From 433ca996746bb4fcc758d03f60931afa7630e8af Mon Sep 17 00:00:00 2001 From: iefomit Date: Sat, 7 Mar 2026 12:38:27 -0800 Subject: [PATCH] slow down autos --- .../paths/#1 Left under the trench.path | 14 ++++---------- .../paths/#1 Right - Under the trench.path | 8 ++++---- .../#1 Right to neutral to outpost (diagonal).path | 8 ++++---- .../paths/#1(2) Right - Under the trench.path | 8 ++++---- .../paths/#2 Left under the trench.path | 8 ++++---- .../paths/#2 Left(No SOTM) under the trench.path | 8 ++++---- .../paths/#2 Right - Under the trench.path | 8 ++++---- .../paths/#2(2) Right - Under the trench.path | 10 +++++----- .../paths/#3 Right - Under the trench.path | 8 ++++---- .../paths/#3(No SOTM) Left under the trench.path | 8 ++++---- src/main/deploy/pathplanner/paths/DELETE THIS.path | 8 ++++---- .../pathplanner/paths/Duplicated Not Working.path | 8 ++++---- ...p to full neutral to left climb (diagonal).path | 8 ++++---- .../paths/Left to neutral to depot (diagonal).path | 8 ++++---- .../paths/Left to neutral to depot.path | 8 ++++---- src/main/deploy/pathplanner/paths/Straight #2.path | 10 +++++----- src/main/deploy/pathplanner/paths/Straight #3.path | 8 ++++---- src/main/deploy/pathplanner/paths/Straight #4.path | 8 ++++---- src/main/deploy/pathplanner/settings.json | 8 ++++---- 19 files changed, 78 insertions(+), 84 deletions(-) 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..ed156e7 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": { @@ -131,10 +125,10 @@ } ], "globalConstraints": { - "maxVelocity": 3.0, - "maxAcceleration": 3.0, - "maxAngularVelocity": 540.0, - "maxAngularAcceleration": 720.0, + "maxVelocity": 0.5, + "maxAcceleration": 0.5, + "maxAngularVelocity": 100.0, + "maxAngularAcceleration": 150.0, "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 ac80944..8da5fc0 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": 3.0, - "maxAcceleration": 3.0, - "maxAngularVelocity": 540.0, - "maxAngularAcceleration": 720.0, + "maxVelocity": 0.5, + "maxAcceleration": 0.5, + "maxAngularVelocity": 100.0, + "maxAngularAcceleration": 150.0, "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 9bdefca..31adb37 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": 3.0, - "maxAcceleration": 3.0, - "maxAngularVelocity": 540.0, - "maxAngularAcceleration": 720.0, + "maxVelocity": 0.5, + "maxAcceleration": 0.5, + "maxAngularVelocity": 100.0, + "maxAngularAcceleration": 150.0, "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 bcf06eb..c48dda2 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": 3.0, - "maxAcceleration": 3.0, - "maxAngularVelocity": 540.0, - "maxAngularAcceleration": 720.0, + "maxVelocity": 0.5, + "maxAcceleration": 0.5, + "maxAngularVelocity": 100.0, + "maxAngularAcceleration": 150.0, "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 450d0fe..0b49974 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": 3.0, - "maxAcceleration": 3.0, - "maxAngularVelocity": 540.0, - "maxAngularAcceleration": 720.0, + "maxVelocity": 0.5, + "maxAcceleration": 0.5, + "maxAngularVelocity": 100.0, + "maxAngularAcceleration": 150.0, "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 e151620..a4dd615 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 @@ -119,10 +119,10 @@ } ], "globalConstraints": { - "maxVelocity": 3.0, - "maxAcceleration": 3.0, - "maxAngularVelocity": 540.0, - "maxAngularAcceleration": 720.0, + "maxVelocity": 0.5, + "maxAcceleration": 0.5, + "maxAngularVelocity": 100.0, + "maxAngularAcceleration": 150.0, "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 a26fd7a..7c0ba24 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": 3.0, - "maxAcceleration": 3.0, - "maxAngularVelocity": 540.0, - "maxAngularAcceleration": 720.0, + "maxVelocity": 0.5, + "maxAcceleration": 0.5, + "maxAngularVelocity": 100.0, + "maxAngularAcceleration": 150.0, "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 d67cdf6..fef1f66 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 @@ -41,7 +41,7 @@ }, "nextControl": { "x": 2.7711593789995277, - "y": 0.6112913853949425 + "y": 0.6112913853949427 }, "isLocked": false, "linkedName": null @@ -170,10 +170,10 @@ } ], "globalConstraints": { - "maxVelocity": 3.0, - "maxAcceleration": 3.0, - "maxAngularVelocity": 540.0, - "maxAngularAcceleration": 720.0, + "maxVelocity": 0.5, + "maxAcceleration": 0.5, + "maxAngularVelocity": 100.0, + "maxAngularAcceleration": 150.0, "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 