diff --git a/.DS_Store b/.DS_Store index 214656d..177d7a2 100644 Binary files a/.DS_Store and b/.DS_Store differ diff --git a/.gradle/8.5/checksums/checksums.lock b/.gradle/8.5/checksums/checksums.lock index c09eca5..bac2dbd 100644 Binary files a/.gradle/8.5/checksums/checksums.lock and b/.gradle/8.5/checksums/checksums.lock differ diff --git a/.gradle/8.5/executionHistory/executionHistory.bin b/.gradle/8.5/executionHistory/executionHistory.bin index 5974f82..ec325c4 100644 Binary files a/.gradle/8.5/executionHistory/executionHistory.bin and b/.gradle/8.5/executionHistory/executionHistory.bin differ diff --git a/.gradle/8.5/executionHistory/executionHistory.lock b/.gradle/8.5/executionHistory/executionHistory.lock index 52ced31..8a95531 100644 Binary files a/.gradle/8.5/executionHistory/executionHistory.lock and b/.gradle/8.5/executionHistory/executionHistory.lock differ diff --git a/.gradle/8.5/fileHashes/fileHashes.bin b/.gradle/8.5/fileHashes/fileHashes.bin index c9a77b0..ee4b471 100644 Binary files a/.gradle/8.5/fileHashes/fileHashes.bin and b/.gradle/8.5/fileHashes/fileHashes.bin differ diff --git a/.gradle/8.5/fileHashes/fileHashes.lock b/.gradle/8.5/fileHashes/fileHashes.lock index c385773..6e67ded 100644 Binary files a/.gradle/8.5/fileHashes/fileHashes.lock and b/.gradle/8.5/fileHashes/fileHashes.lock differ diff --git a/.gradle/8.5/fileHashes/resourceHashesCache.bin b/.gradle/8.5/fileHashes/resourceHashesCache.bin index 2623c97..0d36868 100644 Binary files a/.gradle/8.5/fileHashes/resourceHashesCache.bin and b/.gradle/8.5/fileHashes/resourceHashesCache.bin differ diff --git a/.gradle/buildOutputCleanup/buildOutputCleanup.lock b/.gradle/buildOutputCleanup/buildOutputCleanup.lock index d90b338..95fb1be 100644 Binary files a/.gradle/buildOutputCleanup/buildOutputCleanup.lock and b/.gradle/buildOutputCleanup/buildOutputCleanup.lock differ diff --git a/.gradle/file-system.probe b/.gradle/file-system.probe index 1c979b8..ee65757 100644 Binary files a/.gradle/file-system.probe and b/.gradle/file-system.probe differ diff --git a/bin/default/frc/robot/subsystems/drivetrain/swerve/GyroIOInputsAutoLogged.class b/bin/default/frc/robot/subsystems/drivetrain/swerve/GyroIOInputsAutoLogged.class index 666e958..12c78c6 100644 Binary files a/bin/default/frc/robot/subsystems/drivetrain/swerve/GyroIOInputsAutoLogged.class and b/bin/default/frc/robot/subsystems/drivetrain/swerve/GyroIOInputsAutoLogged.class differ diff --git a/bin/generated-sources/annotations/frc/robot/subsystems/drivetrain/swerve/GyroIOInputsAutoLogged.java b/bin/generated-sources/annotations/frc/robot/subsystems/drivetrain/swerve/GyroIOInputsAutoLogged.java index 2bba4da..f380911 100644 --- a/bin/generated-sources/annotations/frc/robot/subsystems/drivetrain/swerve/GyroIOInputsAutoLogged.java +++ b/bin/generated-sources/annotations/frc/robot/subsystems/drivetrain/swerve/GyroIOInputsAutoLogged.java @@ -10,18 +10,21 @@ public class GyroIOInputsAutoLogged extends GyroIO.GyroIOInputs implements Logga public void toLog(LogTable table) { table.put("Yaw", yaw); table.put("IsConnected", isConnected); + table.put("YawRadSec", yawRadSec); } @Override public void fromLog(LogTable table) { yaw = table.get("Yaw", yaw); isConnected = table.get("IsConnected", isConnected); + yawRadSec = table.get("YawRadSec", yawRadSec); } public GyroIOInputsAutoLogged clone() { GyroIOInputsAutoLogged