Political Autos

New Paths
Pathplanner PID changes
Spindexer changes
Turret change

diff --git a/src/main/deploy/pathplanner/autos/DirectDoubleSwipe.auto b/src/main/deploy/pathplanner/autos/DirectDoubleSwipe.auto
new file mode 100644 (file)
index 0000000..76de232
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/DirectDoubleSwipe.auto
@@ -0,0 +1,121 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "Hood Down"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Extend Intake"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "W5 Left Trench Start"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Spin Intake Rollers"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "DirectSwipe1"
+          }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 1.5
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Start Intake Seizure"
+          }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 2.5
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Stop Intake Seizure"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Extend Intake"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Stop Spindexer"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Hood Down"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Swipe2"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Stop Hood Down"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Start Spindexer"
+          }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 1.0
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Start Intake Seizure"
+          }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 1.0
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}
\ No newline at end of file

diff --git a/src/main/deploy/pathplanner/autos/DoubleSwipe.auto b/src/main/deploy/pathplanner/autos/DoubleSwipe.auto
deleted file mode 100644 (file)
index 3738c9e..0000000
--- a/src/main/deploy/pathplanner/autos/DoubleSwipe.auto
+++ /dev/null
@@ -1,67 +0,0 @@
-{
-  "version": "2025.0",
-  "command": {
-    "type": "sequential",
-    "data": {
-      "commands": [
-        {
-          "type": "named",
-          "data": {
-            "name": "Hood Down"
-          }
-        },
-        {
-          "type": "named",
-          "data": {
-            "name": "Extend Intake"
-          }
-        },
-        {
-          "type": "path",
-          "data": {
-            "pathName": "W5 Left Trench Start"
-          }
-        },
-        {
-          "type": "named",
-          "data": {
-            "name": "Spin Intake Rollers"
-          }
-        },
-        {
-          "type": "path",
-          "data": {
-            "pathName": "W5 Full Left Path v3"
-          }
-        },
-        {
-          "type": "wait",
-          "data": {
-            "waitTime": 3.0
-          }
-        },
-        {
-          "type": "named",
-          "data": {
-            "name": "Stop Spindexer"
-          }
-        },
-        {
-          "type": "named",
-          "data": {
-            "name": "Hood Down"
-          }
-        },
-        {
-          "type": "path",
-          "data": {
-            "pathName": "Swipe2"
-          }
-        }
-      ]
-    }
-  },
-  "resetOdom": true,
-  "folder": null,
-  "choreoAuto": false
-}
\ No newline at end of file

diff --git a/src/main/deploy/pathplanner/autos/LeftConservativeDoubleSwipe.auto b/src/main/deploy/pathplanner/autos/LeftConservativeDoubleSwipe.auto
new file mode 100644 (file)
index 0000000..185c470
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/LeftConservativeDoubleSwipe.auto
@@ -0,0 +1,127 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "Hood Down"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Extend Intake"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "W5 Left Trench Start"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Spin Intake Rollers"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "ConservativeSwipe1"
+          }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 1.5
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Start Intake Seizure"
+          }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 2.5
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Stop Intake Seizure"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Extend Intake"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Stop Spindexer"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Reset Spindexer"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Hood Down"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Swipe2"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Stop Hood Down"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Start Spindexer"
+          }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 1.0
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Start Intake Seizure"
+          }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 1.0
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}
\ No newline at end of file

diff --git a/src/main/deploy/pathplanner/autos/LeftLiberalDoubleSwipe.auto b/src/main/deploy/pathplanner/autos/LeftLiberalDoubleSwipe.auto
new file mode 100644 (file)
index 0000000..25b15e3
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/LeftLiberalDoubleSwipe.auto
@@ -0,0 +1,127 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "Hood Down"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Extend Intake"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "W5 Left Trench Start"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Spin Intake Rollers"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Swipe1"
+          }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 1.5
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Start Intake Seizure"
+          }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 2.5
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Stop Intake Seizure"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Extend Intake"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Stop Spindexer"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Reset Spindexer"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Hood Down"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Swipe2"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Stop Hood Down"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Start Spindexer"
+          }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 1.0
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Start Intake Seizure"
+          }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 1.0
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}
\ No newline at end of file

