Autos_260330

Tuning
Need to do mirrors

diff --git a/src/main/deploy/pathplanner/paths/Left Bump Edge Start.path b/src/main/deploy/pathplanner/paths/Left Bump Edge Start.path
index 5ef390ceabeac02d41c41c013b729a15d5d81a65..85fccc58063dd2c22272d5832de9f32573dd4f5e 100644 (file)
--- a/src/main/deploy/pathplanner/paths/Left Bump Edge Start.path
+++ b/src/main/deploy/pathplanner/paths/Left Bump Edge Start.path
@@ -33,8 +33,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 2.0,
-    "maxAcceleration": 2.0,
+    "maxVelocity": 3.0,
+    "maxAcceleration": 2.5,
     "maxAngularVelocity": 200.0,
     "maxAngularAcceleration": 300.0,
     "nominalVoltage": 12.0,

diff --git a/src/main/deploy/pathplanner/paths/Left Trench Start.path b/src/main/deploy/pathplanner/paths/Left Trench Start.path
index 1c0b8f58024393d2d7d6c5b629cceac6061de51d..4910c7981767ed82867142f8fe9dbc892a3b8ee2 100644 (file)
--- a/src/main/deploy/pathplanner/paths/Left Trench Start.path
+++ b/src/main/deploy/pathplanner/paths/Left Trench Start.path
@@ -47,8 +47,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 2.0,
-    "maxAcceleration": 2.0,
+    "maxVelocity": 3.0,
+    "maxAcceleration": 2.5,
     "maxAngularVelocity": 200.0,
     "maxAngularAcceleration": 300.0,
     "nominalVoltage": 12.0,

diff --git a/src/main/deploy/pathplanner/paths/Random default auto.path b/src/main/deploy/pathplanner/paths/Random default auto.path
index 9721d35af03c3bd93ac1086e043278186af08eec..4a5ded373a83f79706d7a85eeb2f92f39012f9f7 100644 (file)
--- a/src/main/deploy/pathplanner/paths/Random default auto.path
+++ b/src/main/deploy/pathplanner/paths/Random default auto.path
@@ -33,8 +33,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 2.0,
-    "maxAcceleration": 2.0,
+    "maxVelocity": 3.0,
+    "maxAcceleration": 2.5,
     "maxAngularVelocity": 200.0,
     "maxAngularAcceleration": 300.0,
     "nominalVoltage": 12.0,

diff --git a/src/main/deploy/pathplanner/paths/Right Trench Start.path b/src/main/deploy/pathplanner/paths/Right Trench Start.path
index 132382fe211e1fc44fcb5f45883c76c1429a5ea1..1454fe953437b689f1b18eb4e23e19d28f4168fd 100644 (file)
--- a/src/main/deploy/pathplanner/paths/Right Trench Start.path
+++ b/src/main/deploy/pathplanner/paths/Right Trench Start.path
@@ -47,8 +47,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 2.0,
-    "maxAcceleration": 2.0,
+    "maxVelocity": 3.0,
+    "maxAcceleration": 2.5,
     "maxAngularVelocity": 200.0,
     "maxAngularAcceleration": 300.0,
     "nominalVoltage": 12.0,

diff --git a/src/main/deploy/pathplanner/paths/Simple.path b/src/main/deploy/pathplanner/paths/Simple.path
index 27151cac103db464bceaf15ec446185bd0acfaa3..634b1f12b83a4e10bbfc61daf70c20ebaa028e49 100644 (file)
--- a/src/main/deploy/pathplanner/paths/Simple.path
+++ b/src/main/deploy/pathplanner/paths/Simple.path
@@ -33,8 +33,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 2.0,
-    "maxAcceleration": 2.0,
+    "maxVelocity": 3.0,
+    "maxAcceleration": 2.5,
     "maxAngularVelocity": 200.0,
     "maxAngularAcceleration": 300.0,
     "nominalVoltage": 12.0,

