work 3/8

diff --git a/src/main/deploy/pathplanner/paths/#1 Left 2 - Under the trench.path b/src/main/deploy/pathplanner/paths/#1 Left 2 - Under the trench.path
index 66dab9ba980f27c16e78d9f1ad0bb2d9aebd080b..80259b372540a0b3db1901eba1b57568d48b5d40 100644 (file)
--- a/src/main/deploy/pathplanner/paths/#1 Left 2 - Under the trench.path
+++ b/src/main/deploy/pathplanner/paths/#1 Left 2 - Under the trench.path
@@ -117,8 +117,8 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 2.5,
-    "maxAcceleration": 2.5,
+    "maxVelocity": 2.0,
+    "maxAcceleration": 2.0,
     "maxAngularVelocity": 200.0,
     "maxAngularAcceleration": 300.0,
     "nominalVoltage": 12.0,

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 cbefb89539a4a8146ab1a05865e80b43fa2a2366..86db7f07e5f96c8dedc00baf22d10beb6221b144 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
@@ -125,8 +125,8 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 2.5,
-    "maxAcceleration": 2.5,
+    "maxVelocity": 2.0,
+    "maxAcceleration": 2.0,
     "maxAngularVelocity": 200.0,
     "maxAngularAcceleration": 300.0,
     "nominalVoltage": 12.0,

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 c50eba87822d67b8d6eb9b65abe109f9c01b0efa..bddb1c879185c6bc6af55146184aa1c207721bc5 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
@@ -72,8 +72,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 2.5,
-    "maxAcceleration": 2.5,
+    "maxVelocity": 2.0,
+    "maxAcceleration": 2.0,
     "maxAngularVelocity": 200.0,
     "maxAngularAcceleration": 300.0,
     "nominalVoltage": 12.0,

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 10247afe8146666eb4adfe42e69bcde96abe9927..2c9b9747225d2ba35fea3305375c7953895aa376 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
@@ -174,8 +174,8 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 2.5,
-    "maxAcceleration": 2.5,
+    "maxVelocity": 2.0,
+    "maxAcceleration": 2.0,
     "maxAngularVelocity": 200.0,
     "maxAngularAcceleration": 300.0,
     "nominalVoltage": 12.0,

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 129bc37a9b568b4b055ed054721d2acaf74359ea..60afbecdc39d47320103bdf4045f0ee6bb2c7102 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
@@ -143,8 +143,8 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 2.5,
-    "maxAcceleration": 2.5,
+    "maxVelocity": 2.0,
+    "maxAcceleration": 2.0,
     "maxAngularVelocity": 200.0,
     "maxAngularAcceleration": 300.0,
     "nominalVoltage": 12.0,

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 bf307a6b76104fed868b48f010e03c5145578a42..ca7933b93eba1dd4108094febb92421cd97ab1c3 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
@@ -166,8 +166,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 2.5,
-    "maxAcceleration": 2.5,
+    "maxVelocity": 2.0,
+    "maxAcceleration": 2.0,
     "maxAngularVelocity": 200.0,
     "maxAngularAcceleration": 300.0,
     "nominalVoltage": 12.0,

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 194cb8b6beff87e340a81f3f08288335173ffa35..e0e4e33856ac2e7d002a4dc4495569963e765d92 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
@@ -125,8 +125,8 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 2.5,
-    "maxAcceleration": 2.5,
+    "maxVelocity": 2.0,
+    "maxAcceleration": 2.0,
     "maxAngularVelocity": 200.0,
     "maxAngularAcceleration": 300.0,
     "nominalVoltage": 12.0,

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 dc647bd10f58928e23dbef21a8b565e82df4f003..fee7abdf2fa64075cdc94b2ebd391212753abd50 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
@@ -68,8 +68,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 2.5,
-    "maxAcceleration": 2.5,
+    "maxVelocity": 2.0,
+    "maxAcceleration": 2.0,
     "maxAngularVelocity": 200.0,
     "maxAngularAcceleration": 300.0,
     "nominalVoltage": 12.0,

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 5f8a868613ee47afb3bb1170b60e4259c88fd9aa..62bb1090344a97764e99fd0d6d4f70242613fc5c 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
@@ -170,8 +170,8 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 2.5,
-    "maxAcceleration": 2.5,
+    "maxVelocity": 2.0,
+    "maxAcceleration": 2.0,
     "maxAngularVelocity": 200.0,
     "maxAngularAcceleration": 300.0,
     "nominalVoltage": 12.0,