diff --git a/src/main/deploy/pathplanner/paths/ConservativeSwipe1.path b/src/main/deploy/pathplanner/paths/ConservativeSwipe1.path
new file mode 100644 (file)
index 0000000..65733dd
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/ConservativeSwipe1.path
@@ -0,0 +1,164 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 4.5,
+        "y": 7.623190984573506
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 6.819805487632309,
+        "y": 6.775820794389796
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 7.159230132450332,
+        "y": 6.641316225165562
+      },
+      "prevControl": {
+        "x": 6.869067715509156,
+        "y": 6.9193627325227665
+      },
+      "nextControl": {
+        "x": 7.339735203900921,
+        "y": 6.46834825361991
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 7.398505338078292,
+        "y": 5.566846026490066
+      },
+      "prevControl": {
+        "x": 7.64577301033512,
+        "y": 5.705763638397914
+      },
+      "nextControl": {
+        "x": 7.031343434260263,
+        "y": 5.360570558304471
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 6.46953642384106,
+        "y": 6.401738410596026
+      },
+      "prevControl": {
+        "x": 6.69147920841791,
+        "y": 6.100131466298098
+      },
+      "nextControl": {
+        "x": 6.078640973388454,
+        "y": 6.9329419033148865
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 5.6124792408066435,
+        "y": 7.408007117437722
+      },
+      "prevControl": {
+        "x": 5.8389868583347635,
+        "y": 7.302204002163478
+      },
+      "nextControl": {
+        "x": 5.3859716232785235,
+        "y": 7.5138102327119665
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 4.0,
+        "y": 7.5
+      },
+      "prevControl": {
+        "x": 4.396406066666464,
+        "y": 7.41042919989128
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 0.9685230024212932,
+      "rotationDegrees": -64.90375286541574
+    },
+    {
+      "waypointRelativePos": 3.86,
+      "rotationDegrees": 0.0
+    }
+  ],
+  "constraintZones": [
+    {
+      "name": "Constraints Zone",
+      "minWaypointRelativePos": 0.7761529808773961,
+      "maxWaypointRelativePos": 1.8335208098987592,
+      "constraints": {
+        "maxVelocity": 1.0,
+        "maxAcceleration": 1.5,
+        "maxAngularVelocity": 200.0,
+        "maxAngularAcceleration": 150.0,
+        "nominalVoltage": 12.0,
+        "unlimited": false
+      }
+    }
+  ],
+  "pointTowardsZones": [],
+  "eventMarkers": [
+    {
+      "name": "Stop Hood Down",
+      "waypointRelativePos": 4.968503937007888,
+      "endWaypointRelativePos": null,
+      "command": {
+        "type": "named",
+        "data": {
+          "name": "Stop Hood Down"
+        }
+      }
+    },
+    {
+      "name": "Start Spindexer",
+      "waypointRelativePos": 4.982332155477035,
+      "endWaypointRelativePos": null,
+      "command": {
+        "type": "named",
+        "data": {
+          "name": "Start Spindexer"
+        }
+      }
+    }
+  ],
+  "globalConstraints": {
+    "maxVelocity": 2.0,
+    "maxAcceleration": 2.0,
+    "maxAngularVelocity": 200.0,
+    "maxAngularAcceleration": 300.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0.0,
+    "rotation": 0.0
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0.5,
+    "rotation": 0.0
+  },
+  "useDefaultConstraints": false
+}
\ No newline at end of file

