slow down autos

diff --git a/src/main/deploy/pathplanner/paths/#1 Left under the trench.path b/src/main/deploy/pathplanner/paths/#1 Left under the trench.path
index 62211f81a8ad343724113f940631cf9c1e0caea9..ed156e73c10b81dd25a83d99b9e0a6d869996df3 100644 (file)
--- a/src/main/deploy/pathplanner/paths/#1 Left under the trench.path
+++ b/src/main/deploy/pathplanner/paths/#1 Left under the trench.path
@@ -91,12 +91,6 @@
         "type": "parallel",
         "data": {
           "commands": [
-            {
-              "type": "named",
-              "data": {
-                "name": "Extend Intake"
-              }
-            },
             {
               "type": "named",
               "data": {
@@ -131,10 +125,10 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
-    "maxAngularVelocity": 540.0,
-    "maxAngularAcceleration": 720.0,
+    "maxVelocity": 0.5,
+    "maxAcceleration": 0.5,
+    "maxAngularVelocity": 100.0,
+    "maxAngularAcceleration": 150.0,
     "nominalVoltage": 12.0,
     "unlimited": false
   },

diff --git a/src/main/deploy/pathplanner/paths/#1 Right - Under the trench.path b/src/main/deploy/pathplanner/paths/#1 Right - Under the trench.path
index ac809449f4681dadc74570a074deb572615793a4..8da5fc03e9f31572d0493d5d960dce27bcfd33cd 100644 (file)
--- a/src/main/deploy/pathplanner/paths/#1 Right - Under the trench.path
+++ b/src/main/deploy/pathplanner/paths/#1 Right - Under the trench.path
@@ -72,10 +72,10 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
-    "maxAngularVelocity": 540.0,
-    "maxAngularAcceleration": 720.0,
+    "maxVelocity": 0.5,
+    "maxAcceleration": 0.5,
+    "maxAngularVelocity": 100.0,
+    "maxAngularAcceleration": 150.0,
     "nominalVoltage": 12.0,
     "unlimited": false
   },

diff --git a/src/main/deploy/pathplanner/paths/#1 Right to neutral to outpost (diagonal).path b/src/main/deploy/pathplanner/paths/#1 Right to neutral to outpost (diagonal).path
index 9bdefca789ee4355c282dec8e0981f06547f01af..31adb3700b04280ff31d6caa5c9a17a52a292a89 100644 (file)
--- a/src/main/deploy/pathplanner/paths/#1 Right to neutral to outpost (diagonal).path
+++ b/src/main/deploy/pathplanner/paths/#1 Right to neutral to outpost (diagonal).path
@@ -174,10 +174,10 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
-    "maxAngularVelocity": 540.0,
-    "maxAngularAcceleration": 720.0,
+    "maxVelocity": 0.5,
+    "maxAcceleration": 0.5,
+    "maxAngularVelocity": 100.0,
+    "maxAngularAcceleration": 150.0,
     "nominalVoltage": 12.0,
     "unlimited": false
   },

diff --git a/src/main/deploy/pathplanner/paths/#1(2) Right - Under the trench.path b/src/main/deploy/pathplanner/paths/#1(2) Right - Under the trench.path
index bcf06eb3b3742c99b3c60ee271be92695abc760e..c48dda2a66daa615327f51a7d775ee6c26bc1d53 100644 (file)
--- a/src/main/deploy/pathplanner/paths/#1(2) Right - Under the trench.path
+++ b/src/main/deploy/pathplanner/paths/#1(2) Right - Under the trench.path
@@ -143,10 +143,10 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
-    "maxAngularVelocity": 540.0,
-    "maxAngularAcceleration": 720.0,
+    "maxVelocity": 0.5,
+    "maxAcceleration": 0.5,
+    "maxAngularVelocity": 100.0,
+    "maxAngularAcceleration": 150.0,
     "nominalVoltage": 12.0,
     "unlimited": false
   },

diff --git a/src/main/deploy/pathplanner/paths/#2 Left under the trench.path b/src/main/deploy/pathplanner/paths/#2 Left under the trench.path
index 450d0fecbb06605cdcec0ab62ceb63b1701180bd..0b499749aaca7a74cf00eaf4e3a327465b236a97 100644 (file)
--- a/src/main/deploy/pathplanner/paths/#2 Left under the trench.path
+++ b/src/main/deploy/pathplanner/paths/#2 Left under the trench.path
@@ -166,10 +166,10 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
-    "maxAngularVelocity": 540.0,
-    "maxAngularAcceleration": 720.0,
+    "maxVelocity": 0.5,
+    "maxAcceleration": 0.5,
+    "maxAngularVelocity": 100.0,
+    "maxAngularAcceleration": 150.0,
     "nominalVoltage": 12.0,
     "unlimited": false
   },

