From: eileha Date: Mon, 23 Mar 2026 22:17:13 +0000 (-0700) Subject: a X-Git-Url: https://git.taranathan.com/?a=commitdiff_plain;h=31c1882883325d2c42c70e6695c5444932f294f3;p=FRC2026.git a --- diff --git a/src/main/deploy/pathplanner/autos/Jame's Square path.auto b/src/main/deploy/pathplanner/autos/Jame's Square path.auto new file mode 100644 index 0000000..47e02c3 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/Jame's Square path.auto @@ -0,0 +1,19 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "Jame's Square path" + } + } + ] + } + }, + "resetOdom": true, + "folder": "Week 2 autos", + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Velocity TEST.auto b/src/main/deploy/pathplanner/autos/Velocity TEST.auto new file mode 100644 index 0000000..9194260 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/Velocity TEST.auto @@ -0,0 +1,19 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "Velocity TEST" + } + } + ] + } + }, + "resetOdom": true, + "folder": "Week 2 autos", + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Jame's Square path.path b/src/main/deploy/pathplanner/paths/Jame's Square path.path new file mode 100644 index 0000000..9a5343b --- /dev/null +++ b/src/main/deploy/pathplanner/paths/Jame's Square path.path @@ -0,0 +1,114 @@ +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 3.381592574499267, + "y": 7.595268685881777 + }, + "prevControl": null, + "nextControl": { + "x": 4.216148283887304, + "y": 7.595268685881777 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 6.123556424035175, + "y": 6.764110893991207 + }, + "prevControl": { + "x": 6.055007327796776, + "y": 7.732366878358572 + }, + "nextControl": { + "x": 6.194176127540517, + "y": 5.766607581978255 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 6.123556424035175, + "y": 1.5543795798729834 + }, + "prevControl": { + "x": 6.123556424035175, + "y": 2.5954249007095656 + }, + "nextControl": { + "x": 6.123556424035175, + "y": 0.5857824267034357 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 4.5469272105520275, + "y": 0.5775549584758164 + }, + "prevControl": { + "x": 5.560347414214745, + "y": 0.5775549584758162 + }, + "nextControl": { + "x": 3.5335070068893097, + "y": 0.5775549584758165 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 2.6532584269662918, + "y": 0.5775549584758164 + }, + "prevControl": { + "x": 2.9032584269662918, + "y": 0.5775549584758164 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [], + "constraintZones": [], + "pointTowardsZones": [], + "eventMarkers": [ + { + "name": "Hood Down", + "waypointRelativePos": 0, + "endWaypointRelativePos": null, + "command": { + "type": "named", + "data": { + "name": "Hood Down" + } + } + } + ], + "globalConstraints": { + "maxVelocity": 4.0, + "maxAcceleration": 2.5, + "maxAngularVelocity": 200.0, + "maxAngularAcceleration": 300.0, + "nominalVoltage": 12.0, + "unlimited": false + }, + "goalEndState": { + "velocity": 0, + "rotation": -0.4151795411448859 + }, + "reversed": false, + "folder": null, + "idealStartingState": { + "velocity": 0, + "rotation": 0.0 + }, + "useDefaultConstraints": false +} \ 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 e8c491d..e11d1ee 100644 --- a/src/main/deploy/pathplanner/paths/Velocity TEST.path +++ b/src/main/deploy/pathplanner/paths/Velocity TEST.path @@ -3,13 +3,13 @@ "waypoints": [ { "anchor": { - "x": 0.48539325842696646, - "y": 7.458170493404982 + "x": 0.4682559843673668, + "y": 7.603837322911579 }, "prevControl": null, "nextControl": { - "x": 2.6532584269662918, - "y": 7.629543234000977 + "x": 2.6361211529066964, + "y": 7.775210063507574 }, "isLocked": false, "linkedName": null @@ -35,8 +35,8 @@ "minWaypointRelativePos": 0.1427297056199817, "maxWaypointRelativePos": 1.0, "constraints": { - "maxVelocity": 3.5, - "maxAcceleration": 2.0, + "maxVelocity": 5.2, + "maxAcceleration": 3.5, "maxAngularVelocity": 200.0, "maxAngularAcceleration": 300.0, "nominalVoltage": 12.0, diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index c6bf9a4..dcfb0ae 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -270,12 +270,14 @@ public class RobotContainer { String rightSideAuto = "Right Week V1"; String shootOnlyAuto = "Shoot Only Left Week V1"; String velocityTest = "Velocity TEST"; + String jame = "Jame's Square path"; autoChooser.setDefaultOption("Default", new PathPlannerAuto(defaultAuto)); addAuto(leftSideAuto); addAuto(rightSideAuto); addAuto(shootOnlyAuto); addAuto(velocityTest); + addAuto(jame); // put the Chooser on the SmartDashboard SmartDashboard.putData("Auto chooser", autoChooser); diff --git a/src/main/java/frc/robot/constants/AutoConstants.java b/src/main/java/frc/robot/constants/AutoConstants.java index 3a97dd4..c072c6b 100644 --- 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(3.5, 0.0, 0), // Translation PID constants + new PIDConstants(6.0, 0.0, 0.5), // Translation PID constants new PIDConstants(5.0, 0.0, 1.0) // Rotation PID constants );