diff --git a/src/main/deploy/pathplanner/paths/DirectSwipe1.path b/src/main/deploy/pathplanner/paths/DirectSwipe1.path
new file mode 100644 (file)
index 0000000..1a00a8a
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/DirectSwipe1.path
@@ -0,0 +1,152 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 4.5,
+        "y": 7.623190984573506
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 7.05559305204347,
+        "y": 7.1393105448289385
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 7.678244365361804,
+        "y": 6.364365361803084
+      },
+      "prevControl": {
+        "x": 7.555116359470672,
+        "y": 6.629895424661244
+      },
+      "nextControl": {
+        "x": 7.804590465430033,
+        "y": 6.091895360764787
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 6.699157769869515,
+        "y": 6.536512455516014
+      },
+      "prevControl": {
+        "x": 6.8860851430626155,
+        "y": 6.1598703844515175
+      },
+      "nextControl": {
+        "x": 6.2963922199408735,
+        "y": 7.34804930155004
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 5.6124792408066435,
+        "y": 7.408007117437722
+      },
+      "prevControl": {
+        "x": 5.93853054547692,
+        "y": 7.303899970283091
+      },
+      "nextControl": {
+        "x": 5.324138304321591,
+        "y": 7.500073463670289
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 4.0,
+        "y": 7.5
+      },
+      "prevControl": {
+        "x": 4.5311698343686535,
+        "y": 7.430992876119471
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 1.1,
+      "rotationDegrees": -56.57915082012971
+    },
+    {
+      "waypointRelativePos": 2.0994671403197227,
+      "rotationDegrees": -74.10500133422103
+    },
+    {
+      "waypointRelativePos": 2.86,
+      "rotationDegrees": 0.0
+    }
+  ],
+  "constraintZones": [
+    {
+      "name": "Constraints Zone",
+      "minWaypointRelativePos": 0.7761529808773961,
+      "maxWaypointRelativePos": 1.3,
+      "constraints": {
+        "maxVelocity": 1.0,
+        "maxAcceleration": 1.5,
+        "maxAngularVelocity": 200.0,
+        "maxAngularAcceleration": 150.0,
+        "nominalVoltage": 12.0,
+        "unlimited": false
+      }
+    }
+  ],
+  "pointTowardsZones": [],
+  "eventMarkers": [
+    {
+      "name": "Stop Hood Down",
+      "waypointRelativePos": 3.9685039370078883,
+      "endWaypointRelativePos": null,
+      "command": {
+        "type": "named",
+        "data": {
+          "name": "Stop Hood Down"
+        }
+      }
+    },
+    {
+      "name": "Start Spindexer",
+      "waypointRelativePos": 4.0,
+      "endWaypointRelativePos": null,
+      "command": {
+        "type": "named",
+        "data": {
+          "name": "Start Spindexer"
+        }
+      }
+    }
+  ],
+  "globalConstraints": {
+    "maxVelocity": 2.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 200.0,
+    "maxAngularAcceleration": 300.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0.0,
+    "rotation": 0.0
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0.5,
+    "rotation": 0.0
+  },
+  "useDefaultConstraints": false
+}
\ No newline at end of file