6e453ea..1807d3c 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": 3.0, - "maxAcceleration": 3.0, - "maxAngularVelocity": 540.0, - "maxAngularAcceleration": 720.0, + "maxVelocity": 0.5, + "maxAcceleration": 0.5, + "maxAngularVelocity": 100.0, + "maxAngularAcceleration": 150.0, "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 0bec0ed..c83c73b 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 @@ -98,10 +98,10 @@ } ], "globalConstraints": { - "maxVelocity": 3.0, - "maxAcceleration": 3.0, - "maxAngularVelocity": 540.0, - "maxAngularAcceleration": 720.0, + "maxVelocity": 0.5, + "maxAcceleration": 0.5, + "maxAngularVelocity": 100.0, + "maxAngularAcceleration": 150.0, "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 a306742..adfde55 100644 --- a/src/main/deploy/pathplanner/paths/DELETE THIS.path +++ b/src/main/deploy/pathplanner/paths/DELETE THIS.path @@ -125,10 +125,10 @@ } ], "globalConstraints": { - "maxVelocity": 3.0, - "maxAcceleration": 3.0, - "maxAngularVelocity": 540.0, - "maxAngularAcceleration": 720.0, + "maxVelocity": 0.5, + "maxAcceleration": 0.5, + "maxAngularVelocity": 100.0, + "maxAngularAcceleration": 150.0, "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 0ebfc62..2a81f79 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": 3.0, - "maxAcceleration": 3.0, - "maxAngularVelocity": 540.0, - "maxAngularAcceleration": 720.0, + "maxVelocity": 0.5, + "maxAcceleration": 0.5, + "maxAngularVelocity": 100.0, + "maxAngularAcceleration": 150.0, "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 f74fdd9..aa31d89 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": 3.0, - "maxAcceleration": 3.0, - "maxAngularVelocity": 540.0, - "maxAngularAcceleration": 720.0, + "maxVelocity": 0.5, + "maxAcceleration": 0.5, + "maxAngularVelocity": 100.0, + "maxAngularAcceleration": 150.0, "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 dad32aa..89e4f0d 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": 3.0, - "maxAcceleration": 3.0, - "maxAngularVelocity": 540.0, - "maxAngularAcceleration": 720.0, + "maxVelocity": 0.5, + "maxAcceleration": 0.5, + "maxAngularVelocity": 100.0, + "maxAngularAcceleration": 150.0, "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 1532739..84bc285 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": 3.0, - "maxAcceleration": 3.0, - "maxAngularVelocity": 540.0, - "maxAngularAcceleration": 720.0, + "maxVelocity": 0.5, + "maxAcceleration": 0.5, + "maxAngularVelocity": 100.0, + "maxAngularAcceleration": 150.0, "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 94a99a1..dca9e3c 100644 --- a/src/main/deploy/pathplanner/paths/Straight #2.path +++ b/src/main/deploy/pathplanner/paths/Straight #2.path @@ -21,7 +21,7 @@ }, "prevControl": { "x": 6.3, - "y": 0.791 + "y": 0.7910000000000001 }, "nextControl": null, "isLocked": false, @@ -33,10 +33,10 @@ "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { - "maxVelocity": 3.0, - "maxAcceleration": 3.0, - "maxAngularVelocity": 540.0, - "maxAngularAcceleration": 720.0, + "maxVelocity": 0.5, + "maxAcceleration": 0.5, + "maxAngularVelocity": 100.0, + "maxAngularAcceleration": 150.0, "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 3859b2d..cfac119 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": 3.0, - "maxAcceleration": 3.0, - "maxAngularVelocity": 540.0, - "maxAngularAcceleration": 720.0, + "maxVelocity": 0.5, + "maxAcceleration": 0.5, + "maxAngularVelocity": 100.0, + "maxAngularAcceleration": 150.0, "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 ec44fb5..4601ea3 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": 3.0, - "maxAcceleration": 3.0, - "maxAngularVelocity": 540.0, - "maxAngularAcceleration": 720.0, + "maxVelocity": 0.5, + "maxAcceleration": 0.5, + "maxAngularVelocity": 100.0, + "maxAngularAcceleration": 150.0, "nominalVoltage": 12.0, "unlimited": false }, diff --git a/src/main/deploy/pathplanner/settings.json b/src/main/deploy/pathplanner/settings.json index 5c2785e..c9b3e55 100644 --- a/src/main/deploy/pathplanner/settings.json +++ b/src/main/deploy/pathplanner/settings.json @@ -10,10 +10,10 @@ "Right Autos" ], "autoFolders": [], - "defaultMaxVel": 3.0, - "defaultMaxAccel": 3.0, - "defaultMaxAngVel": 540.0, - "defaultMaxAngAccel": 720.0, + "defaultMaxVel": 0.5, + "defaultMaxAccel": 0.5, + "defaultMaxAngVel": 100.0, + "defaultMaxAngAccel": 150.0, "defaultNominalVoltage": 12.0, "robotMass": 63.37, "robotMOI": 4.183, -- 2.39.5