autos working so far

we haven't tested depot yet

Co-Authored-By: WesleyWong-972 <171457173+Wesley28w@users.noreply.github.com>
Co-Authored-By: Timofei <108955303+iefomit@users.noreply.github.com>

diff --git a/src/main/deploy/pathplanner/paths/Left Swipe3.path b/src/main/deploy/pathplanner/paths/Left Swipe3.path
index 5973e3e5eb2c82b85ee19c31a49b26df6b294e56..652391284a2e631bfc6402ce45cc5d40318119ef 100644 (file)
--- a/src/main/deploy/pathplanner/paths/Left Swipe3.path
+++ b/src/main/deploy/pathplanner/paths/Left Swipe3.path
@@ -8,72 +8,72 @@
       },
       "prevControl": null,
       "nextControl": {
-        "x": 6.25,
-        "y": 7.623
+        "x": 6.042846975088969,
+        "y": 7.558635824436536
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 5.999810201660737,
-        "y": 5.890960854092527
+        "x": 6.064365361803085,
+        "y": 5.9124792408066424
       },
       "prevControl": {
-        "x": 6.114457884162435,
-        "y": 6.884367069543684
+        "x": 6.179013044304782,
+        "y": 6.905885456257799
       },
       "nextControl": {
-        "x": 5.907758101386918,
-        "y": 5.093342214431054
+        "x": 5.972313261529266,
+        "y": 5.114860601145169
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 6.258030842230131,
-        "y": 4.449228944246738
+        "x": 6.376381969157771,
+        "y": 4.363155397390273
       },
       "prevControl": {
-        "x": 5.653713425517404,
-        "y": 4.619355154982582
+        "x": 5.772064552445045,
+        "y": 4.533281608126116
       },
       "nextControl": {
-        "x": 6.687014708632405,
-        "y": 4.3284622781876605
+        "x": 6.805365835560045,
+        "y": 4.242388731331195
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 6.892823250296561,
-        "y": 5.546666666666668
+        "x": 7.021933570581259,
+        "y": 5.3422419928825615
       },
       "prevControl": {
-        "x": 6.892823250296561,
-        "y": 4.907866997335997
+        "x": 7.021933570581259,
+        "y": 4.703442323551891
       },
       "nextControl": {
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-        "y": 6.2753696930420535
+        "x": 7.021933570581259,
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       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 6.258030842230131,
-        "y": 6.977639383155397
+        "x": 6.5915658362989324,
+        "y": 7.19282325029656
       },
       "prevControl": {
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-        "y": 6.7900328128685725
+        "x": 6.756804375342386,
+        "y": 7.0052166800097355
       },
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-        "y": 7.165245953442221
+        "x": 6.426327297255479,
+        "y": 7.380429820583384
       },
       "isLocked": false,
       "linkedName": null

diff --git a/src/main/deploy/pathplanner/paths/Right Swipe3.path b/src/main/deploy/pathplanner/paths/Right Swipe3.path
index 74e04a80bff240afc2fad5eb16383f8cc62f59b3..28ef7a8ec63cc42f7a5f716638d5a92746393f4f 100644 (file)
--- a/src/main/deploy/pathplanner/paths/Right Swipe3.path
+++ b/src/main/deploy/pathplanner/paths/Right Swipe3.path
@@ -16,64 +16,64 @@
     },
     {
       "anchor": {
-        "x": 5.902977461447213,
-        "y": 2.37270462633452
+        "x": 6.15043890865955,
+        "y": 2.6309252668985335
       },
       "prevControl": {
-        "x": 6.01762514394891,
-        "y": 1.379298410883363
+        "x": 6.440836370311678,
+        "y": 1.372536266389839
       },
       "nextControl": {
-        "x": 5.8109253611733935,
-        "y": 3.170323265995992
+        "x": 5.956773428232504,
+        "y": 3.4701423487598277
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 6.258030842230131,
-        "y": 3.6220970557532612
+        "x": 6.376381969157771,
+        "y": 3.9758244365415596
       },
       "prevControl": {
-        "x": 5.653713425517404,
-        "y": 3.451970845017417
+        "x": 5.999810201660737,
+        "y": 3.8467141162568614
       },
       "nextControl": {
-        "x": 6.687014708632405,
-        "y": 3.7428637218123386
+        "x": 6.8334690871605615,
+        "y": 4.132540019856803
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 6.892823250296561,
-        "y": 2.524659333333331
+        "x": 7.021933570581259,
+        "y": 2.921423487549863
       },
       "prevControl": {
-        "x": 6.892823250296561,
-        "y": 3.163459002664002
+        "x": 7.0105248157678215,
+        "y": 3.7542625889308727
       },
       "nextControl": {
-        "x": 6.892823250296561,
-        "y": 1.7959563069579454
+        "x": 7.043451957295374,
+        "y": 1.350581257419376
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 6.258030842230131,
-        "y": 1.093686616844602
+        "x": 6.15043890865955,
+        "y": 0.7803440094845382
       },
       "prevControl": {
-        "x": 6.423269381273585,
-        "y": 1.281293187131427
+        "x": 6.612019589411609,
+        "y": 0.934204236395481
       },
       "nextControl": {
-        "x": 6.092792303186677,
-        "y": 0.9060800465577782
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       },
       "isLocked": false,
       "linkedName": null

diff --git a/src/main/java/frc/robot/subsystems/turret/TurretConstants.java b/src/main/java/frc/robot/subsystems/turret/TurretConstants.java
index 749af85cb264a5e9d0895367de344d12567d381a..2d8017b52bcff808b48197358060dad5828900c0 100644 (file)
--- a/src/main/java/frc/robot/subsystems/turret/TurretConstants.java
+++ b/src/main/java/frc/robot/subsystems/turret/TurretConstants.java
@@ -24,8 +24,7 @@ public class TurretConstants {
 
        public static final double EXTRAPOLATION_TIME_CONSTANT = 0.06;
 
-       public static final double FEEDFORWARD_KV = 0.02
-    ;
+       public static final double FEEDFORWARD_KV = 0.02;
 
     public static final double STATOR_CURRENT_LIMIT = 40.0; // A
     public static final double SUPPLY_CURRENT_LIMIT = 40.0; // A