diff --git a/src/main/deploy/pathplanner/paths/Swipe1.path b/src/main/deploy/pathplanner/paths/Swipe1.path
new file mode 100644 (file)
index 0000000..645b5bd
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/Swipe1.path
@@ -0,0 +1,168 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 4.5,
+        "y": 7.623190984573506
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 6.735631586835829,
+        "y": 7.2764780852994
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 7.710521945432978,
+        "y": 6.697900355871886
+      },
+      "prevControl": {
+        "x": 7.529042978857038,
+        "y": 6.86984623308483
+      },
+      "nextControl": {
+        "x": 7.928919995080244,
+        "y": 6.490974754868527
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 7.710521945432978,
+        "y": 5.7188137603795965
+      },
+      "prevControl": {
+        "x": 7.925365275955983,
+        "y": 5.863911730255719
+      },
+      "nextControl": {
+        "x": 7.408579979016614,
+        "y": 5.514892297047377
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 6.860545670225386,
+        "y": 6.364365361803084
+      },
+      "prevControl": {
+        "x": 6.917316499510639,
+        "y": 6.120896528187229
+      },
+      "nextControl": {
+        "x": 6.574474152212791,
+        "y": 7.591219006502909
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 5.6124792408066435,
+        "y": 7.408007117437722
+      },
+      "prevControl": {
+        "x": 5.872250653983406,
+        "y": 7.333391289226129
+      },
+      "nextControl": {
+        "x": 5.300042806450162,
+        "y": 7.497750261334479
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 4.0,
+        "y": 7.5
+      },
+      "prevControl": {
+        "x": 4.245580247742288,
+        "y": 7.453198911136212
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 1.15,
+      "rotationDegrees": -90.0
+    },
+    {
+      "waypointRelativePos": 3.0994671403197227,
+      "rotationDegrees": -74.10500133422103
+    },
+    {
+      "waypointRelativePos": 3.86,
+      "rotationDegrees": 0.0
+    }
+  ],
+  "constraintZones": [
+    {
+      "name": "Constraints Zone",
+      "minWaypointRelativePos": 0.7761529808773961,
+      "maxWaypointRelativePos": 1.642294713160863,
+      "constraints": {
+        "maxVelocity": 1.0,
+        "maxAcceleration": 1.5,
+        "maxAngularVelocity": 200.0,
+        "maxAngularAcceleration": 150.0,
+        "nominalVoltage": 12.0,
+        "unlimited": false
+      }
+    }
+  ],
+  "pointTowardsZones": [],
+  "eventMarkers": [
+    {
+      "name": "Stop Hood Down",
+      "waypointRelativePos": 4.968503937007888,
+      "endWaypointRelativePos": null,
+      "command": {
+        "type": "named",
+        "data": {
+          "name": "Stop Hood Down"
+        }
+      }
+    },
+    {
+      "name": "Start Spindexer",
+      "waypointRelativePos": 5.0,
+      "endWaypointRelativePos": null,
+      "command": {
+        "type": "named",
+        "data": {
+          "name": "Start Spindexer"
+        }
+      }
+    }
+  ],
+  "globalConstraints": {
+    "maxVelocity": 2.0,
+    "maxAcceleration": 2.0,
+    "maxAngularVelocity": 200.0,
+    "maxAngularAcceleration": 300.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0.0,
+    "rotation": 0.0
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0.5,
+    "rotation": 0.0
+  },
+  "useDefaultConstraints": false
+}
\ 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 1e8b8334e77dd4df766d115ff1702ea7da30926c..5efb8f7048008af7802c0d87576cee5c538314be 100644 (file)
--- a/src/main/deploy/pathplanner/paths/Swipe2.path
+++ b/src/main/deploy/pathplanner/paths/Swipe2.path
@@ -4,60 +4,60 @@
     {
       "anchor": {
         "x": 4.0,
-        "y": 7.623
+        "y": 7.5
       },
       "prevControl": null,
       "nextControl": {
-        "x": 6.0,
-        "y": 7.623
+        "x": 5.75,
+        "y": 7.5
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 5.730830367734282,
-        "y": 5.729572953736655
+        "x": 6.0213285883748515,
+        "y": 6.289051008303677
       },
       "prevControl": {
-        "x": 5.730830367734282,
-        "y": 6.729572953736655
+        "x": 6.135976270876549,
+        "y": 7.282457223754833
       },
       "nextControl": {
-        "x": 5.730830367734282,
-        "y": 4.729572953736655
+        "x": 5.929276488101032,
+        "y": 5.4914323686422035
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 6.03208778173191,
-        "y": 3.97582443653618
+        "x": 6.258030842230131,
+        "y": 4.449228944246738
       },
       "prevControl": {
-        "x": 5.584874186231952,
-        "y": 4.199431234286158
+        "x": 5.653713425517404,
+        "y": 4.619355154982582
       },
       "nextControl": {
-        "x": 6.5915658362989324,
-        "y": 3.696085409252669
+        "x": 6.687014708632405,
+        "y": 4.3284622781876605
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 6.699157769869515,
-        "y": 4.642894424673784
+        "x": 6.892823250296561,
+        "y": 5.546666666666668
       },
       "prevControl": {
-        "x": 6.699157769869515,
-        "y": 4.183101989407747
+        "x": 6.892823250296561,
+        "y": 4.907866997335997
       },
       "nextControl": {
-        "x": 6.699157769869515,
-        "y": 5.102686859939822
+        "x": 6.892823250296561,
+        "y": 6.2753696930420535
       },
       "isLocked": false,
       "linkedName": null
@@ -65,15 +65,15 @@
     {
       "anchor": {
         "x": 6.258030842230131,
-        "y": 6.730177935943061
+        "y": 6.977639383155397
       },
       "prevControl": {
-        "x": 6.081254146933494,
-        "y": 6.906954631239698
+        "x": 6.423269381273585,
+        "y": 6.7900328128685725
       },
       "nextControl": {
-        "x": 6.434807537526767,
-        "y": 6.553401240646425
+        "x": 6.092792303186677,
+        "y": 7.165245953442221
       },
       "isLocked": false,
       "linkedName": null
@@ -81,11 +81,11 @@
     {
       "anchor": {
         "x": 4.0,
-        "y": 7.623
+        "y": 7.5
       },
       "prevControl": {
-        "x": 5.768466785290629,
-        "y": 7.738661328588376
+        "x": 5.5,
+        "y": 7.5
       },
       "nextControl": null,
       "isLocked": false,
@@ -102,8 +102,12 @@
       "rotationDegrees": -90.0
     },
     {
-      "waypointRelativePos": 3.0284191829485203,
+      "waypointRelativePos": 3.0373001776198882,
       "rotationDegrees": 90.0
+    },
+    {
+      "waypointRelativePos": 4.129662522202486,
+      "rotationDegrees": 0.0
     }
   ],
   "constraintZones": [],
@@ -127,5 +131,5 @@
     "velocity": 0,
     "rotation": 0.0
   },
-  "useDefaultConstraints": true
+  "useDefaultConstraints": false
 }
\ No newline at end of file