copy = new GyroIOInputsAutoLogged(); copy.yaw = this.yaw; copy.isConnected = this.isConnected; + copy.yawRadSec = this.yawRadSec; return copy; } } diff --git a/bin/main/frc/robot/Constants$Auton.class b/bin/main/frc/robot/Constants$Auton.class index 2b0be3c..bbad940 100644 Binary files a/bin/main/frc/robot/Constants$Auton.class and b/bin/main/frc/robot/Constants$Auton.class differ diff --git a/bin/main/frc/robot/Constants$DrivetrainConstants.class b/bin/main/frc/robot/Constants$DrivetrainConstants.class index 167dd6e..51e39f9 100644 Binary files a/bin/main/frc/robot/Constants$DrivetrainConstants.class and b/bin/main/frc/robot/Constants$DrivetrainConstants.class differ diff --git a/bin/main/frc/robot/Constants$FieldConstants.class b/bin/main/frc/robot/Constants$FieldConstants.class index ad9910d..42eb0a1 100644 Binary files a/bin/main/frc/robot/Constants$FieldConstants.class and b/bin/main/frc/robot/Constants$FieldConstants.class differ diff --git a/bin/main/frc/robot/Constants$IntakeConstants.class b/bin/main/frc/robot/Constants$IntakeConstants.class index 24921f9..4190867 100644 Binary files a/bin/main/frc/robot/Constants$IntakeConstants.class and b/bin/main/frc/robot/Constants$IntakeConstants.class differ diff --git a/bin/main/frc/robot/Constants$Mode.class b/bin/main/frc/robot/Constants$Mode.class index 6569b3f..c3980e3 100644 Binary files a/bin/main/frc/robot/Constants$Mode.class and b/bin/main/frc/robot/Constants$Mode.class differ diff --git a/bin/main/frc/robot/Constants$OperatorConstants.class b/bin/main/frc/robot/Constants$OperatorConstants.class index 76a4964..f466fe3 100644 Binary files a/bin/main/frc/robot/Constants$OperatorConstants.class and b/bin/main/frc/robot/Constants$OperatorConstants.class differ diff --git a/bin/main/frc/robot/Constants$VisionConstants.class b/bin/main/frc/robot/Constants$VisionConstants.class index 5263d40..f94e67e 100644 Binary files a/bin/main/frc/robot/Constants$VisionConstants.class and b/bin/main/frc/robot/Constants$VisionConstants.class differ diff --git a/bin/main/frc/robot/Constants.class b/bin/main/frc/robot/Constants.class index 98b7937..3e60f2d 100644 Binary files a/bin/main/frc/robot/Constants.class and b/bin/main/frc/robot/Constants.class differ diff --git a/bin/main/frc/robot/RobotContainer$1.class b/bin/main/frc/robot/RobotContainer$1.class index fded45f..3920467 100644 Binary files a/bin/main/frc/robot/RobotContainer$1.class and b/bin/main/frc/robot/RobotContainer$1.class differ diff --git a/bin/main/frc/robot/RobotContainer$2.class b/bin/main/frc/robot/RobotContainer$2.class index 330e16e..4a915cc 100644 Binary files a/bin/main/frc/robot/RobotContainer$2.class and b/bin/main/frc/robot/RobotContainer$2.class differ diff --git a/bin/main/frc/robot/RobotContainer$3.class b/bin/main/frc/robot/RobotContainer$3.class index 4b3fbeb..e761a1b 100644 Binary files a/bin/main/frc/robot/RobotContainer$3.class and b/bin/main/frc/robot/RobotContainer$3.class differ diff --git a/bin/main/frc/robot/RobotContainer$4.class b/bin/main/frc/robot/RobotContainer$4.class index e7f2e63..38f19f6 100644 Binary files a/bin/main/frc/robot/RobotContainer$4.class and b/bin/main/frc/robot/RobotContainer$4.class differ diff --git a/bin/main/frc/robot/RobotContainer.class b/bin/main/frc/robot/RobotContainer.class index c0b662b..2c8c7e2 100644 Binary files a/bin/main/frc/robot/RobotContainer.class