From: moo Date: Sun, 8 Mar 2026 00:36:23 +0000 (-0800) Subject: 3/7 afternoon X-Git-Url: https://git.taranathan.com/?a=commitdiff_plain;h=3afd43dccf8423e8cc33bcda5233b0c83864e436;p=FRC2026.git 3/7 afternoon --- 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 644c9e9..3442e6d 100644 --- 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": "DELETE THIS" + "pathName": "#1 Left 2 - Under the trench" } }, { 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 new file mode 100644 index 0000000..66dab9b --- /dev/null +++ b/src/main/deploy/pathplanner/paths/#1 Left 2 - Under the trench.path @@ -0,0 +1,138 @@ +{ + "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": [], + "pointTowardsZones": [], + "eventMarkers": [ + { + "name": "Extend intake", + "waypointRelativePos": 0.0, + "endWaypointRelativePos": null, + "command": { + "type": "parallel", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "Spin Intake Rollers" + } + }, + { + "type": "named", + "data": { + "name": "Extend Intake" + } + } + ] + } + } + }, + { + "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": 2.5, + "maxAcceleration": 2.5, + "maxAngularVelocity": 200.0, + "maxAngularAcceleration": 300.0, + "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/#1 Left under the trench.path b/src/main/deploy/pathplanner/paths/#1 Left under the trench.path index ed156e7..cbefb89 100644 --- a/src/main/deploy/pathplanner/paths/#1 Left under the trench.path +++ b/src/main/deploy/pathplanner/paths/#1 Left under the trench.path @@ -125,10 +125,10 @@ } ], "globalConstraints": { - "maxVelocity": 0.5, - "maxAcceleration": 0.5, - "maxAngularVelocity": 100.0, - "maxAngularAcceleration": 150.0, + "maxVelocity": 2.5, + "maxAcceleration": 2.5, + "maxAngularVelocity": 200.0, + "maxAngularAcceleration": 300.0, "nominalVoltage": 12.0, "unlimited": false }, 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 8da5fc0..c50eba8 100644 --- a/src/main/deploy/pathplanner/paths/#1 Right - Under the trench.path +++ b/src/main/deploy/pathplanner/paths/#1 Right - Under the trench.path @@ -72,10 +72,10 @@ "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { - "maxVelocity": 0.5, - "maxAcceleration": 0.5, - "maxAngularVelocity": 100.0, - "maxAngularAcceleration": 150.0, + "maxVelocity": 2.5, + "maxAcceleration": 2.5, + "maxAngularVelocity": 200.0, + "maxAngularAcceleration": 300.0, "nominalVoltage": 12.0, "unlimited": false }, 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 31adb37..10247af 100644 --- 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 @@ -174,10 +174,10 @@ } ], "globalConstraints": { - "maxVelocity": 0.5, - "maxAcceleration": 0.5, - "maxAngularVelocity": 100.0, - "maxAngularAcceleration": 150.0, + "maxVelocity": 2.5, + "maxAcceleration": 2.5, + "maxAngularVelocity": 200.0, + "maxAngularAcceleration": 300.0, "nominalVoltage": 12.0, "unlimited": false }, 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 c48dda2..129bc37 100644 --- 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 @@ -143,10 +143,10 @@ } ], "globalConstraints": { - "maxVelocity": 0.5, - "maxAcceleration": 0.5, - "maxAngularVelocity": 100.0, - "maxAngularAcceleration": 150.0, + "maxVelocity": 2.5, + "maxAcceleration": 2.5, + "maxAngularVelocity": 200.0, + "maxAngularAcceleration": 300.0, "nominalVoltage": 12.0, "unlimited": false }, 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 0b49974..bf307a6 100644 --- a/src/main/deploy/pathplanner/paths/#2 Left under the trench.path +++ b/src/main/deploy/pathplanner/paths/#2 Left under the trench.path @@ -166,10 +166,10 @@ "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { - "maxVelocity": 0.5, - "maxAcceleration": 0.5, - "maxAngularVelocity": 100.0, - "maxAngularAcceleration": 150.0, + "maxVelocity": 2.5, + "maxAcceleration": 2.5, + "maxAngularVelocity": 200.0, + "maxAngularAcceleration": 300.0, "nominalVoltage": 12.0, "unlimited": false }, 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 1936de6..194cb8b 100644 --- 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 @@ -125,10 +125,10 @@ } ], "globalConstraints": { - "maxVelocity": 