diff --git a/src/main/deploy/pathplanner/paths/W5 Full Left Path v3.path b/src/main/deploy/pathplanner/paths/W5 Full Left Path v3.path
deleted file mode 100644 (file)
index d2d8298..0000000
--- a/src/main/deploy/pathplanner/paths/W5 Full Left Path v3.path
+++ /dev/null
@@ -1,154 +0,0 @@
-{
-  "version": "2025.0",
-  "waypoints": [
-    {
-      "anchor": {
-        "x": 4.5,
-        "y": 7.623190984573506
-      },
-      "prevControl": null,
-      "nextControl": {
-        "x": 6.819003128648605,
-        "y": 7.795699388727487
-      },
-      "isLocked": false,
-      "linkedName": null
-    },
-    {
-      "anchor": {
-        "x": 7.841663907284769,
-        "y": 6.3509188741721845
-      },
-      "prevControl": {
-        "x": 7.474301880921233,
-        "y": 6.65544005378413
-      },
-      "nextControl": {
-        "x": 8.536734620002141,
-        "y": 5.774746765569564
-      },
-      "isLocked": false,
-      "linkedName": null
-    },
-    {
-      "anchor": {
-        "x": 7.943302980132451,
-        "y": 5.123990066225165
-      },
-      "prevControl": {
-        "x": 8.175624745513659,
-        "y": 5.216329642410886
-      },
-      "nextControl": {
-        "x": 7.220724340639356,
-        "y": 4.836790951574134
-      },
-      "isLocked": false,
-      "linkedName": null
-    },
-    {
-      "anchor": {
-        "x": 6.868832781456953,
-        "y": 6.024221854304635
-      },
-      "prevControl": {
-        "x": 6.860132910129963,
-        "y": 5.650613883255112
-      },
-      "nextControl": {
-        "x": 6.897180594033059,
-        "y": 7.2415925879837
-      },
-      "isLocked": false,
-      "linkedName": null
-    },
-    {
-      "anchor": {
-        "x": 5.58020166073547,
-        "y": 7.5
-      },
-      "prevControl": {
-        "x": 5.774037666645563,
-        "y": 7.342115222985805
-      },
-      "nextControl": {
-        "x": 5.363252370286202,
-        "y": 7.676711185236958
-      },
-      "isLocked": false,
-      "linkedName": null
-    },
-    {
-      "anchor": {
-        "x": 4.0,
-        "y": 7.623190984573506
-      },
-      "prevControl": {
-        "x": 4.34969659712891,
-        "y": 7.508772305482001
-      },
-      "nextControl": null,
-      "isLocked": false,
-      "linkedName": null
-    }
-  ],
-  "rotationTargets": [
-    {
-      "waypointRelativePos": 1.15,
-      "rotationDegrees": -90.0
-    },
-    {
-      "waypointRelativePos": 3.024213075060532,
-      "rotationDegrees": -74.10500133422103
-    },
-    {
-      "waypointRelativePos": 3.86,
-      "rotationDegrees": 0.0
-    }
-  ],
-  "constraintZones": [],
-  "pointTowardsZones": [],
-  "eventMarkers": [
-    {
-      "name": "Stop Hood Down",
-      "waypointRelativePos": 4.968503937007888,
-      "endWaypointRelativePos": null,
-      "command": {
-        "type": "named",
-        "data": {
-          "name": "Stop Hood Down"
-        }
-      }
-    },
-    {
-      "name": "Start Spindexer",
-      "waypointRelativePos": 5.0,
-      "endWaypointRelativePos": null,
-      "command": {
-        "type": "named",
-        "data": {
-          "name": "Start Spindexer"
-        }
-      }
-    }
-  ],
-  "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 1.5,
-    "maxAngularVelocity": 200.0,
-    "maxAngularAcceleration": 150.0,
-    "nominalVoltage": 12.0,
-    "unlimited": false
-  },
-  "goalEndState": {
-    "velocity": 0.0,
-    "rotation": 0.0
-  },
-  "reversed": false,
-  "folder": null,
-  "idealStartingState": {
-    "velocity": 0.5,
-    "rotation": 0.0
-  },
-  "useDefaultConstraints": false
-}
\ No newline at end of file

