From ca00be8a3d1c668c321d0fbcf1101229c1e2e2a4 Mon Sep 17 00:00:00 2001 From: chrnso Date: Thu, 17 Oct 2024 22:46:32 -0400 Subject: [PATCH] tweaking auton --- ... Subwoofer to Center Note to Bottom Note.auto | 10 +++++----- ...e Note to Middle Bottle Center Line Note.auto | 12 ++++++++++++ ...Subwoofer to Top Note to Top Center Note.auto | 6 ++++++ ...m Note to Middle Bottom Center Line Note.auto | 6 ++++++ ...Note to Top Note to Top Center Line Note.auto | 6 ++++++ ...nter Note to Middle Top Center Line Note.auto | 6 ++++++ ...e to Center Note to Top Center Line Note.auto | 6 ++++++ ...o Top Note to Center Note to Bottom Note.auto | 6 ++++++ ...nter Line Note to Shooting at the Bottom.path | 14 +++++++------- .../paths/Bottom Note to Center Note.path | 2 +- .../paths/Bottom Note to Subwoofer.path | 16 ++++++++-------- .../paths/Bottom Subwoofer to Center Note.path | 2 +- ...nter Note to Middle Top Center Line Note.path | 8 ++++---- .../Center Note to Top Center Line Note.path | 8 ++++---- .../paths/Center Subwoofer to Bottom Note.path | 4 ++-- .../paths/Center Subwoofer to Top Note.path | 4 ++-- ...nter Line Note to Shooting at the Bottom.path | 10 +++++----- ...nter Line Note to Shooting at the Center.path | 8 ++++---- ...at the Bottom to Middle Center Line Note.path | 8 ++++---- ...nter Line Note to Shooting at the Center.path | 8 ++++---- .../paths/Top Note to Center Note.path | 8 ++++---- 21 files changed, 103 insertions(+), 55 deletions(-) diff --git a/src/main/deploy/pathplanner/autos/3 Piece Auton from Center Subwoofer to Center Note to Bottom Note.auto b/src/main/deploy/pathplanner/autos/3 Piece Auton from Center Subwoofer to Center Note to Bottom Note.auto index df2780e..4ab05a6 100644 --- a/src/main/deploy/pathplanner/autos/3 Piece Auton from Center Subwoofer to Center Note to Bottom Note.auto +++ b/src/main/deploy/pathplanner/autos/3 Piece Auton from Center Subwoofer to Center Note to Bottom Note.auto @@ -24,9 +24,9 @@ } }, { - "type": "path", + "type": "named", "data": { - "pathName": "Center Note to Subwoofer" + "name": "actuateInFast" } }, { @@ -38,13 +38,13 @@ { "type": "path", "data": { - "pathName": "Center Subwoofer to Bottom Note" + "pathName": "Center Note to Bottom Note" } }, { - "type": "path", + "type": "named", "data": { - "pathName": "Bottom Note to Subwoofer" + "name": "actuateInFast" } }, { diff --git a/src/main/deploy/pathplanner/autos/3 Piece from Bottom Subwoofer to Bottom Center Line Note to Middle Bottle Center Line Note.auto b/src/main/deploy/pathplanner/autos/3 Piece from Bottom Subwoofer to Bottom Center Line Note to Middle Bottle Center Line Note.auto index 2244e93..f390879 100644 --- a/src/main/deploy/pathplanner/autos/3 Piece from Bottom Subwoofer to Bottom Center Line Note to Middle Bottle Center Line Note.auto +++ b/src/main/deploy/pathplanner/autos/3 Piece from Bottom Subwoofer to Bottom Center Line Note to Middle Bottle Center Line Note.auto @@ -29,6 +29,12 @@ "pathName": "Bottom Center Line Note to Shooting at the Bottom" } }, + { + "type": "named", + "data": { + "name": "actuateInFast" + } + }, { "type": "named", "data": { @@ -47,6 +53,12 @@ "pathName": "Middle Bottom Center Line Note to Shooting at the Bottom" } }, + { + "type": "named", + "data": { + "name": "actuateInFast" + } + }, { "type": "named", "data": { diff --git a/src/main/deploy/pathplanner/autos/3 