mental health

diff --git a/src/main/deploy/pathplanner/autos/Left(No SOTM) - Under Trench.auto b/src/main/deploy/pathplanner/autos/Left(No SOTM) - Under Trench.auto
index db0b7a00574efe13191da97762c35dbda99d3996..644c9e9fb660f392f4ab9d8b49b65c823c2f88d1 100644 (file)
--- a/src/main/deploy/pathplanner/autos/Left(No SOTM) - Under Trench.auto
+++ b/src/main/deploy/pathplanner/autos/Left(No SOTM) - Under Trench.auto
@@ -7,7 +7,7 @@
         {
           "type": "path",
           "data": {
-            "pathName": "#1 Left under the trench"
+            "pathName": "DELETE THIS"
           }
         },
         {

diff --git a/src/main/deploy/pathplanner/autos/Straight Test.auto b/src/main/deploy/pathplanner/autos/Straight Test.auto
new file mode 100644 (file)
index 0000000..372699c
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/Straight Test.auto
@@ -0,0 +1,19 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Straight Line"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}
\ No newline at end of file

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..4f7a4c86e845840d29d4113545ba56bda572b18d 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": {

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 0e4cf18ddd235f281a4388dbf01615449386d095..e1516209e756306f5f14b6b28eacc6dbb15242b0 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
@@ -74,21 +74,7 @@
       "rotationDegrees": 180.0
     }
   ],
-  "constraintZones": [
-    {
-      "name": "Constraints Zone",
-      "minWaypointRelativePos": 0,
-      "maxWaypointRelativePos": 1.0565217391304353,
-      "constraints": {
-        "maxVelocity": 5.0,
-        "maxAcceleration": 7.0,
-        "maxAngularVelocity": 540.0,
-        "maxAngularAcceleration": 720.0,
-        "nominalVoltage": 12.0,
-        "unlimited": false
-      }
-    }
-  ],
+  "constraintZones": [],
   "pointTowardsZones": [],
   "eventMarkers": [
     {
@@ -99,12 +85,6 @@
         "type": "parallel",
         "data": {
           "commands": [
-            {
-              "type": "named",
-              "data": {
-                "name": "Retract Intake"
-              }
-            },
             {
               "type": "named",
               "data": {

diff --git a/src/main/deploy/pathplanner/paths/DELETE THIS.path b/src/main/deploy/pathplanner/paths/DELETE THIS.path
new file mode 100644 (file)
index 0000000..a306742
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/DELETE THIS.path
@@ -0,0 +1,146 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 4.332135231316728,
+        "y": 7.623190984578885
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 5.332740213523133,
+        "y": 7.3757295373665475
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 7.6997627520759195,
+        "y": 7.128268090154211
+      },
+      "prevControl": {
+        "x": 7.036176926828434,
+        "y": 7.610051586728687
+      },
+      "nextControl": {
+        "x": 8.08506207136292,
+        "y": 6.848529062870701
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 7.979501779359431,
+        "y": 6.1814590747330955
+      },
+      "prevControl": {
+        "x": 8.02072158843106,
+        "y": 6.462503227494206
+      },
+      "nextControl": {
+        "x": 7.8611506524317925,
+        "y": 5.374519572953736
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 7.841663907284769,
+        "y": 4.4778559602649
+      },
+      "prevControl": {
+        "x": 7.936465005931199,
+        "y": 5.460593119810201
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 1.6,
+      "rotationDegrees": -104.27189939195472
+    }
+  ],
+  "constraintZones": [
+    {
+      "name": "Constraints Zone",
+      "minWaypointRelativePos": 1.5658042744656906,
+      "maxWaypointRelativePos": 2.759480519480524,
+      "constraints": {
+        "maxVelocity": 2.0,
+        "maxAcceleration": 3.0,
+        "maxAngularVelocity": 540.0,
+        "maxAngularAcceleration": 720.0,
+        "nominalVoltage": 12.0,
+        "unlimited": false
+      }
+    }
+  ],
+  "pointTowardsZones": [],
+  "eventMarkers": [
+    {
+      "name": "Intake",
+      "waypointRelativePos": 0,
+      "endWaypointRelativePos": null,
+      "command": {
+        "type": "parallel",
+        "data": {
+          "commands": [
+            {
+              "type": "named",
+              "data": {
+                "name": "Spin Intake Rollers"
+              }
+            }
+          ]
+        }
+      }
+    },
+    {
+      "name": "Hood Down",
+      "waypointRelativePos": 0,
+      "endWaypointRelativePos": null,
+      "command": {
+        "type": "named",
+        "data": {
+          "name": "Hood Down"
+        }
+      }
+    },
+    {
+      "name": "Stop Hood Down",
+      "waypointRelativePos": 0.5534308211473522,
+      "endWaypointRelativePos": null,
+      "command": {
+        "type": "named",
+        "data": {
+          "name": "Stop Hood Down"
+        }
+      }
+    }
+  ],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": -110.0
+  },
+  "reversed": false,
+  "folder": "Left Autos",
+  "idealStartingState": {
+    "velocity": 0.0,
+    "rotation": 0.0
+  },
+  "useDefaultConstraints": true
+}
\ No newline at end of file