diff --git a/src/main/deploy/pathplanner/paths/Swipe1.path b/src/main/deploy/pathplanner/paths/Swipe1.path
index 569e46b7aed042c6935e9c63e9397d0b331b8781..ed7862a3e7917c89840846e63e55d9eaf8413456 100644 (file)
--- a/src/main/deploy/pathplanner/paths/Swipe1.path
+++ b/src/main/deploy/pathplanner/paths/Swipe1.path
@@ -8,56 +8,56 @@
       },
       "prevControl": null,
       "nextControl": {
-        "x": 6.735631586835829,
-        "y": 7.2764780852994
+        "x": 6.341153730575683,
+        "y": 7.339067227185437
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 7.710521945432978,
-        "y": 6.697900355871886
+        "x": 8.306299668874171,
+        "y": 7.033352649006622
       },
       "prevControl": {
-        "x": 7.529042978857038,
-        "y": 6.86984623308483
+        "x": 8.155370348167532,
+        "y": 7.232652273068064
       },
       "nextControl": {
-        "x": 7.928919995080244,
-        "y": 6.490974754868527
+        "x": 8.45722898958081,
+        "y": 6.834053024945179
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 7.710521945432978,
-        "y": 5.7188137603795965
+        "x": 8.023162251655629,
+        "y": 5.668485099337747
       },
       "prevControl": {
-        "x": 7.925365275955983,
-        "y": 5.863911730255719
+        "x": 8.618618682530846,
+        "y": 5.7310165129163355
       },
       "nextControl": {
-        "x": 7.408579979016614,
-        "y": 5.514892297047377
+        "x": 7.627292843251787,
+        "y": 5.626913168266943
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 6.860545670225386,
-        "y": 6.364365361803084
+        "x": 7.311688741721855,
+        "y": 6.27831953642384
       },
       "prevControl": {
-        "x": 6.917316499510639,
-        "y": 6.120896528187229
+        "x": 7.433678730378213,
+        "y": 5.997765220428201
       },
       "nextControl": {
-        "x": 6.574474152212791,
-        "y": 7.591219006502909
+        "x": 7.0916784354147495,
+        "y": 6.784302377129385
       },
       "isLocked": false,
       "linkedName": null
@@ -68,12 +68,12 @@
         "y": 7.408007117437722
       },
       "prevControl": {
-        "x": 5.872250653983406,
-        "y": 7.333391289226129
+        "x": 5.877242530931041,
+        "y": 7.381065257813595
       },
       "nextControl": {
-        "x": 5.300042806450162,
-        "y": 7.497750261334479
+        "x": 4.284691670946883,
+        "y": 7.543120509860877
       },
       "isLocked": false,
       "linkedName": null
@@ -84,8 +84,8 @@
         "y": 7.5
       },
       "prevControl": {
-        "x": 4.245580247742288,
-        "y": 7.453198911136212
+        "x": 4.397534345753931,
+        "y": 7.5120104256577624
       },
       "nextControl": null,
       "isLocked": false,
@@ -95,14 +95,14 @@
   "rotationTargets": [
     {
       "waypointRelativePos": 1.15,
-      "rotationDegrees": -90.0
+      "rotationDegrees": -101.33234295737161
     },
     {
       "waypointRelativePos": 3.0994671403197227,
       "rotationDegrees": -74.10500133422103
     },
     {
-      "waypointRelativePos": 3.86,
+      "waypointRelativePos": 4.176755447941895,
       "rotationDegrees": 0.0
     }
   ],
@@ -113,7 +113,7 @@
       "maxWaypointRelativePos": 1.642294713160863,
       "constraints": {
         "maxVelocity": 1.0,
-        "maxAcceleration": 1.5,
+        "maxAcceleration": 2.0,
         "maxAngularVelocity": 200.0,
         "maxAngularAcceleration": 150.0,
         "nominalVoltage": 12.0,
@@ -148,7 +148,7 @@
   ],
   "globalConstraints": {
     "maxVelocity": 3.0,
-    "maxAcceleration": 2.0,
+    "maxAcceleration": 2.5,
     "maxAngularVelocity": 200.0,
     "maxAngularAcceleration": 300.0,
     "nominalVoltage": 12.0,
@@ -164,5 +164,5 @@
     "velocity": 0.5,
     "rotation": 0.0
   },
-  "useDefaultConstraints": false
+  "useDefaultConstraints": true
 }
\ No newline at end of file

