removed sub point and paths

Team334 · Apr 6, 2024 · ec52cac · ec52cac
1 parent d84ef88
commit ec52cac
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Showing 8 changed files with 223 additions and 4 deletions.
diff --git a/src/main/deploy/pathplanner/autos/1 Piece Bottom Subwoofer.auto b/src/main/deploy/pathplanner/autos/1 Piece Bottom Subwoofer.auto
@@ -16,6 +16,12 @@
           "data": {
             "name": "shoot"
           }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "stopShooter"
+          }
         }
       ]
     }

diff --git a/src/main/deploy/pathplanner/autos/1 Piece Center Subwoofer.auto b/src/main/deploy/pathplanner/autos/1 Piece Center Subwoofer.auto
@@ -16,6 +16,12 @@
           "data": {
             "name": "shoot"
           }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "stopShooter"
+          }
         }
       ]
     }

diff --git a/src/main/deploy/pathplanner/autos/1 Piece Top Subwoofer.auto b/src/main/deploy/pathplanner/autos/1 Piece Top Subwoofer.auto
@@ -16,6 +16,12 @@
           "data": {
             "name": "shoot"
           }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "stopShooter"
+          }
         }
       ]
     }

diff --git a/.../pathplanner/autos/3 Piece Auton from Center Subwoofer to Center Note to Bottom Note.auto b/.../pathplanner/autos/3 Piece Auton from Center Subwoofer to Center Note to Bottom Note.auto
@@ -0,0 +1,61 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 1.4661550043820806,
+      "y": 5.55593454044051
+    },
+    "rotation": 180.0
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "shoot"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Center Subwoofer to Center Note"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Center Note to Subwoofer"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "shoot"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Center Subwoofer to Bottom Note"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Bottom Note to Subwoofer"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "shoot"
+          }
+        }
+      ]
+    }
+  },
+  "folder": "3 Piece",
+  "choreoAuto": 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
@@ -0,0 +1,70 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 2.46,
+        "y": 4.1
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 1.9000950687615668,
+        "y": 4.0812750825501665
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 1.5,
+        "y": 5.56
+      },
+      "prevControl": {
+        "x": 1.9251242788199865,
+        "y": 5.511956166769477
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "eventMarkers": [
+    {
+      "name": "New Event Marker",
+      "waypointRelativePos": 0,
+      "command": {
+        "type": "sequential",
+        "data": {
+          "commands": [
+            {
+              "type": "named",
+              "data": {
+                "name": "actuateIn"
+              }
+            }
+          ]
+        }
+      }
+    }
+  ],
+  "globalConstraints": {
+    "maxVelocity": 4.6,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 450.0,
+    "maxAngularAcceleration": 360.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 180.0,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": "Continuations",
+  "previewStartingState": {
+    "rotation": 179.79988025467347,
+    "velocity": 0
+  },
+  "useDefaultConstraints": true
+}
diff --git a/src/main/deploy/pathplanner/paths/Center Note to Subwoofer.path b/src/main/deploy/pathplanner/paths/Center Note to Subwoofer.path
@@ -0,0 +1,70 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 2.38,
+        "y": 5.56
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 1.8197820472721196,
+        "y": 5.56
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 1.5,
+        "y": 5.56
+      },
+      "prevControl": {
+        "x": 1.793217342967536,
+        "y": 5.56
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "eventMarkers": [
+    {
+      "name": "New Event Marker",
+      "waypointRelativePos": 0,
+      "command": {
+        "type": "sequential",
+        "data": {
+          "commands": [
+            {
+              "type": "named",
+              "data": {
+                "name": "actuateIn"
+              }
+            }
+          ]
+        }
+      }
+    }
+  ],
+  "globalConstraints": {
+    "maxVelocity": 4.6,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 450.0,
+    "maxAngularAcceleration": 360.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 180.0,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": "Continuations",
+  "previewStartingState": {
+    "rotation": 179.79988025467347,
+    "velocity": 0
+  },
+  "useDefaultConstraints": true
+}
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
@@ -3,12 +3,12 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 1.3070140425995143,
+        "x": 1.47,
         "y": 5.55593454044051
       },
       "prevControl": null,
       "nextControl": {
-        "x": 1.8056511445324406,
+        "x": 1.9686371019329263,
         "y": 5.55593454044051
       },
       "isLocked": false,

diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -159,7 +159,7 @@ public static class Presets {
 
     static {
       //Old Points
-      SHOOTER_DISTANCE_ANGLE.put(0.735, 57.50);
+      //SHOOTER_DISTANCE_ANGLE.put(0.735, 57.50); Inside the subwoofer
       SHOOTER_DISTANCE_ANGLE.put(1.755, 43.78);
       SHOOTER_DISTANCE_ANGLE.put(1.823, 43.44);
       SHOOTER_DISTANCE_ANGLE.put(2.543, 38.15);
@@ -191,7 +191,7 @@ public static class Presets {
 
     static {
       //Old Points
-      ELEVATOR_DISTANCE_HEIGHT.put(0.735, 0.078);
+      //ELEVATOR_DISTANCE_HEIGHT.put(0.735, 0.078); Inside the subwoofer
       ELEVATOR_DISTANCE_HEIGHT.put(1.755, 0.061);
       ELEVATOR_DISTANCE_HEIGHT.put(1.823, 0.031);
       ELEVATOR_DISTANCE_HEIGHT.put(2.543, 0.024);