diff --git a/src/main/deploy/pathplanner/paths/#2 Left(No SOTM) under the trench.path b/src/main/deploy/pathplanner/paths/#2 Left(No SOTM) under the trench.path
index e1516209e756306f5f14b6b28eacc6dbb15242b0..a4dd615cfc012e62089b7b5f8ba39ac4c7d3f759 100644 (file)
--- a/src/main/deploy/pathplanner/paths/#2 Left(No SOTM) under the trench.path
+++ b/src/main/deploy/pathplanner/paths/#2 Left(No SOTM) under the trench.path
@@ -119,10 +119,10 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
-    "maxAngularVelocity": 540.0,
-    "maxAngularAcceleration": 720.0,
+    "maxVelocity": 0.5,
+    "maxAcceleration": 0.5,
+    "maxAngularVelocity": 100.0,
+    "maxAngularAcceleration": 150.0,
     "nominalVoltage": 12.0,
     "unlimited": false
   },

diff --git a/src/main/deploy/pathplanner/paths/#2 Right - Under the trench.path b/src/main/deploy/pathplanner/paths/#2 Right - Under the trench.path
index a26fd7a9d3082c9f96da4d176b06f5fb702f0f10..7c0ba24bd60e2043a15675425ac3bce941a456d2 100644 (file)
--- a/src/main/deploy/pathplanner/paths/#2 Right - Under the trench.path
+++ b/src/main/deploy/pathplanner/paths/#2 Right - Under the trench.path
@@ -68,10 +68,10 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
-    "maxAngularVelocity": 540.0,
-    "maxAngularAcceleration": 720.0,
+    "maxVelocity": 0.5,
+    "maxAcceleration": 0.5,
+    "maxAngularVelocity": 100.0,
+    "maxAngularAcceleration": 150.0,
     "nominalVoltage": 12.0,
     "unlimited": false
   },

diff --git a/src/main/deploy/pathplanner/paths/#2(2) Right - Under the trench.path b/src/main/deploy/pathplanner/paths/#2(2) Right - Under the trench.path
index d67cdf6b3be7d9948aaa6e407e56f5659dd9236b..fef1f662e00c462e63fcbfed1c27ab00d1f954f7 100644 (file)
--- a/src/main/deploy/pathplanner/paths/#2(2) Right - Under the trench.path
+++ b/src/main/deploy/pathplanner/paths/#2(2) Right - Under the trench.path
@@ -41,7 +41,7 @@
       },
       "nextControl": {
         "x": 2.7711593789995277,
-        "y": 0.6112913853949425
+        "y": 0.6112913853949427
       },
       "isLocked": false,
       "linkedName": null
@@ -170,10 +170,10 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
-    "maxAngularVelocity": 540.0,
-    "maxAngularAcceleration": 720.0,
+    "maxVelocity": 0.5,
+    "maxAcceleration": 0.5,
+    "maxAngularVelocity": 100.0,
+    "maxAngularAcceleration": 150.0,
     "nominalVoltage": 12.0,
     "unlimited": false
   },

diff --git a/src/main/deploy/pathplanner/paths/#3 Right - Under the trench.path b/src/main/deploy/pathplanner/paths/#3 Right - Under the trench.path
index 6e453ea51a7bf1b42efa2064652f8837e159c5ea..1807d3c34a7a204ef56c3d149848e7397db9d826 100644 (file)
--- a/src/main/deploy/pathplanner/paths/#3 Right - Under the trench.path
+++ b/src/main/deploy/pathplanner/paths/#3 Right - Under the trench.path
@@ -45,10 +45,10 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
-    "maxAngularVelocity": 540.0,
-    "maxAngularAcceleration": 720.0,
+    "maxVelocity": 0.5,
+    "maxAcceleration": 0.5,
+    "maxAngularVelocity": 100.0,
+    "maxAngularAcceleration": 150.0,
     "nominalVoltage": 12.0,
     "unlimited": false
   },