and b/bin/main/frc/robot/RobotContainer.class differ diff --git a/bin/main/frc/robot/commands/AutoCommand$1.class b/bin/main/frc/robot/commands/AutoCommand$1.class deleted file mode 100644 index 5d74ef4..0000000 Binary files a/bin/main/frc/robot/commands/AutoCommand$1.class and /dev/null differ diff --git a/bin/main/frc/robot/commands/AutoRunner.class b/bin/main/frc/robot/commands/AutoRunner.class index cea00df..4bd26b3 100644 Binary files a/bin/main/frc/robot/commands/AutoRunner.class and b/bin/main/frc/robot/commands/AutoRunner.class differ diff --git a/bin/main/frc/robot/commands/Autos.class b/bin/main/frc/robot/commands/Autos.class index 16d4e14..2d38bdc 100644 Binary files a/bin/main/frc/robot/commands/Autos.class and b/bin/main/frc/robot/commands/Autos.class differ diff --git a/bin/main/frc/robot/commands/autoAligment/DriveToPose.class b/bin/main/frc/robot/commands/autoAligment/DriveToPose.class index 073c930..c3bdee4 100644 Binary files a/bin/main/frc/robot/commands/autoAligment/DriveToPose.class and b/bin/main/frc/robot/commands/autoAligment/DriveToPose.class differ diff --git a/bin/main/frc/robot/commands/compositions/ShootNoteTele.class b/bin/main/frc/robot/commands/compositions/ShootNoteTele.class index 09ef1cc..9aaebf9 100644 Binary files a/bin/main/frc/robot/commands/compositions/ShootNoteTele.class and b/bin/main/frc/robot/commands/compositions/ShootNoteTele.class differ diff --git a/bin/main/frc/robot/commands/shooterComp/AutoCommand$1.class b/bin/main/frc/robot/commands/shooterComp/AutoCommand$1.class new file mode 100644 index 0000000..63a8e29 Binary files /dev/null and b/bin/main/frc/robot/commands/shooterComp/AutoCommand$1.class differ diff --git a/bin/main/frc/robot/commands/AutoCommand.class b/bin/main/frc/robot/commands/shooterComp/AutoCommand.class similarity index 86% rename from bin/main/frc/robot/commands/AutoCommand.class rename to bin/main/frc/robot/commands/shooterComp/AutoCommand.class index 90f11cf..fd0c630 100644 Binary files a/bin/main/frc/robot/commands/AutoCommand.class and b/bin/main/frc/robot/commands/shooterComp/AutoCommand.class differ diff --git a/bin/main/frc/robot/commands/shooterComp/ShooterAmp.class b/bin/main/frc/robot/commands/shooterComp/ShooterAmp.class new file mode 100644 index 0000000..598adaf Binary files /dev/null and b/bin/main/frc/robot/commands/shooterComp/ShooterAmp.class differ diff --git a/bin/main/frc/robot/lib/util/LimelightHelpers$LimelightResults.class b/bin/main/frc/robot/lib/util/LimelightHelpers$LimelightResults.class new file mode 100644 index 0000000..5f3ba66 Binary files /dev/null and b/bin/main/frc/robot/lib/util/LimelightHelpers$LimelightResults.class differ diff --git a/bin/main/frc/robot/lib/util/LimelightHelpers$LimelightTarget_Barcode.class b/bin/main/frc/robot/lib/util/LimelightHelpers$LimelightTarget_Barcode.class new file mode 100644 index 0000000..06b092d Binary files /dev/null and b/bin/main/frc/robot/lib/util/LimelightHelpers$LimelightTarget_Barcode.class differ diff --git a/bin/main/frc/robot/lib/util/LimelightHelpers$LimelightTarget_Classifier.class b/bin/main/frc/robot/lib/util/LimelightHelpers$LimelightTarget_Classifier.class new file mode 100644 index 0000000..7b0ed23 Binary files /dev/null and b/bin/main/frc/robot/lib/util/LimelightHelpers$LimelightTarget_Classifier.class differ diff --git