Piece from Top Subwoofer to Top Note to Top Center Note.auto b/src/main/deploy/pathplanner/autos/3 Piece from Top Subwoofer to Top Note to Top Center Note.auto index 7a78bcc..f82dc2c 100644 --- a/src/main/deploy/pathplanner/autos/3 Piece from Top Subwoofer to Top Note to Top Center Note.auto +++ b/src/main/deploy/pathplanner/autos/3 Piece from Top Subwoofer to Top Note to Top Center Note.auto @@ -47,6 +47,12 @@ "pathName": "Top Center Line Note to Shooting at the Center" } }, + { + "type": "named", + "data": { + "name": "actuateInFast" + } + }, { "type": "named", "data": { diff --git a/src/main/deploy/pathplanner/autos/4 Piece from Center Subwoofer to Center Note to Bottom Note to Middle Bottom Center Line Note.auto b/src/main/deploy/pathplanner/autos/4 Piece from Center Subwoofer to Center Note to Bottom Note to Middle Bottom Center Line Note.auto index f3c56e8..0c7ec4c 100644 --- a/src/main/deploy/pathplanner/autos/4 Piece from Center Subwoofer to Center Note to Bottom Note to Middle Bottom Center Line Note.auto +++ b/src/main/deploy/pathplanner/autos/4 Piece from Center Subwoofer to Center Note to Bottom Note to Middle Bottom Center Line Note.auto @@ -65,6 +65,12 @@ "pathName": "Middle Bottom Center Line Note to Shooting at the Bottom" } }, + { + "type": "named", + "data": { + "name": "actuateInFast" + } + }, { "type": "named", "data": { diff --git a/src/main/deploy/pathplanner/autos/4 Piece from Center Subwoofer to Center Note to Top Note to Top Center Line Note.auto b/src/main/deploy/pathplanner/autos/4 Piece from Center Subwoofer to Center Note to Top Note to Top Center Line Note.auto index 3303e63..12bcdd8 100644 --- a/src/main/deploy/pathplanner/autos/4 Piece from Center Subwoofer to Center Note to Top Note to Top Center Line Note.auto +++ b/src/main/deploy/pathplanner/autos/4 Piece from Center Subwoofer to Center Note to Top Note to Top Center Line Note.auto @@ -65,6 +65,12 @@ "pathName": "Top Center Line Note to Shooting at the Center" } }, + { + "type": "named", + "data": { + "name": "actuateInFast" + } + }, { "type": "named", "data": { diff --git a/src/main/deploy/pathplanner/autos/4 Piece from Center Subwoofer to Top Note to Center Note to Middle Top Center Line Note.auto b/src/main/deploy/pathplanner/autos/4 Piece from Center Subwoofer to Top Note to Center Note to Middle Top Center Line Note.auto index 12b2b88..8a2bd58 100644 --- a/src/main/deploy/pathplanner/autos/4 Piece from Center Subwoofer to Top Note to Center Note to Middle Top Center Line Note.auto +++ b/src/main/deploy/pathplanner/autos/4 Piece from Center Subwoofer to Top Note to Center Note to Middle Top Center Line Note.auto @@ -65,6 +65,12 @@ "pathName": "Middle Top Center Line Note to Shooting at the Center" } }, + { + "type": "named", + "data": { + "name": "actuateInFast" + } + }, { "type": "named", "data": { diff --git a/src/main/deploy/pathplanner/autos/4 Piece from Center Subwoofer to Top Note to Center Note to Top Center Line Note.auto b/src/main/deploy/pathplanner/autos/4 Piece from Center Subwoofer to Top Note to Center Note to Top Center Line Note.auto index 7fdd462..0d09858 100644 --- a/src/main/deploy/pathplanner/autos/4 Piece from Center Subwoofer to Top Note to Center Note to Top Center Line Note.auto +++ b/src/main/deploy/pathplanner/autos/4 Piece from Center Subwoofer to Top Note to Center