diff --git a/src/main/deploy/pathplanner/paths/#3(No SOTM) Left under the trench.path b/src/main/deploy/pathplanner/paths/#3(No SOTM) Left under the trench.path
index 0bec0ed9705d5c740e545a61a859259892763b98..c83c73b4efc26ac353c16d7102086a564997570d 100644 (file)
--- a/src/main/deploy/pathplanner/paths/#3(No SOTM) Left under the trench.path
+++ b/src/main/deploy/pathplanner/paths/#3(No SOTM) Left under the trench.path
@@ -98,10 +98,10 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
-    "maxAngularVelocity": 540.0,
-    "maxAngularAcceleration": 720.0,
+    "maxVelocity": 0.5,
+    "maxAcceleration": 0.5,
+    "maxAngularVelocity": 100.0,
+    "maxAngularAcceleration": 150.0,
     "nominalVoltage": 12.0,
     "unlimited": false
   },

diff --git a/src/main/deploy/pathplanner/paths/DELETE THIS.path b/src/main/deploy/pathplanner/paths/DELETE THIS.path
index a3067428d3d785f56da20e28ab67f23192a937ab..adfde557908493155e921564d5fbb9dfc5b9f864 100644 (file)
--- a/src/main/deploy/pathplanner/paths/DELETE THIS.path
+++ b/src/main/deploy/pathplanner/paths/DELETE THIS.path
@@ -125,10 +125,10 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
-    "maxAngularVelocity": 540.0,
-    "maxAngularAcceleration": 720.0,
+    "maxVelocity": 0.5,
+    "maxAcceleration": 0.5,
+    "maxAngularVelocity": 100.0,
+    "maxAngularAcceleration": 150.0,
     "nominalVoltage": 12.0,
     "unlimited": false
   },

diff --git a/src/main/deploy/pathplanner/paths/Duplicated Not Working.path b/src/main/deploy/pathplanner/paths/Duplicated Not Working.path
index 0ebfc629722d40314af752918b339a801da3caca..2a81f797d2b7fc850282ecc2ed84196b39a6ab54 100644 (file)
--- a/src/main/deploy/pathplanner/paths/Duplicated Not Working.path
+++ b/src/main/deploy/pathplanner/paths/Duplicated Not Working.path
@@ -129,10 +129,10 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
-    "maxAngularVelocity": 540.0,
-    "maxAngularAcceleration": 720.0,
+    "maxVelocity": 0.5,
+    "maxAcceleration": 0.5,
+    "maxAngularVelocity": 100.0,
+    "maxAngularAcceleration": 150.0,
     "nominalVoltage": 12.0,
     "unlimited": false
   },

diff --git a/src/main/deploy/pathplanner/paths/Left bump to full neutral to left climb (diagonal).path b/src/main/deploy/pathplanner/paths/Left bump to full neutral to left climb (diagonal).path
index f74fdd9fa93d373415c2685da9b5445f6f3d10b6..aa31d89226399177fdea2a4ff1380520504bf0e4 100644 (file)
--- a/src/main/deploy/pathplanner/paths/Left bump to full neutral to left climb (diagonal).path
+++ b/src/main/deploy/pathplanner/paths/Left bump to full neutral to left climb (diagonal).path
@@ -180,10 +180,10 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
-    "maxAngularVelocity": 540.0,
-    "maxAngularAcceleration": 720.0,
+    "maxVelocity": 0.5,
+    "maxAcceleration": 0.5,
+    "maxAngularVelocity": 100.0,
+    "maxAngularAcceleration": 150.0,
     "nominalVoltage": 12.0,
     "unlimited": false
   },

diff --git a/src/main/deploy/pathplanner/paths/Left to neutral to depot (diagonal).path b/src/main/deploy/pathplanner/paths/Left to neutral to depot (diagonal).path
index dad32aa0c86adba4417d7c95131a2c34461e7902..89e4f0d3a490c738b0092dba6d89794ea716935f 100644 (file)
--- a/src/main/deploy/pathplanner/paths/Left to neutral to depot (diagonal).path
+++ b/src/main/deploy/pathplanner/paths/Left to neutral to depot (diagonal).path
@@ -242,10 +242,10 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
-    "maxAngularVelocity": 540.0,
-    "maxAngularAcceleration": 720.0,
+    "maxVelocity": 0.5,
+    "maxAcceleration": 0.5,
+    "maxAngularVelocity": 100.0,
+    "maxAngularAcceleration": 150.0,
     "nominalVoltage": 12.0,
     "unlimited": false
   },