a/bin/main/frc/robot/lib/util/LimelightHelpers$LimelightTarget_Detector.class b/bin/main/frc/robot/lib/util/LimelightHelpers$LimelightTarget_Detector.class new file mode 100644 index 0000000..5db39cb Binary files /dev/null and b/bin/main/frc/robot/lib/util/LimelightHelpers$LimelightTarget_Detector.class differ diff --git a/bin/main/frc/robot/lib/util/LimelightHelpers$LimelightTarget_Fiducial.class b/bin/main/frc/robot/lib/util/LimelightHelpers$LimelightTarget_Fiducial.class new file mode 100644 index 0000000..d56310d Binary files /dev/null and b/bin/main/frc/robot/lib/util/LimelightHelpers$LimelightTarget_Fiducial.class differ diff --git a/bin/main/frc/robot/lib/util/LimelightHelpers$LimelightTarget_Retro.class b/bin/main/frc/robot/lib/util/LimelightHelpers$LimelightTarget_Retro.class new file mode 100644 index 0000000..d7b4488 Binary files /dev/null and b/bin/main/frc/robot/lib/util/LimelightHelpers$LimelightTarget_Retro.class differ diff --git a/bin/main/frc/robot/lib/util/LimelightHelpers$PoseEstimate.class b/bin/main/frc/robot/lib/util/LimelightHelpers$PoseEstimate.class new file mode 100644 index 0000000..e97c7df Binary files /dev/null and b/bin/main/frc/robot/lib/util/LimelightHelpers$PoseEstimate.class differ diff --git a/bin/main/frc/robot/lib/util/LimelightHelpers$RawDetection.class b/bin/main/frc/robot/lib/util/LimelightHelpers$RawDetection.class new file mode 100644 index 0000000..a88c67d Binary files /dev/null and b/bin/main/frc/robot/lib/util/LimelightHelpers$RawDetection.class differ diff --git a/bin/main/frc/robot/lib/util/LimelightHelpers$RawFiducial.class b/bin/main/frc/robot/lib/util/LimelightHelpers$RawFiducial.class new file mode 100644 index 0000000..708d916 Binary files /dev/null and b/bin/main/frc/robot/lib/util/LimelightHelpers$RawFiducial.class differ diff --git a/bin/main/frc/robot/lib/util/LimelightHelpers.class b/bin/main/frc/robot/lib/util/LimelightHelpers.class new file mode 100644 index 0000000..f8025d2 Binary files /dev/null and b/bin/main/frc/robot/lib/util/LimelightHelpers.class differ diff --git a/bin/main/frc/robot/subsystems/Flywheel.class b/bin/main/frc/robot/subsystems/Flywheel.class new file mode 100644 index 0000000..60e416d Binary files /dev/null and b/bin/main/frc/robot/subsystems/Flywheel.class differ diff --git a/bin/main/frc/robot/subsystems/drivetrain/swerve/DriveFFController.class b/bin/main/frc/robot/subsystems/drivetrain/swerve/DriveFFController.class index 709a66d..42b9e92 100644 Binary files a/bin/main/frc/robot/subsystems/drivetrain/swerve/DriveFFController.class and b/bin/main/frc/robot/subsystems/drivetrain/swerve/DriveFFController.class differ diff --git a/bin/main/frc/robot/subsystems/drivetrain/swerve/GyroIO$GyroIOInputs.class b/bin/main/frc/robot/subsystems/drivetrain/swerve/GyroIO$GyroIOInputs.class index 1027919..de87cbc 100644 Binary files a/bin/main/frc/robot/subsystems/drivetrain/swerve/GyroIO$GyroIOInputs.class and b/bin/main/frc/robot/subsystems/drivetrain/swerve/GyroIO$GyroIOInputs.class differ diff --git a/bin/main/frc/robot/subsystems/drivetrain/swerve/GyroIO.class b/bin/main/frc/robot/subsystems/drivetrain/swerve/GyroIO.class index a2fe627..89204ad 100644 Binary files a/bin/main/frc/robot/subsystems/drivetrain/swerve/GyroIO.class and b/bin/main/frc/robot/subsystems/drivetrain/swerve/GyroIO.class differ diff --git a/bin/main/frc/robot/subsystems/drivetrain/swerve/GyroIONavX.class