From: maxwtan <100314265+MaxwellTTan20@users.noreply.github.com> Date: Thu, 5 Mar 2026 00:38:56 +0000 (-0800) Subject: mental health X-Git-Url: https://git.taranathan.com/?a=commitdiff_plain;h=a1e2a44d0a26efbd3152ea09538886484f983c08;p=FRC2026.git 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 db0b7a0..644c9e9 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": "#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 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 62211f8..4f7a4c8 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 @@ -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 0e4cf18..e151620 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 @@ -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 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 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 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 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 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 d41403d..5c2785e 100644 --- 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 b248bea..4dd294c 100644 --- 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 939cb07..3feeb0f 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(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 );