Note to Top Center Line Note.auto @@ -65,6 +65,12 @@ "pathName": "Top Center Line Note to Shooting at the Center" } }, + { + "type": "named", + "data": { + "name": "actuateInFast" + } + }, { "type": "named", "data": { diff --git a/src/main/deploy/pathplanner/autos/Straight 4 Piece from Center Subwoofer to Top Note to Center Note to Bottom Note.auto b/src/main/deploy/pathplanner/autos/Straight 4 Piece from Center Subwoofer to Top Note to Center Note to Bottom Note.auto index 4668f9e..07b19ff 100644 --- a/src/main/deploy/pathplanner/autos/Straight 4 Piece from Center Subwoofer to Top Note to Center Note to Bottom Note.auto +++ b/src/main/deploy/pathplanner/autos/Straight 4 Piece from Center Subwoofer to Top Note to Center Note to Bottom Note.auto @@ -65,6 +65,12 @@ "pathName": "Bottom Note to Subwoofer" } }, + { + "type": "named", + "data": { + "name": "actuateInFast" + } + }, { "type": "named", "data": { diff --git a/src/main/deploy/pathplanner/paths/Bottom Center Line Note to Shooting at the Bottom.path b/src/main/deploy/pathplanner/paths/Bottom Center Line Note to Shooting at the Bottom.path index fb70008..d6ec2fd 100644 --- a/src/main/deploy/pathplanner/paths/Bottom Center Line Note to Shooting at the Bottom.path +++ b/src/main/deploy/pathplanner/paths/Bottom Center Line Note to Shooting at the Bottom.path @@ -8,20 +8,20 @@ }, "prevControl": null, "nextControl": { - "x": 6.529149900405065, - "y": 0.7947319403410744 + "x": 6.68379416213997, + "y": 0.5280673444434282 }, "isLocked": false, "linkedName": null }, { "anchor": { - "x": 1.4993411183403562, - "y": 4.046177437084219 + "x": 2.647233081072292, + "y": 3.3161106957855226 }, "prevControl": { - "x": 2.130825458232113, - "y": 3.6251878771563812 + "x": 3.2787174209640457, + "y": 2.895121135857685 }, "nextControl": null, "isLocked": false, @@ -69,7 +69,7 @@ }, "goalEndState": { "velocity": 0, - "rotation": 133.88543672751527, + "rotation": 154.65382405805326, "rotateFast": false }, "reversed": false, diff --git a/src/main/deploy/pathplanner/paths/Bottom Note to Center Note.path b/src/main/deploy/pathplanner/paths/Bottom Note to Center Note.path index b28289a..a55a810 100644 --- a/src/main/deploy/pathplanner/paths/Bottom Note to Center Note.path +++ b/src/main/deploy/pathplanner/paths/Bottom Note to Center Note.path @@ -57,7 +57,7 @@ }, "goalEndState": { "velocity": 0, - "rotation": 180.0, + "rotation": -174.8249047010346, "rotateFast": false }, "reversed": false, diff --git a/src/main/deploy/pathplanner/paths/Bottom Note to Subwoofer.path b/src/main/deploy/pathplanner/paths/Bottom Note to Subwoofer.path index 6b64595..b5b94a6 100644 --- a/src/main/deploy/pathplanner/paths/Bottom Note to Subwoofer.path +++ b/src/main/deploy/pathplanner/paths/Bottom Note to Subwoofer.path @@ -3,13 +3,13 @@ "waypoints": [ { "anchor": { - "x": 2.51, - "y": 4.36 + "x": 2.46, + "y": 4.1 }, "prevControl": null, "nextControl": { - "x": 1.9500950687615666, - "y": 4.341275082550167 + "x": 2.206027567560243, + "y": 4.630339884970349 }, "isLocked": false, "linkedName": null @@ -20,8 +20,8 @@ "y": 5.56 }, "prevControl": { - "x": 1.9251242788199865, - "y": 5.511956166769477 + "x": 2.083991999993081, + "y": 4.808699560645432 }, "nextControl": null, "isLocked": false, @@ -41,7 +41,7 @@ { "type": "named", "data": { - "name": "actuateIn" + "name": "actuateInFast" } } ] @@ -63,7 +63,7 @@ "reversed": false, "folder": "Continuations", "previewStartingState": { - "rotation": 179.79988025467347, + "rotation": -179.46490264261854, "velocity": 0 }, "useDefaultConstraints": true diff --git a/src/main/deploy/pathplanner/paths/Bottom Subwoofer to Center Note.path b/src/main/deploy/pathplanner/paths/Bottom Subwoofer to Center Note.path index 3507a7f..71bf35e 100644 --- a/src/main/deploy/pathplanner/paths/Bottom Subwoofer to Center Note.path +++ b/src/main/deploy/pathplanner/paths/Bottom Subwoofer to Center Note.path @@ -57,7 +57,7 @@ }, "goalEndState": { "velocity": 0, - "rotation": 180.0, + "rotation": -179.28701852620188, "rotateFast": false }, "reversed": false, diff --git a/src/main/deploy/pathplanner/paths/Center Note to Middle Top Center Line Note.path b/src/main/deploy/pathplanner/paths/Center Note to Middle Top Center Line Note.path index 1c0cb19..2aca02f 100644 --- a/src/main/deploy/pathplanner/paths/Center Note to Middle Top Center Line Note.path +++ b/src/main/deploy/pathplanner/paths/Center Note to Middle Top Center Line Note.path @@ -3,13 +3,13 @@ "waypoints": [ { "anchor": { - "x": 2.38, - "y": 5.56 + "x": 2.47, + "y": 5.57 }, "prevControl": null, "nextControl": { - "x": 3.618237236474473, - "y": 6.244758454429189 + "x": 3.7082372364744733, + "y": 6.25475845442919 }, "isLocked": false, "linkedName": null diff --git a/src/main/deploy/pathplanner/paths/Center Note to Top Center Line Note.path b/src/main/deploy/pathplanner/paths/Center Note to Top Center Line Note.path index bbed1fd..e4ac2a2 100644 --- a/src/main/deploy/pathplanner/paths/Center Note to Top Center Line Note.path +++ b/src/main/deploy/pathplanner/paths/Center Note to Top Center Line Note.path @@ -3,13 +3,13 @@ "waypoints": [ { "anchor": { - "x": 2.38, - "y": 5.56 + "x": 2.47, + "y": 5.57 }, "prevControl": null, "nextControl": { - "x": 3.1194827301935306, - "y": 5.791345266901061 + "x": 3.209482730193531, + "y": 5.801345266901062 }, "isLocked": false, "linkedName": null diff --git a/src/main/deploy/pathplanner/paths/Center Subwoofer to Bottom Note.path b/src/main/deploy/pathplanner/paths/Center Subwoofer to Bottom Note.path index 28923f3..59dce42 100644 --- a/src/main/deploy/pathplanner/paths/Center Subwoofer to Bottom Note.path +++ b/src/main/deploy/pathplanner/paths/Center Subwoofer to Bottom Note.path @@ -8,8 +8,8 @@ }, "prevControl": null, "nextControl": { - "x": 1.9686371019329263, - "y": 5.55593454044051 + "x": 1.6240117837783916, + "y": 3.9919999930805763 }, "isLocked": false, "linkedName": null diff --git a/src/main/deploy/pathplanner/paths/Center Subwoofer to Top Note.path b/src/main/deploy/pathplanner/paths/Center Subwoofer to Top Note.path index c1c115b..de4c870 100644 --- a/src/main/deploy/pathplanner/paths/Center Subwoofer to Top Note.path +++ b/src/main/deploy/pathplanner/paths/Center Subwoofer to Top Note.path @@ -16,11 +16,11 @@ }, { "anchor": { - "x": 2.465111215936718, + "x": 2.47, "y": 6.90460466635219 }, "prevControl": { - "x": 2.129585457165902, + "x": 2.134474241229184, "y": 6.714171127590376 }, "nextControl": null, diff --git a/src/main/deploy/pathplanner/paths/Middle Bottom Center Line Note to Shooting at the Bottom.path b/src/main/deploy/pathplanner/paths/Middle Bottom Center Line Note to Shooting at the Bottom.path index ddf694e..5eaf9d5 100644 --- a/src/main/deploy/pathplanner/paths/Middle