b/bin/main/frc/robot/subsystems/drivetrain/swerve/GyroIONavX.class index 5079f5b..45af929 100644 Binary files a/bin/main/frc/robot/subsystems/drivetrain/swerve/GyroIONavX.class and b/bin/main/frc/robot/subsystems/drivetrain/swerve/GyroIONavX.class differ diff --git a/bin/main/frc/robot/subsystems/drivetrain/swerve/SwerveDrive$1.class b/bin/main/frc/robot/subsystems/drivetrain/swerve/SwerveDrive$1.class index cb068c1..8542e5b 100644 Binary files a/bin/main/frc/robot/subsystems/drivetrain/swerve/SwerveDrive$1.class and b/bin/main/frc/robot/subsystems/drivetrain/swerve/SwerveDrive$1.class differ diff --git a/bin/main/frc/robot/subsystems/drivetrain/swerve/SwerveDrive.class b/bin/main/frc/robot/subsystems/drivetrain/swerve/SwerveDrive.class index 7c76973..fb6ac68 100644 Binary files a/bin/main/frc/robot/subsystems/drivetrain/swerve/SwerveDrive.class and b/bin/main/frc/robot/subsystems/drivetrain/swerve/SwerveDrive.class differ diff --git a/bin/main/frc/robot/subsystems/noteVisulaizer/NoteVisualizer$Note.class b/bin/main/frc/robot/subsystems/noteVisulaizer/NoteVisualizer$Note.class new file mode 100644 index 0000000..626061c Binary files /dev/null and b/bin/main/frc/robot/subsystems/noteVisulaizer/NoteVisualizer$Note.class differ diff --git a/bin/main/frc/robot/subsystems/noteVisulaizer/NoteVisualizer.class b/bin/main/frc/robot/subsystems/noteVisulaizer/NoteVisualizer.class new file mode 100644 index 0000000..d728bb3 Binary files /dev/null and b/bin/main/frc/robot/subsystems/noteVisulaizer/NoteVisualizer.class differ diff --git a/bin/main/frc/robot/subsystems/poseLimelight/PoseLimelight.class b/bin/main/frc/robot/subsystems/poseLimelight/PoseLimelight.class index c92c954..6204159 100644 Binary files a/bin/main/frc/robot/subsystems/poseLimelight/PoseLimelight.class and b/bin/main/frc/robot/subsystems/poseLimelight/PoseLimelight.class differ diff --git a/bin/main/frc/robot/subsystems/poseLimelight/PoseLimelightIOReal.class b/bin/main/frc/robot/subsystems/poseLimelight/PoseLimelightIOReal.class index f59d633..a424155 100644 Binary files a/bin/main/frc/robot/subsystems/poseLimelight/PoseLimelightIOReal.class and b/bin/main/frc/robot/subsystems/poseLimelight/PoseLimelightIOReal.class differ diff --git a/bin/main/frc/robot/subsystems/poseLimelight/PoseLimelightIOSim.class b/bin/main/frc/robot/subsystems/poseLimelight/PoseLimelightIOSim.class index c015a56..ac6a528 100644 Binary files a/bin/main/frc/robot/subsystems/poseLimelight/PoseLimelightIOSim.class and b/bin/main/frc/robot/subsystems/poseLimelight/PoseLimelightIOSim.class differ diff --git a/build/classes/java/main/frc/robot/Constants$Auton.class b/build/classes/java/main/frc/robot/Constants$Auton.class index 8382338..cdb5eac 100644 Binary files a/build/classes/java/main/frc/robot/Constants$Auton.class and b/build/classes/java/main/frc/robot/Constants$Auton.class differ diff --git a/build/classes/java/main/frc/robot/Constants$DrivetrainConstants.class b/build/classes/java/main/frc/robot/Constants$DrivetrainConstants.class index cb5a545..3e558ca 100644 Binary files a/build/classes/java/main/frc/robot/Constants$DrivetrainConstants.class and b/build/classes/java/main/frc/robot/Constants$DrivetrainConstants.class differ diff --git a/build/classes/java/main/frc/robot/Constants$FieldConstants.class b/build/classes/java/main/frc/robot/Constants$FieldConstants.class index 31770dd..2adaa7c 