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 92ad6119551320c4c5fa70d5fd958100f1286ca2..639dac60f7f426f75be6e2aaa135e19340ae6fc2 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
@@ -45,8 +45,8 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 2.5,
-    "maxAcceleration": 2.5,
+    "maxVelocity": 2.0,
+    "maxAcceleration": 2.0,
     "maxAngularVelocity": 200.0,
     "maxAngularAcceleration": 300.0,
     "nominalVoltage": 12.0,

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 7d3189315fe25077c0ac884032aa308f3353cee4..fdb2b57ef3d96b535e2001af7d3b15e85e44eb7c 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
@@ -84,8 +84,8 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 2.5,
-    "maxAcceleration": 2.5,
+    "maxVelocity": 2.0,
+    "maxAcceleration": 2.0,
     "maxAngularVelocity": 200.0,
     "maxAngularAcceleration": 300.0,
     "nominalVoltage": 12.0,

diff --git a/src/main/deploy/pathplanner/paths/DELETE THIS.path b/src/main/deploy/pathplanner/paths/DELETE THIS.path
index 447af74dfeeacfa29939249968abb9988a39c578..107dcf01ef5422e1f30d793cb9071a5ef2eb832a 100644 (file)
--- a/src/main/deploy/pathplanner/paths/DELETE THIS.path
+++ b/src/main/deploy/pathplanner/paths/DELETE THIS.path
@@ -131,8 +131,8 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 2.5,
-    "maxAcceleration": 2.5,
+    "maxVelocity": 2.0,
+    "maxAcceleration": 2.0,
     "maxAngularVelocity": 200.0,
     "maxAngularAcceleration": 300.0,
     "nominalVoltage": 12.0,

diff --git a/src/main/deploy/pathplanner/paths/Duplicated Not Working.path b/src/main/deploy/pathplanner/paths/Duplicated Not Working.path
index c782704f408df0cb45466efd5525c0943e2eb208..259e22eac88dd9e9c170406a123a1dd6c1bc6c7d 100644 (file)
--- a/src/main/deploy/pathplanner/paths/Duplicated Not Working.path
+++ b/src/main/deploy/pathplanner/paths/Duplicated Not Working.path
@@ -129,8 +129,8 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 2.5,
-    "maxAcceleration": 2.5,
+    "maxVelocity": 2.0,
+    "maxAcceleration": 2.0,
     "maxAngularVelocity": 200.0,
     "maxAngularAcceleration": 300.0,
     "nominalVoltage": 12.0,

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 f8c186d76c6b22f57f3a028133df4efd8694b689..a3bc47c990c52780e2664a919cac264bcb3a9569 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
@@ -180,8 +180,8 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 2.5,
-    "maxAcceleration": 2.5,
+    "maxVelocity": 2.0,
+    "maxAcceleration": 2.0,
     "maxAngularVelocity": 200.0,
     "maxAngularAcceleration": 300.0,
     "nominalVoltage": 12.0,

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 979338099934cd1b121e23606b684ecee176aed5..1212f15d09ae9d3d3a9330764d8035e1845d61af 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
@@ -242,8 +242,8 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 2.5,
-    "maxAcceleration": 2.5,
+    "maxVelocity": 2.0,
+    "maxAcceleration": 2.0,
     "maxAngularVelocity": 200.0,
     "maxAngularAcceleration": 300.0,
     "nominalVoltage": 12.0,

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 186cdfaacfeb935ba332be46d5665cf8d9905fb0..efb2285c0d36b1b041c501d732dc59029a27d951 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
@@ -242,8 +242,8 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 2.5,
-    "maxAcceleration": 2.5,
+    "maxVelocity": 2.0,
+    "maxAcceleration": 2.0,
     "maxAngularVelocity": 200.0,
     "maxAngularAcceleration": 300.0,
     "nominalVoltage": 12.0,