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 dabc7c074257435dd5c1aa70672226480154a35c..e32f09708d2b4ca2a2d23cd3bf589c2779c4df5b 100644 (file)
--- a/src/main/deploy/pathplanner/paths/W5 Left Trench Start.path
+++ b/src/main/deploy/pathplanner/paths/W5 Left Trench Start.path
@@ -29,25 +29,11 @@
     }
   ],
   "rotationTargets": [],
-  "constraintZones": [
-    {
-      "name": "Constraints Zone",
-      "minWaypointRelativePos": 0,
-      "maxWaypointRelativePos": 1.0,
-      "constraints": {
-        "maxVelocity": 0.5,
-        "maxAcceleration": 0.5,
-        "maxAngularVelocity": 200.0,
-        "maxAngularAcceleration": 300.0,
-        "nominalVoltage": 12.0,
-        "unlimited": false
-      }
-    }
-  ],
+  "constraintZones": [],
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 2.0,
+    "maxVelocity": 0.5,
     "maxAcceleration": 2.0,
     "maxAngularVelocity": 200.0,
     "maxAngularAcceleration": 300.0,
@@ -64,5 +50,5 @@
     "velocity": 0,
     "rotation": 0.0
   },
-  "useDefaultConstraints": true
+  "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 38af8e3450d57687205b211d15feeb4863d670cc..9640a05cb4bdcc6c9839622f2ff32b89f28a692c 100644 (file)
--- a/src/main/deploy/pathplanner/settings.json
+++ b/src/main/deploy/pathplanner/settings.json
@@ -21,7 +21,7 @@
   "defaultMaxAngAccel": 300.0,
   "defaultNominalVoltage": 12.0,
   "robotMass": 63.37,
-  "robotMOI": 4.183,
+  "robotMOI": 7.0,
   "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 0b12a2a1d734778de5995d11bb158dfcd53e2b3d..ae3561773db0d8b947d0cb8210eadb318c6665d7 100644 (file)
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -228,6 +228,8 @@ public class RobotContainer {
       NamedCommands.registerCommand("Start Spindexer",
           new InstantCommand(() -> CommandScheduler.getInstance().schedule(runSpindexer)));
       NamedCommands.registerCommand("Stop Spindexer", new InstantCommand(() -> runSpindexer.cancel()));
+      NamedCommands.registerCommand("Reset Spindexer", new InstantCommand(() -> spindexer.resetSpindexer()));
+      NamedCommands.registerCommand("Reset Reset Angle", new InstantCommand(() -> spindexer.resetResetAngle()));
     }
 
     if (hood != null) {
@@ -269,13 +271,15 @@ public class RobotContainer {
     String leftSideAuto = "Left Week V1";
     String rightSideAuto = "Right Week V1";
     String shootOnlyAuto = "Shoot Only Left Week V1";
-    String doubleSwipe = "DoubleSwipe";
+    String leftLiberalSwipe = "LeftLiberalDoubleSwipe";
+    String leftConservativeSwipe = "LeftConservativeDoubleSwipe";
 
     autoChooser.setDefaultOption("Default", new PathPlannerAuto(defaultAuto));
     addAuto(leftSideAuto);
     addAuto(rightSideAuto);
     addAuto(shootOnlyAuto);
-    addAuto(doubleSwipe);
+    addAuto(leftConservativeSwipe);
+    addAuto(leftLiberalSwipe);
 