Bottom Center Line Note to Shooting at the Bottom.path +++ b/src/main/deploy/pathplanner/paths/Middle Bottom Center Line Note to Shooting at the Bottom.path @@ -16,12 +16,12 @@ }, { "anchor": { - "x": 1.4057878828008366, - "y": 4.151424827066179 + "x": 2.262351675668164, + "y": 3.6634426957843695 }, "prevControl": { - "x": 1.9778178602726137, - "y": 3.4975310076570323 + "x": 2.8343816531399373, + "y": 3.009548876375223 }, "nextControl": null, "isLocked": false, @@ -69,7 +69,7 @@ }, "goalEndState": { "velocity": 0, - "rotation": 126.86989764584402, + "rotation": 148.5704343851614, "rotateFast": false }, "reversed": false, diff --git a/src/main/deploy/pathplanner/paths/Middle Top Center Line Note to Shooting at the Center.path b/src/main/deploy/pathplanner/paths/Middle Top Center Line Note to Shooting at the Center.path index a874140..72ebe9d 100644 --- a/src/main/deploy/pathplanner/paths/Middle Top Center Line Note to Shooting at the Center.path +++ b/src/main/deploy/pathplanner/paths/Middle Top Center Line Note to Shooting at the Center.path @@ -16,12 +16,12 @@ }, { "anchor": { - "x": 2.2670659376406475, - "y": 5.582775200638121 + "x": 3.379446486475266, + "y": 6.329450479559302 }, "prevControl": { - "x": 3.364325851458721, - "y": 6.018051860665126 + "x": 4.4767064002933346, + "y": 6.764727139586307 }, "nextControl": null, "isLocked": false, diff --git a/src/main/deploy/pathplanner/paths/Shooting at the Bottom to Middle Center Line Note.path b/src/main/deploy/pathplanner/paths/Shooting at the Bottom to Middle Center Line Note.path index 70c8b74..6804d38 100644 --- a/src/main/deploy/pathplanner/paths/Shooting at the Bottom to Middle Center Line Note.path +++ b/src/main/deploy/pathplanner/paths/Shooting at the Bottom to Middle Center Line Note.path @@ -3,13 +3,13 @@ "waypoints": [ { "anchor": { - "x": 1.5, - "y": 4.05 + "x": 2.65, + "y": 3.32 }, "prevControl": null, "nextControl": { - "x": 3.4827073513397884, - "y": 2.3961502633561444 + "x": 4.632707351339788, + "y": 1.6661502633561445 }, "isLocked": false, "linkedName": null diff --git a/src/main/deploy/pathplanner/paths/Top Center Line Note to Shooting at the Center.path b/src/main/deploy/pathplanner/paths/Top Center Line Note to Shooting at the Center.path index f2b6878..4fcc664 100644 --- a/src/main/deploy/pathplanner/paths/Top Center Line Note to Shooting at the Center.path +++ b/src/main/deploy/pathplanner/paths/Top Center Line Note to Shooting at the Center.path @@ -16,12 +16,12 @@ }, { "anchor": { - "x": 1.99501802512377, - "y": 5.519297354384182 + "x": 3.548418810799029, + "y": 6.460873398477784 }, "prevControl": { - "x": 2.384953366397963, - "y": 5.628116519390933 + "x": 3.9383541520732224, + "y": 6.569692563484535 }, "nextControl": null, "isLocked": false, diff --git a/src/main/deploy/pathplanner/paths/Top Note to Center Note.path b/src/main/deploy/pathplanner/paths/Top Note to Center Note.path index 55171db..06c82a9 100644 --- a/src/main/deploy/pathplanner/paths/Top Note to Center Note.path +++ b/src/main/deploy/pathplanner/paths/Top Note to Center Note.path @@ -16,12 +16,12 @@ }, { "anchor": { - "x": 2.38, - "y": 5.56 + "x": 2.47, + "y": 5.569075020102367 }, "prevControl": { - "x": 1.8174537249975398, - "y": 5.593045420325076 + "x": 1.90745372499754, + "y": 5.602120440427443 }, "nextControl": null, "isLocked": false,