a

diff --git a/src/main/deploy/pathplanner/autos/Jame's Square path.auto b/src/main/deploy/pathplanner/autos/Jame's Square path.auto
new file mode 100644 (file)
index 0000000..47e02c3
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/Jame's Square path.auto
@@ -0,0 +1,19 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Jame's Square path"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": "Week 2 autos",
+  "choreoAuto": false
+}
\ No newline at end of file

diff --git a/src/main/deploy/pathplanner/autos/Velocity TEST.auto b/src/main/deploy/pathplanner/autos/Velocity TEST.auto
new file mode 100644 (file)
index 0000000..9194260
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/Velocity TEST.auto
@@ -0,0 +1,19 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Velocity TEST"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": "Week 2 autos",
+  "choreoAuto": false
+}
\ No newline at end of file

diff --git a/src/main/deploy/pathplanner/paths/Jame's Square path.path b/src/main/deploy/pathplanner/paths/Jame's Square path.path
new file mode 100644 (file)
index 0000000..9a5343b
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/Jame's Square path.path
@@ -0,0 +1,114 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 3.381592574499267,
+        "y": 7.595268685881777
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 4.216148283887304,
+        "y": 7.595268685881777
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 6.123556424035175,
+        "y": 6.764110893991207
+      },
+      "prevControl": {
+        "x": 6.055007327796776,
+        "y": 7.732366878358572
+      },
+      "nextControl": {
+        "x": 6.194176127540517,
+        "y": 5.766607581978255
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 6.123556424035175,
+        "y": 1.5543795798729834
+      },
+      "prevControl": {
+        "x": 6.123556424035175,
+        "y": 2.5954249007095656
+      },
+      "nextControl": {
+        "x": 6.123556424035175,
+        "y": 0.5857824267034357
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 4.5469272105520275,
+        "y": 0.5775549584758164
+      },
+      "prevControl": {
+        "x": 5.560347414214745,
+        "y": 0.5775549584758162
+      },
+      "nextControl": {
+        "x": 3.5335070068893097,
+        "y": 0.5775549584758165
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 2.6532584269662918,
+        "y": 0.5775549584758164
+      },
+      "prevControl": {
+        "x": 2.9032584269662918,
+        "y": 0.5775549584758164
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [
+    {
+      "name": "Hood Down",
+      "waypointRelativePos": 0,
+      "endWaypointRelativePos": null,
+      "command": {
+        "type": "named",
+        "data": {
+          "name": "Hood Down"
+        }
+      }
+    }
+  ],
+  "globalConstraints": {
+    "maxVelocity": 4.0,
+    "maxAcceleration": 2.5,
+    "maxAngularVelocity": 200.0,
+    "maxAngularAcceleration": 300.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": -0.4151795411448859
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "useDefaultConstraints": false
+}
\ No newline at end of file

diff --git a/src/main/deploy/pathplanner/paths/Velocity TEST.path b/src/main/deploy/pathplanner/paths/Velocity TEST.path
index e8c491d74c94c2627155732cd798e5aaa9e4f5df..e11d1ee04d1558ed1968eed354f703a4eaabe0b8 100644 (file)
--- a/src/main/deploy/pathplanner/paths/Velocity TEST.path
+++ b/src/main/deploy/pathplanner/paths/Velocity TEST.path
@@ -3,13 +3,13 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 0.48539325842696646,
-        "y": 7.458170493404982
+        "x": 0.4682559843673668,
+        "y": 7.603837322911579
       },
       "prevControl": null,
       "nextControl": {
-        "x": 2.6532584269662918,
-        "y": 7.629543234000977
+        "x": 2.6361211529066964,
+        "y": 7.775210063507574
       },
       "isLocked": false,
       "linkedName": null
@@ -35,8 +35,8 @@
       "minWaypointRelativePos": 0.1427297056199817,
       "maxWaypointRelativePos": 1.0,
       "constraints": {
-        "maxVelocity": 3.5,
-        "maxAcceleration": 2.0,
+        "maxVelocity": 5.2,
+        "maxAcceleration": 3.5,
         "maxAngularVelocity": 200.0,
         "maxAngularAcceleration": 300.0,
         "nominalVoltage": 12.0,

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index c6bf9a4381d25df27a87e8ba08588495547b623b..dcfb0ae40c0adb1bec3ff0acbabad14accbef536 100644 (file)
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -270,12 +270,14 @@ public class RobotContainer {
     String rightSideAuto = "Right Week V1";      
     String shootOnlyAuto = "Shoot Only Left Week V1";
     String velocityTest = "Velocity TEST";
+    String jame = "Jame's Square path";
 
     autoChooser.setDefaultOption("Default", new PathPlannerAuto(defaultAuto));
     addAuto(leftSideAuto);
     addAuto(rightSideAuto);
     addAuto(shootOnlyAuto);
     addAuto(velocityTest);
+    addAuto(jame);
 
     // put the Chooser on the SmartDashboard
     SmartDashboard.putData("Auto chooser", autoChooser);

diff --git a/src/main/java/frc/robot/constants/AutoConstants.java b/src/main/java/frc/robot/constants/AutoConstants.java
index 3a97dd44d4fcc9d1df993d159a0f3da9131d9746..c072c6bfb51428b3844e984bf37b81b8e53afcc2 100644 (file)
--- a/src/main/java/frc/robot/constants/AutoConstants.java
+++ b/src/main/java/frc/robot/constants/AutoConstants.java
@@ -21,7 +21,7 @@ public class AutoConstants {
 
     public static RobotConfig  CONFIG;
     public static final PPHolonomicDriveController AUTO_CONTROLLER = new PPHolonomicDriveController( 
-            new PIDConstants(3.5, 0.0, 0), // Translation PID constants
+            new PIDConstants(6.0, 0.0, 0.5), // Translation PID constants
             new PIDConstants(5.0, 0.0, 1.0) // Rotation PID constants
         );