     // put the Chooser on the SmartDashboard
     SmartDashboard.putData("Auto chooser", autoChooser);

diff --git a/src/main/java/frc/robot/commands/gpm/BrownOutControl.java b/src/main/java/frc/robot/commands/gpm/BrownOutControl.java
index c5b34b7b240830daa4c604023a606290ded14b19..a48076ab51db8fc59b101439857a514ae88b9309 100644 (file)
--- a/src/main/java/frc/robot/commands/gpm/BrownOutControl.java
+++ b/src/main/java/frc/robot/commands/gpm/BrownOutControl.java
@@ -51,22 +51,22 @@ public class BrownOutControl extends Command {
         int level = 1;
         double batteryVoltage = RobotController.getBatteryVoltage();
         if (batteryVoltage > BrownOutConstants.LEVEL_ONE_LIMIT) { // normal
-            return levels[0];
             level = 1;
+            return levels[0];
         } else if (batteryVoltage > BrownOutConstants.LEVEL_TWO_LIMIT) { // if 7.5 to 6.75
-            return levels[1]; // lower drivetrain
             level = 2;
+            return levels[1]; // lower drivetrain
         } else if (batteryVoltage > BrownOutConstants.LEVEL_THREE_LIMIT) { // if 6.75 to 6.0 (browning out)
-            return levels[2];
             level = 3;
+            return levels[2];
         } else if (batteryVoltage > BrownOutConstants.LEVEL_FOUR_LIMIT) { // if 6.0 to 5.0 (mayday)
-            return levels[3];
             level = 4;
+            return levels[3];
         } else { // were are on life support at this point 5.25 to 4.75
-            return levels[4];
             level = 5;
+            return levels[4];
         }
-        Logger.recordOutput("BrownoutProtection/Level", level);
+        // Logger.recordOutput("BrownoutProtection/Level", level);
     }
 
     public void applyLevel(BrownOutLevel level) {

diff --git a/src/main/java/frc/robot/constants/swerve/DriveConstants.java b/src/main/java/frc/robot/constants/swerve/DriveConstants.java
index 83b9e3438ae70b1e2b83ea1e4739928da3a636bb..4764aca7db95b826930810104cdf40e00c99fbf7 100644 (file)
--- a/src/main/java/frc/robot/constants/swerve/DriveConstants.java
+++ b/src/main/java/frc/robot/constants/swerve/DriveConstants.java
@@ -108,10 +108,10 @@ public class DriveConstants {
         public static final double TRANSLATIONAL_D = 0.001;
     
         //The PIDs for PathPlanner Command
-        public static final double PATH_PLANNER_HEADING_P = 3.5;
+        public static final double PATH_PLANNER_HEADING_P = 3.5/2;
         public static final double PATH_PLANNER_HEADING_D = 0;
     
-        public static final double PATH_PLANNER_TRANSLATIONAL_P = 6;
+        public static final double PATH_PLANNER_TRANSLATIONAL_P = 6/2;
         public static final double PATH_PLANNER_TRANSLATIONAL_D = 0;
     
         // CAN

diff --git a/src/main/java/frc/robot/subsystems/spindexer/Spindexer.java b/src/main/java/frc/robot/subsystems/spindexer/Spindexer.java
index f33331bda2e8beba6a2b97a15c567c56d70dafd8..4c7754ce30d6702899f725be1fa766f7d75b98b0 100644 (file)
--- a/src/main/java/frc/robot/subsystems/spindexer/Spindexer.java
+++ b/src/main/java/frc/robot/subsystems/spindexer/Spindexer.java
@@ -55,7 +55,7 @@ public class Spindexer extends SubsystemBase implements SpindexerIO {
         Logger.processInputs("Spindexer", inputs);
 
         if (resetPos == null) {
-            motor.setPosition(0.5 * gearRatio);
+            motor.setPosition(0.1 * gearRatio);
             resetPos = (motor.getPosition().getValueAsDouble() / gearRatio) % 1.0;
             resetPID.reset();
         }
@@ -138,7 +138,7 @@ public class Spindexer extends SubsystemBase implements SpindexerIO {
     }
 
