": 7.608390712273665
+      },
+      "prevControl": {
+        "x": 1.9838583821303262,
+        "y": 7.6268801186218464
+      },
+      "nextControl": {
+        "x": 1.8576048183019434,
+        "y": 7.595316727664752
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 7.558414396107218,
+        "y": 7.460475461488208
+      },
+      "prevControl": {
+        "x": 5.595400123565224,
+        "y": 7.460475461488208
+      },
+      "nextControl": {
+        "x": 7.650861427848128,
+        "y": 7.460475461488208
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 1.8636772408671425,
+        "y": 5.472864279058636
+      },
+      "prevControl": {
+        "x": 4.821982256577126,
+        "y": 6.406579299645086
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 1,
+      "rotationDegrees": 0,
+      "rotateFast": false
+    },
+    {
+      "waypointRelativePos": 2,
+      "rotationDegrees": 90.0,
+      "rotateFast": false
+    },
+    {
+      "waypointRelativePos": 3,
+      "rotationDegrees": 0,
+      "rotateFast": false
+    },
+    {
+      "waypointRelativePos": 3.6,
+      "rotationDegrees": 180.0,
+      "rotateFast": false
+    }
+  ],
+  "constraintZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 4.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 180.0,
+    "rotateFast": true
+  },
+  "reversed": false,
+  "folder": null,
+  "previewStartingState": null,
+  "useDefaultConstraints": false
+}
diff --git a/src/main/deploy/pathplanner/paths/Test1.path b/src/main/deploy/pathplanner/paths/Test1.path
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -40,7 +40,7 @@ public static class CAN {
   }
 
   public static class Speeds {
-    public static final double SWERVE_DRIVE_COEFF = 0.3;
+    public static final double SWERVE_DRIVE_COEFF = 1;
 
     public static final double SWERVE_DRIVE_MAX_SPEED = 4.67; // TODO: Get this value
     public static final double SWERVE_DRIVE_MAX_ANGULAR_SPEED = Math.PI * 1; // Todo: Get this value
-Original file line number
+Diff line change
@@ Expand Up / @@ -34,4 +34,4 @@ @@
       },
       "folder": null,
       "choreoAuto": false
-    }
+    }