diff --git a/src/main/deploy/pathplanner/paths/Straight #2.path b/src/main/deploy/pathplanner/paths/Straight #2.path
new file mode 100644 (file)
index 0000000..94a99a1
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/Straight #2.path
@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 3.332,
+        "y": 0.791
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 4.332,
+        "y": 0.7910000000000004
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 7.3,
+        "y": 0.791
+      },
+      "prevControl": {
+        "x": 6.3,
+        "y": 0.791
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": -90.0
+  },
+  "reversed": false,
+  "folder": "Field Testing Autos",
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": -90.0
+  },
+  "useDefaultConstraints": true
+}
\ No newline at end of file

diff --git a/src/main/deploy/pathplanner/paths/Straight #3.path b/src/main/deploy/pathplanner/paths/Straight #3.path
new file mode 100644 (file)
index 0000000..3859b2d
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/Straight #3.path
@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 7.3,
+        "y": 0.791
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 7.297168874172185,
+        "y": 1.8497599337748327
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 7.3,
+        "y": 7.389
+      },
+      "prevControl": {
+        "x": 7.30442880794702,
+        "y": 6.481508278145696
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "reversed": false,
+  "folder": "Field Testing Autos",
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "useDefaultConstraints": true
+}
\ No newline at end of file

diff --git a/src/main/deploy/pathplanner/paths/Straight #4.path b/src/main/deploy/pathplanner/paths/Straight #4.path
new file mode 100644 (file)
index 0000000..ec44fb5
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/Straight #4.path
@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 7.3,
+        "y": 7.389
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 6.7163741721854295,
+        "y": 7.389089403973509
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 3.449403973509934,
+        "y": 7.389
+      },
+      "prevControl": {
+        "x": 5.3950662251655634,
+        "y": 7.425389072847682
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "reversed": false,
+  "folder": "Field Testing Autos",
+  "idealStartingState": {
+    "velocity": 0.0,
+    "rotation": -90.0
+  },
+  "useDefaultConstraints": true
+}
\ No newline at end of file

diff --git a/src/main/deploy/pathplanner/paths/Straight Line.path b/src/main/deploy/pathplanner/paths/Straight Line.path
new file mode 100644 (file)
index 0000000..cf4d032
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/Straight Line.path
@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 3.5036773428232504,
+        "y": 7.612
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 3.514743377483444,
+        "y": 5.718872844539763
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 3.5036773428232504,
+        "y": 1.516
+      },
+      "prevControl": {
+        "x": 3.5251957295373675,
+        "y": 2.4197722419928844
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 1.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0.0,
+    "rotation": -90.0
+  },
+  "reversed": false,
+  "folder": "Field Testing Autos",
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": -90.0
+  },
+  "useDefaultConstraints": false
+}
\ No newline at end of file

diff --git a/src/main/deploy/pathplanner/settings.json b/src/main/deploy/pathplanner/settings.json
index d41403da5b9ae86bbcf22434c13d0781246052b3..5c2785e15a026d229555589d8a3d6367f79826d3 100644 (file)
--- a/src/main/deploy/pathplanner/settings.json
+++ b/src/main/deploy/pathplanner/settings.json
@@ -15,8 +15,8 @@
   "defaultMaxAngVel": 540.0,
   "defaultMaxAngAccel": 720.0,
   "defaultNominalVoltage": 12.0,
-  "robotMass": 61.098892,
-  "robotMOI": 7.504,
+  "robotMass": 63.37,
+  "robotMOI": 4.183,
   "robotTrackwidth": 0.546,
   "driveWheelRadius": 0.05,
   "driveGearing": 7.03,

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index b248beaa888cba97e512ed03fe534569ec2cf7b7..4dd294c931e89a3e06274d07e482e2211f436ff8 100644 (file)
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -143,8 +143,9 @@ public class RobotContainer {
         try {
           String leftSideAuto = "Left(No SOTM) - Under Trench";
           String rightSideAuto = "Right(2) - Under Trench";
-          PathPlannerAuto.getPathGroupFromAutoFile(rightSideAuto);
-          auto = new PathPlannerAuto(rightSideAuto);
+          String testing = "Straight Test";
+          PathPlannerAuto.getPathGroupFromAutoFile(testing);
+          auto = new PathPlannerAuto(testing);
         } catch (IOException | ParseException e) {
           e.printStackTrace();
         }

diff --git a/src/main/java/frc/robot/constants/AutoConstants.java b/src/main/java/frc/robot/constants/AutoConstants.java
index 939cb0784ab00512d3cffa12997d5b890bbce4a5..3feeb0f1ceda100aac4df2b2056cbc5e85bb8d4d 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(4.0, 0.0, 0), // Translation PID constants
+            new PIDConstants(3.5, 0.0, 0), // Translation PID constants
             new PIDConstants(5.0, 0.0, 0.0) // Rotation PID constants
         );