     private Double resetPos;
-    private PIDController resetPID = new PIDController(1.0, 0.0, 0);
+    private PIDController resetPID = new PIDController(4.0, 0.0, 0);
 
     private final double gearRatio = 27.0 / 1.0; //spindexer spins once for every 27 motor spins
 

diff --git a/src/main/java/frc/robot/subsystems/spindexer/SpindexerConstants.java b/src/main/java/frc/robot/subsystems/spindexer/SpindexerConstants.java
index bd6ae29f4186faca7d31b28989ef4a36621adb8c..c7bf28a649021a04d677a6eb9191d77ced64a076 100644 (file)
--- a/src/main/java/frc/robot/subsystems/spindexer/SpindexerConstants.java
+++ b/src/main/java/frc/robot/subsystems/spindexer/SpindexerConstants.java
@@ -4,7 +4,7 @@ public class SpindexerConstants {
     public static final double spindexerVelocityWithBall = 6.0; // rps (for counting balls)
     public static final double currentLimit = 40; // A
     public static final double spindexerMaxPower = 0.75; 
-    public static final double spindexerReversePower = -0.2;
+    public static final double spindexerReversePower = -1.00;
     public static final double CURRENT_SPIKE_LIMIT = 100;
     public static final double CURRENT_TIME_LIMIT = 1.0; //s
     public static final double JAM_CURRENT_THRESHOLD = 75.0; // A

diff --git a/src/main/java/frc/robot/subsystems/turret/Turret.java b/src/main/java/frc/robot/subsystems/turret/Turret.java
index c2e770c229ce3a43941b6540b8eeb3e1f8eb7e1f..315b4ada57e041b279f429c72d19e9d1e497b1da 100644 (file)
--- a/src/main/java/frc/robot/subsystems/turret/Turret.java
+++ b/src/main/java/frc/robot/subsystems/turret/Turret.java
@@ -75,7 +75,7 @@ public class Turret extends SubsystemBase implements TurretIO{
                config.Slot0.kP = 12.0; 
                config.Slot0.kS = 0.1; // Static friction compensation
                config.Slot0.kV = 0.12; // Adjusted kV for the gear ratio
-               config.Slot0.kD = 0.2; // The "Braking" term to stop overshoot
+               config.Slot0.kD = 0.0; // The "Braking" term to stop overshoot
 
                var mm = config.MotionMagic;
                mm.MotionMagicCruiseVelocity = Units.radiansToRotations(TurretConstants.MAX_VELOCITY) * TurretConstants.GEAR_RATIO;
@@ -201,7 +201,7 @@ public class Turret extends SubsystemBase implements TurretIO{
                motorGoalRotations = MathUtil.clamp(motorGoalRotations, Units.degreesToRotations(TurretConstants.MIN_ANGLE) * TurretConstants.GEAR_RATIO, Units.degreesToRotations(TurretConstants.MAX_ANGLE) * TurretConstants.GEAR_RATIO);
                        
                // Multiply goal velocity by kV
-               double robotTurnCompensation = goalVelocityRadPerSec * TurretConstants.FEEDFORWARD_KV;
+               double robotTurnCompensation = goalVelocityRadPerSec * TurretConstants.FEEDFORWARD_KV * TurretConstants.GEAR_RATIO;
 
                if(calibrating){
                        // motor.set(0.05);

diff --git a/src/main/java/frc/robot/subsystems/turret/TurretConstants.java b/src/main/java/frc/robot/subsystems/turret/TurretConstants.java
index 5dac346bebc5c85389862aa28abb4294ce9b789c..7a8b9af799258ce314664982a8e5b4e73a03bdfe 100644 (file)
--- a/src/main/java/frc/robot/subsystems/turret/TurretConstants.java
+++ b/src/main/java/frc/robot/subsystems/turret/TurretConstants.java
@@ -24,7 +24,7 @@ public class TurretConstants {
 
        public static final double EXTRAPOLATION_TIME_CONSTANT = 0.06;
 
-       public static final double FEEDFORWARD_KV = 0.185;
+       public static final double FEEDFORWARD_KV = 0.06;
 
     public static final double NORMAL_CURRENT_LIMIT = 40.0; // A
     public static final double CALIBRATION_CURRENT_LIMIT = 10.0; // A