diff --git a/src/main/deploy/pathplanner/paths/Left to neutral to depot.path b/src/main/deploy/pathplanner/paths/Left to neutral to depot.path
index 15327395d2cb242de5198f5c2a91b159c35871eb..84bc285a380f113bffa2f89126e26459ec420bd3 100644 (file)
--- a/src/main/deploy/pathplanner/paths/Left to neutral to depot.path
+++ b/src/main/deploy/pathplanner/paths/Left to neutral to depot.path
@@ -242,10 +242,10 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
-    "maxAngularVelocity": 540.0,
-    "maxAngularAcceleration": 720.0,
+    "maxVelocity": 0.5,
+    "maxAcceleration": 0.5,
+    "maxAngularVelocity": 100.0,
+    "maxAngularAcceleration": 150.0,
     "nominalVoltage": 12.0,
     "unlimited": false
   },

diff --git a/src/main/deploy/pathplanner/paths/Straight #2.path b/src/main/deploy/pathplanner/paths/Straight #2.path
index 94a99a1a9613c22c7fab7ae87e22e3084fcdf1c9..dca9e3c96ace54d43f33785b9736873da6173571 100644 (file)
--- a/src/main/deploy/pathplanner/paths/Straight #2.path
+++ b/src/main/deploy/pathplanner/paths/Straight #2.path
@@ -21,7 +21,7 @@
       },
       "prevControl": {
         "x": 6.3,
-        "y": 0.791
+        "y": 0.7910000000000001
       },
       "nextControl": null,
       "isLocked": false,
@@ -33,10 +33,10 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
-    "maxAngularVelocity": 540.0,
-    "maxAngularAcceleration": 720.0,
+    "maxVelocity": 0.5,
+    "maxAcceleration": 0.5,
+    "maxAngularVelocity": 100.0,
+    "maxAngularAcceleration": 150.0,
     "nominalVoltage": 12.0,
     "unlimited": false
   },

diff --git a/src/main/deploy/pathplanner/paths/Straight #3.path b/src/main/deploy/pathplanner/paths/Straight #3.path
index 3859b2d1a7b747075090f28509c5cb9d878df8fe..cfac119e7a2976c02c0f23c7c69a63e5e09ae8a1 100644 (file)
--- a/src/main/deploy/pathplanner/paths/Straight #3.path
+++ b/src/main/deploy/pathplanner/paths/Straight #3.path
@@ -33,10 +33,10 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
-    "maxAngularVelocity": 540.0,
-    "maxAngularAcceleration": 720.0,
+    "maxVelocity": 0.5,
+    "maxAcceleration": 0.5,
+    "maxAngularVelocity": 100.0,
+    "maxAngularAcceleration": 150.0,
     "nominalVoltage": 12.0,
     "unlimited": false
   },

diff --git a/src/main/deploy/pathplanner/paths/Straight #4.path b/src/main/deploy/pathplanner/paths/Straight #4.path
index ec44fb57db082722b691d489abf2275d8e6fd760..4601ea35e6639ba9a86f7dfb05d90f8eb8f00cce 100644 (file)
--- a/src/main/deploy/pathplanner/paths/Straight #4.path
+++ b/src/main/deploy/pathplanner/paths/Straight #4.path
@@ -33,10 +33,10 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
-    "maxAngularVelocity": 540.0,
-    "maxAngularAcceleration": 720.0,
+    "maxVelocity": 0.5,
+    "maxAcceleration": 0.5,
+    "maxAngularVelocity": 100.0,
+    "maxAngularAcceleration": 150.0,
     "nominalVoltage": 12.0,
     "unlimited": false
   },

diff --git a/src/main/deploy/pathplanner/settings.json b/src/main/deploy/pathplanner/settings.json
index 5c2785e15a026d229555589d8a3d6367f79826d3..c9b3e5548f2980f916a37623e2b95006c28479f6 100644 (file)
--- a/src/main/deploy/pathplanner/settings.json
+++ b/src/main/deploy/pathplanner/settings.json
@@ -10,10 +10,10 @@
     "Right Autos"
   ],
   "autoFolders": [],
-  "defaultMaxVel": 3.0,
-  "defaultMaxAccel": 3.0,
-  "defaultMaxAngVel": 540.0,
-  "defaultMaxAngAccel": 720.0,
+  "defaultMaxVel": 0.5,
+  "defaultMaxAccel": 0.5,
+  "defaultMaxAngVel": 100.0,
+  "defaultMaxAngAccel": 150.0,
   "defaultNominalVoltage": 12.0,
   "robotMass": 63.37,
   "robotMOI": 4.183,