diff --git a/src/main/deploy/pathplanner/paths/Straight #2.path b/src/main/deploy/pathplanner/paths/Straight #2.path
index 4593417367e32a2e0b3f345d20eaa92e639235a0..2fdda68ac562f4f44e2348270bae2a1b95939daf 100644 (file)
--- a/src/main/deploy/pathplanner/paths/Straight #2.path
+++ b/src/main/deploy/pathplanner/paths/Straight #2.path
@@ -33,8 +33,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 2.5,
-    "maxAcceleration": 2.5,
+    "maxVelocity": 2.0,
+    "maxAcceleration": 2.0,
     "maxAngularVelocity": 200.0,
     "maxAngularAcceleration": 300.0,
     "nominalVoltage": 12.0,

diff --git a/src/main/deploy/pathplanner/paths/Straight #3.path b/src/main/deploy/pathplanner/paths/Straight #3.path
index 51456013cc4d0641ab8687da98d34e782b00cbeb..70fb5be37dbe7e1aeaccd42bfa2362690bb11f5f 100644 (file)
--- a/src/main/deploy/pathplanner/paths/Straight #3.path
+++ b/src/main/deploy/pathplanner/paths/Straight #3.path
@@ -33,8 +33,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 2.5,
-    "maxAcceleration": 2.5,
+    "maxVelocity": 2.0,
+    "maxAcceleration": 2.0,
     "maxAngularVelocity": 200.0,
     "maxAngularAcceleration": 300.0,
     "nominalVoltage": 12.0,

diff --git a/src/main/deploy/pathplanner/paths/Straight #4.path b/src/main/deploy/pathplanner/paths/Straight #4.path
index d275538242fecea054b1f64944c9842ede36ec6f..cab67bdd7f15cf85f49061ab8307b7d614b62ab5 100644 (file)
--- a/src/main/deploy/pathplanner/paths/Straight #4.path
+++ b/src/main/deploy/pathplanner/paths/Straight #4.path
@@ -33,8 +33,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 2.5,
-    "maxAcceleration": 2.5,
+    "maxVelocity": 2.0,
+    "maxAcceleration": 2.0,
     "maxAngularVelocity": 200.0,
     "maxAngularAcceleration": 300.0,
     "nominalVoltage": 12.0,

diff --git a/src/main/deploy/pathplanner/settings.json b/src/main/deploy/pathplanner/settings.json
index 9e1711bde3c9384fd34839f7644998b94914cbe7..4eb087b011d2418f6a6de1094a9d5f2cd3c5fd33 100644 (file)
--- a/src/main/deploy/pathplanner/settings.json
+++ b/src/main/deploy/pathplanner/settings.json
@@ -10,8 +10,8 @@
     "Right Autos"
   ],
   "autoFolders": [],
-  "defaultMaxVel": 2.5,
-  "defaultMaxAccel": 2.5,
+  "defaultMaxVel": 2.0,
+  "defaultMaxAccel": 2.0,
   "defaultMaxAngVel": 200.0,
   "defaultMaxAngAccel": 300.0,
   "defaultNominalVoltage": 12.0,

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 2fd4358c94e005b57bce02236c93292cfaf75be8..542a5b6939588a4b1a56893bb1a0fdb7ac325e04 100644 (file)
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -213,17 +213,14 @@ public class RobotContainer {
       }));
     }
 
-    if (intake != null && spindexer != null){ 
-      NamedCommands.registerCommand("Spin Intake Rollers", new ParallelCommandGroup(
-        new InstantCommand(()->intake.spin(IntakeConstants.SPEED))
-      ));
-      NamedCommands.registerCommand("Stop Intake Rollers", new ParallelCommandGroup(
-        new InstantCommand(()->intake.spinStop())
-      ));
-      Command intakeMovement = new IntakeMovementCommand(intake);
-      NamedCommands.registerCommand("Start Intake Seizure", new InstantCommand(()-> intakeMovement.schedule()));
-      NamedCommands.registerCommand("Stop Intake Seizure", new InstantCommand(()-> intakeMovement.cancel()));
-    }
+    // if (intake != null && spindexer != null){ 
+    //   NamedCommands.registerCommand("Spin Intake Rollers", new ParallelCommandGroup(
+    //     new InstantCommand(()->intake.spin(IntakeConstants.SPEED))
+    //   ));
+    //   NamedCommands.registerCommand("Stop Intake Rollers", new ParallelCommandGroup(
+    //     new InstantCommand(()->intake.spinStop())
+    //   ));
+    // }
 
     if (turret != null && drive != null && hood != null && shooter != null && spindexer != null){
       Command runSpindexer = new RunSpindexer(spindexer, turret);