diff --git a/src/main/deploy/pathplanner/paths/Swipe2.path b/src/main/deploy/pathplanner/paths/Swipe2.path
index 8086c989d045cff705313b562c8c69db6405172b..23991cf9e7cc77a65f6b49482868daa238be9032 100644 (file)
--- a/src/main/deploy/pathplanner/paths/Swipe2.path
+++ b/src/main/deploy/pathplanner/paths/Swipe2.path
@@ -115,7 +115,7 @@
   "eventMarkers": [],
   "globalConstraints": {
     "maxVelocity": 3.0,
-    "maxAcceleration": 2.0,
+    "maxAcceleration": 2.5,
     "maxAngularVelocity": 200.0,
     "maxAngularAcceleration": 300.0,
     "nominalVoltage": 12.0,
@@ -131,5 +131,5 @@
     "velocity": 0,
     "rotation": 0.0
   },
-  "useDefaultConstraints": false
+  "useDefaultConstraints": true
 }
\ 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 1eaeab17316f9791e3ee4b34a77c7f6ca396b6a5..84d15eae4bc89c34a96cff459173b86dcb535508 100644 (file)
--- a/src/main/deploy/pathplanner/paths/Velocity TEST.path
+++ b/src/main/deploy/pathplanner/paths/Velocity TEST.path
@@ -47,8 +47,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 2.0,
-    "maxAcceleration": 2.0,
+    "maxVelocity": 3.0,
+    "maxAcceleration": 2.5,
     "maxAngularVelocity": 200.0,
     "maxAngularAcceleration": 300.0,
     "nominalVoltage": 12.0,

diff --git a/src/main/deploy/pathplanner/paths/W5 Left Trench Start.path b/src/main/deploy/pathplanner/paths/W5 Left Trench Start.path
index e32f09708d2b4ca2a2d23cd3bf589c2779c4df5b..61c62153d0dcac3642c4450a1e65e28cd42fff9a 100644 (file)
--- a/src/main/deploy/pathplanner/paths/W5 Left Trench Start.path
+++ b/src/main/deploy/pathplanner/paths/W5 Left Trench Start.path
@@ -33,15 +33,15 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 0.5,
-    "maxAcceleration": 2.0,
+    "maxVelocity": 3.0,
+    "maxAcceleration": 2.5,
     "maxAngularVelocity": 200.0,
     "maxAngularAcceleration": 300.0,
     "nominalVoltage": 12.0,
     "unlimited": false
   },
   "goalEndState": {
-    "velocity": 0.5,
+    "velocity": 3.0,
     "rotation": 0.0
   },
   "reversed": false,
@@ -50,5 +50,5 @@
     "velocity": 0,
     "rotation": 0.0
   },
-  "useDefaultConstraints": false
+  "useDefaultConstraints": true
 }
\ No newline at end of file

diff --git a/src/main/deploy/pathplanner/settings.json b/src/main/deploy/pathplanner/settings.json
index 9640a05cb4bdcc6c9839622f2ff32b89f28a692c..d9ef6f40f2b3fbfafc53a4d7368cee8d33422316 100644 (file)
--- a/src/main/deploy/pathplanner/settings.json
+++ b/src/main/deploy/pathplanner/settings.json
@@ -15,13 +15,13 @@
     "Week 2 autos",
     "Testing"
   ],
-  "defaultMaxVel": 2.0,
-  "defaultMaxAccel": 2.0,
+  "defaultMaxVel": 3.0,
+  "defaultMaxAccel": 2.5,
   "defaultMaxAngVel": 200.0,
   "defaultMaxAngAccel": 300.0,
   "defaultNominalVoltage": 12.0,
   "robotMass": 63.37,
-  "robotMOI": 7.0,
+  "robotMOI": 6.6,
   "robotTrackwidth": 0.546,
   "driveWheelRadius": 0.05,
   "driveGearing": 7.03,