0.5, - "maxAcceleration": 0.5, - "maxAngularVelocity": 100.0, - "maxAngularAcceleration": 150.0, + "maxVelocity": 2.5, + "maxAcceleration": 2.5, + "maxAngularVelocity": 200.0, + "maxAngularAcceleration": 300.0, "nominalVoltage": 12.0, "unlimited": false }, 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 7c0ba24..dc647bd 100644 --- a/src/main/deploy/pathplanner/paths/#2 Right - Under the trench.path +++ b/src/main/deploy/pathplanner/paths/#2 Right - Under the trench.path @@ -68,10 +68,10 @@ "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { - "maxVelocity": 0.5, - "maxAcceleration": 0.5, - "maxAngularVelocity": 100.0, - "maxAngularAcceleration": 150.0, + "maxVelocity": 2.5, + "maxAcceleration": 2.5, + "maxAngularVelocity": 200.0, + "maxAngularAcceleration": 300.0, "nominalVoltage": 12.0, "unlimited": false }, 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 fef1f66..5f8a868 100644 --- 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 @@ -170,10 +170,10 @@ } ], "globalConstraints": { - "maxVelocity": 0.5, - "maxAcceleration": 0.5, - "maxAngularVelocity": 100.0, - "maxAngularAcceleration": 150.0, + "maxVelocity": 2.5, + "maxAcceleration": 2.5, + "maxAngularVelocity": 200.0, + "maxAngularAcceleration": 300.0, "nominalVoltage": 12.0, "unlimited": false }, 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 1807d3c..92ad611 100644 --- a/src/main/deploy/pathplanner/paths/#3 Right - Under the trench.path +++ b/src/main/deploy/pathplanner/paths/#3 Right - Under the trench.path @@ -45,10 +45,10 @@ } ], "globalConstraints": { - "maxVelocity": 0.5, - "maxAcceleration": 0.5, - "maxAngularVelocity": 100.0, - "maxAngularAcceleration": 150.0, + "maxVelocity": 2.5, + "maxAcceleration": 2.5, + "maxAngularVelocity": 200.0, + "maxAngularAcceleration": 300.0, "nominalVoltage": 12.0, "unlimited": false }, 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 c83c73b..7d31893 100644 --- 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 @@ -29,21 +29,7 @@ } ], "rotationTargets": [], - "constraintZones": [ - { - "name": "Constraints Zone", - "minWaypointRelativePos": 0, - "maxWaypointRelativePos": 1.0, - "constraints": { - "maxVelocity": 1.5, - "maxAcceleration": 3.0, - "maxAngularVelocity": 540.0, - "maxAngularAcceleration": 720.0, - "nominalVoltage": 12.0, - "unlimited": false - } - } - ], + "constraintZones": [], "pointTowardsZones": [], "eventMarkers": [ { @@ -98,10 +84,10 @@ } ], "globalConstraints": { - "maxVelocity": 0.5, - "maxAcceleration": 0.5, - "maxAngularVelocity": 100.0, - "maxAngularAcceleration": 150.0, + "maxVelocity": 2.5, + "maxAcceleration": 2.5, + "maxAngularVelocity": 200.0, + "maxAngularAcceleration": 300.0, "nominalVoltage": 12.0, "unlimited": false }, diff --git a/src/main/deploy/pathplanner/paths/DELETE THIS.path b/src/main/deploy/pathplanner/paths/DELETE THIS.path index bf7b915..447af74 100644 --- a/src/main/deploy/pathplanner/paths/DELETE THIS.path +++ b/src/main/deploy/pathplanner/paths/DELETE THIS.path @@ -131,10 +131,10 @@ } ], "globalConstraints": { - "maxVelocity": 0.5, - "maxAcceleration": 0.5, - "maxAngularVelocity": 100.0, - "maxAngularAcceleration": 150.0, + "maxVelocity": 2.5, + "maxAcceleration": 2.5, + "maxAngularVelocity": 200.0, + "maxAngularAcceleration": 300.0, "nominalVoltage": 12.0, "unlimited": false }, diff --git a/src/main/deploy/pathplanner/paths/Duplicated Not Working.path b/src/main/deploy/pathplanner/paths/Duplicated Not Working.path index 2a81f79..c782704 100644 --- a/src/main/deploy/pathplanner/paths/Duplicated Not Working.path +++ b/src/main/deploy/pathplanner/paths/Duplicated Not Working.path @@ -129,10 +129,10 @@ } ], "globalConstraints": { - "maxVelocity": 0.5, - "maxAcceleration": 0.5, - "maxAngularVelocity": 100.0, - "maxAngularAcceleration": 150.0, + "maxVelocity": 2.5, + "maxAcceleration": 2.5, + "maxAngularVelocity": 200.0, + "maxAngularAcceleration": 300.0, "nominalVoltage": 12.0, "unlimited": false }, 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 aa31d89..f8c186d 100644 --- 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 @@ -180,10 +180,10 @@ } ], "globalConstraints": { - "maxVelocity": 