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fixes for broken shooter
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cherriae committed Oct 19, 2024
1 parent 21f9ac6 commit 9f5b24b
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Showing 19 changed files with 285 additions and 61 deletions.
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Expand Up @@ -24,9 +24,9 @@
}
},
{
"type": "named",
"type": "path",
"data": {
"name": "actuateInFast"
"pathName": "Center Note to Subwoofer"
}
},
{
Expand All @@ -38,13 +38,13 @@
{
"type": "path",
"data": {
"pathName": "Center Note to Bottom Note"
"pathName": "Center Subwoofer to Bottom Note"
}
},
{
"type": "named",
"type": "path",
"data": {
"name": "actuateInFast"
"pathName": "Bottom Note to Subwoofer"
}
},
{
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Expand Up @@ -29,12 +29,6 @@
"pathName": "Bottom Center Line Note to Shooting at the Bottom"
}
},
{
"type": "named",
"data": {
"name": "actuateInFast"
}
},
{
"type": "named",
"data": {
Expand All @@ -53,12 +47,6 @@
"pathName": "Middle Bottom Center Line Note to Shooting at the Bottom"
}
},
{
"type": "named",
"data": {
"name": "actuateInFast"
}
},
{
"type": "named",
"data": {
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Expand Up @@ -47,12 +47,6 @@
"pathName": "Top Center Line Note to Shooting at the Center"
}
},
{
"type": "named",
"data": {
"name": "actuateInFast"
}
},
{
"type": "named",
"data": {
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92 changes: 92 additions & 0 deletions src/main/deploy/pathplanner/autos/4 Piece 4 Notes.auto
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@@ -0,0 +1,92 @@
{
"version": 1.0,
"startingPose": {
"position": {
"x": 1.497586995173991,
"y": 5.55593454044051
},
"rotation": 180.0
},
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "shoot"
}
},
{
"type": "path",
"data": {
"pathName": "Center Subwoofer to Top Note"
}
},
{
"type": "parallel",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "Center Note to Center Sub"
}
},
{
"type": "named",
"data": {
"name": "actuateInFast"
}
}
]
}
},
{
"type": "named",
"data": {
"name": "shoot"
}
},
{
"type": "named",
"data": {
"name": "actuateInFast"
}
},
{
"type": "named",
"data": {
"name": "shoot"
}
},
{
"type": "path",
"data": {
"pathName": "Center Subwoofer to Center Note"
}
},
{
"type": "path",
"data": {
"pathName": "Center Note to Center Sub"
}
},
{
"type": "named",
"data": {
"name": "actuateInFast"
}
},
{
"type": "named",
"data": {
"name": "shoot"
}
}
]
}
},
"folder": "4 Piece",
"choreoAuto": false
}
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Expand Up @@ -65,12 +65,6 @@
"pathName": "Middle Bottom Center Line Note to Shooting at the Bottom"
}
},
{
"type": "named",
"data": {
"name": "actuateInFast"
}
},
{
"type": "named",
"data": {
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Original file line number Diff line number Diff line change
Expand Up @@ -65,12 +65,6 @@
"pathName": "Top Center Line Note to Shooting at the Center"
}
},
{
"type": "named",
"data": {
"name": "actuateInFast"
}
},
{
"type": "named",
"data": {
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Original file line number Diff line number Diff line change
Expand Up @@ -65,12 +65,6 @@
"pathName": "Middle Top Center Line Note to Shooting at the Center"
}
},
{
"type": "named",
"data": {
"name": "actuateInFast"
}
},
{
"type": "named",
"data": {
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Original file line number Diff line number Diff line change
Expand Up @@ -65,12 +65,6 @@
"pathName": "Top Center Line Note to Shooting at the Center"
}
},
{
"type": "named",
"data": {
"name": "actuateInFast"
}
},
{
"type": "named",
"data": {
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Original file line number Diff line number Diff line change
Expand Up @@ -65,12 +65,6 @@
"pathName": "Bottom Note to Subwoofer"
}
},
{
"type": "named",
"data": {
"name": "actuateInFast"
}
},
{
"type": "named",
"data": {
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52 changes: 52 additions & 0 deletions src/main/deploy/pathplanner/paths/Center Note to Center Sub.path
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@@ -0,0 +1,52 @@
{
"version": 1.0,
"waypoints": [
{
"anchor": {
"x": 2.377154468594652,
"y": 5.55593454044051
},
"prevControl": null,
"nextControl": {
"x": 1.7761166950905336,
"y": 5.585253456221199
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 1.47,
"y": 5.56
},
"prevControl": {
"x": 1.996008563445699,
"y": 5.541275082550166
},
"nextControl": null,
"isLocked": false,
"linkedName": null
}
],
"rotationTargets": [],
"constraintZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 4.6,
"maxAcceleration": 3.0,
"maxAngularVelocity": 450.0,
"maxAngularAcceleration": 360.0
},
"goalEndState": {
"velocity": 0,
"rotation": 180.0,
"rotateFast": false
},
"reversed": false,
"folder": "Starting Paths",
"previewStartingState": {
"rotation": 180.0,
"velocity": 0
},
"useDefaultConstraints": true
}
Original file line number Diff line number Diff line change
@@ -0,0 +1,70 @@
{
"version": 1.0,
"waypoints": [
{
"anchor": {
"x": 1.497586995173991,
"y": 5.55593454044051
},
"prevControl": null,
"nextControl": {
"x": 2.333176094923619,
"y": 5.55593454044051
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 2.450451758046374,
"y": 5.55593454044051
},
"prevControl": {
"x": 2.114925999275558,
"y": 5.3655010016786955
},
"nextControl": null,
"isLocked": false,
"linkedName": null
}
],
"rotationTargets": [],
"constraintZones": [],
"eventMarkers": [
{
"name": "New Event Marker",
"waypointRelativePos": 0.0,
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "actuateOut"
}
}
]
}
}
}
],
"globalConstraints": {
"maxVelocity": 4.6,
"maxAcceleration": 3.0,
"maxAngularVelocity": 450.0,
"maxAngularAcceleration": 360.0
},
"goalEndState": {
"velocity": 0,
"rotation": 180.0,
"rotateFast": false
},
"reversed": false,
"folder": null,
"previewStartingState": {
"rotation": 180.0,
"velocity": 0
},
"useDefaultConstraints": true
}
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