0.5, - "maxAcceleration": 0.5, - "maxAngularVelocity": 100.0, - "maxAngularAcceleration": 150.0, + "maxVelocity": 2.5, + "maxAcceleration": 2.5, + "maxAngularVelocity": 200.0, + "maxAngularAcceleration": 300.0, "nominalVoltage": 12.0, "unlimited": false }, 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 89e4f0d..9793380 100644 --- 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 @@ -242,10 +242,10 @@ } ], "globalConstraints": { - "maxVelocity": 0.5, - "maxAcceleration": 0.5, - "maxAngularVelocity": 100.0, - "maxAngularAcceleration": 150.0, + "maxVelocity": 2.5, + "maxAcceleration": 2.5, + "maxAngularVelocity": 200.0, + "maxAngularAcceleration": 300.0, "nominalVoltage": 12.0, "unlimited": false }, 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 84bc285..186cdfa 100644 --- a/src/main/deploy/pathplanner/paths/Left to neutral to depot.path +++ b/src/main/deploy/pathplanner/paths/Left to neutral to depot.path @@ -242,10 +242,10 @@ } ], "globalConstraints": { - "maxVelocity": 0.5, - "maxAcceleration": 0.5, - "maxAngularVelocity": 100.0, - "maxAngularAcceleration": 150.0, + "maxVelocity": 2.5, + "maxAcceleration": 2.5, + "maxAngularVelocity": 200.0, + "maxAngularAcceleration": 300.0, "nominalVoltage": 12.0, "unlimited": false }, diff --git a/src/main/deploy/pathplanner/paths/Straight #2.path b/src/main/deploy/pathplanner/paths/Straight #2.path index dca9e3c..4593417 100644 --- a/src/main/deploy/pathplanner/paths/Straight #2.path +++ b/src/main/deploy/pathplanner/paths/Straight #2.path @@ -33,10 +33,10 @@ "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { - "maxVelocity": 0.5, - "maxAcceleration": 0.5, - "maxAngularVelocity": 100.0, - "maxAngularAcceleration": 150.0, + "maxVelocity": 2.5, + "maxAcceleration": 2.5, + "maxAngularVelocity": 200.0, + "maxAngularAcceleration": 300.0, "nominalVoltage": 12.0, "unlimited": false }, diff --git a/src/main/deploy/pathplanner/paths/Straight #3.path b/src/main/deploy/pathplanner/paths/Straight #3.path index cfac119..5145601 100644 --- a/src/main/deploy/pathplanner/paths/Straight #3.path +++ b/src/main/deploy/pathplanner/paths/Straight #3.path @@ -33,10 +33,10 @@ "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { - "maxVelocity": 0.5, - "maxAcceleration": 0.5, - "maxAngularVelocity": 100.0, - "maxAngularAcceleration": 150.0, + "maxVelocity": 2.5, + "maxAcceleration": 2.5, + "maxAngularVelocity": 200.0, + "maxAngularAcceleration": 300.0, "nominalVoltage": 12.0, "unlimited": false }, diff --git a/src/main/deploy/pathplanner/paths/Straight #4.path b/src/main/deploy/pathplanner/paths/Straight #4.path index 4601ea3..d275538 100644 --- a/src/main/deploy/pathplanner/paths/Straight #4.path +++ b/src/main/deploy/pathplanner/paths/Straight #4.path @@ -33,10 +33,10 @@ "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { - "maxVelocity": 0.5, - "maxAcceleration": 0.5, - "maxAngularVelocity": 100.0, - "maxAngularAcceleration": 150.0, + "maxVelocity": 2.5, + "maxAcceleration": 2.5, + "maxAngularVelocity": 200.0, + "maxAngularAcceleration": 300.0, "nominalVoltage": 12.0, "unlimited": false }, diff --git a/src/main/deploy/pathplanner/settings.json b/src/main/deploy/pathplanner/settings.json index c9b3e55..9e1711b 100644 --- a/src/main/deploy/pathplanner/settings.json +++ b/src/main/deploy/pathplanner/settings.json @@ -10,10 +10,10 @@ "Right Autos" ], "autoFolders": [], - "defaultMaxVel": 0.5, - "defaultMaxAccel": 0.5, - "defaultMaxAngVel": 100.0, - "defaultMaxAngAccel": 150.0, + "defaultMaxVel": 2.5, + "defaultMaxAccel": 2.5, + "defaultMaxAngVel": 200.0, + "defaultMaxAngAccel": 300.0, "defaultNominalVoltage": 12.0, "robotMass": 63.37, "robotMOI": 4.183, diff --git a/src/main/java/frc/robot/constants/AutoConstants.java b/src/main/java/frc/robot/constants/AutoConstants.java index 3feeb0f..3a97dd4 100644 --- a/src/main/java/frc/robot/constants/AutoConstants.java +++ b/src/main/java/frc/robot/constants/AutoConstants.java @@ -22,7 +22,7 @@ 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(5.0, 0.0, 0.0) // Rotation PID constants + new PIDConstants(5.0, 0.0, 1.0) // Rotation PID constants );