100644 Binary files a/build/classes/java/main/frc/robot/Constants$FieldConstants.class and b/build/classes/java/main/frc/robot/Constants$FieldConstants.class differ diff --git a/build/classes/java/main/frc/robot/Constants$IntakeConstants.class b/build/classes/java/main/frc/robot/Constants$IntakeConstants.class index ba764fe..c869c2e 100644 Binary files a/build/classes/java/main/frc/robot/Constants$IntakeConstants.class and b/build/classes/java/main/frc/robot/Constants$IntakeConstants.class differ diff --git a/build/classes/java/main/frc/robot/Constants$Mode.class b/build/classes/java/main/frc/robot/Constants$Mode.class index 25e2ba4..fb84c24 100644 Binary files a/build/classes/java/main/frc/robot/Constants$Mode.class and b/build/classes/java/main/frc/robot/Constants$Mode.class differ diff --git a/build/classes/java/main/frc/robot/Constants$OperatorConstants.class b/build/classes/java/main/frc/robot/Constants$OperatorConstants.class index 499474b..4bf090d 100644 Binary files a/build/classes/java/main/frc/robot/Constants$OperatorConstants.class and b/build/classes/java/main/frc/robot/Constants$OperatorConstants.class differ diff --git a/build/classes/java/main/frc/robot/Constants$VisionConstants.class b/build/classes/java/main/frc/robot/Constants$VisionConstants.class index 6ea2659..f580301 100644 Binary files a/build/classes/java/main/frc/robot/Constants$VisionConstants.class and b/build/classes/java/main/frc/robot/Constants$VisionConstants.class differ diff --git a/build/classes/java/main/frc/robot/Constants.class b/build/classes/java/main/frc/robot/Constants.class index 855c60f..58d7844 100644 Binary files a/build/classes/java/main/frc/robot/Constants.class and b/build/classes/java/main/frc/robot/Constants.class differ diff --git a/build/classes/java/main/frc/robot/Robot$1.class b/build/classes/java/main/frc/robot/Robot$1.class index b4b6bd2..f029235 100644 Binary files a/build/classes/java/main/frc/robot/Robot$1.class and b/build/classes/java/main/frc/robot/Robot$1.class differ diff --git a/build/classes/java/main/frc/robot/Robot.class b/build/classes/java/main/frc/robot/Robot.class index 1e1b491..a98688d 100644 Binary files a/build/classes/java/main/frc/robot/Robot.class and b/build/classes/java/main/frc/robot/Robot.class differ diff --git a/build/classes/java/main/frc/robot/RobotContainer$1.class b/build/classes/java/main/frc/robot/RobotContainer$1.class index fb08a1c..90dc682 100644 Binary files a/build/classes/java/main/frc/robot/RobotContainer$1.class and b/build/classes/java/main/frc/robot/RobotContainer$1.class differ diff --git a/build/classes/java/main/frc/robot/RobotContainer$2.class b/build/classes/java/main/frc/robot/RobotContainer$2.class index 3068d88..f0f6859 100644 Binary files a/build/classes/java/main/frc/robot/RobotContainer$2.class and b/build/classes/java/main/frc/robot/RobotContainer$2.class differ diff --git a/build/classes/java/main/frc/robot/RobotContainer$3.class b/build/classes/java/main/frc/robot/RobotContainer$3.class index 3e11e86..4101009 100644 Binary files a/build/classes/java/main/frc/robot/RobotContainer$3.class and b/build/classes/java/main/frc/robot/RobotContainer$3.class differ diff --git a/build/classes/java/main/frc/robot/RobotContainer$4.class b/build/classes/java/main/frc/robot/RobotContainer$4.class index 395a422..b5d0f23 100644 Binary files a/build/classes/java/main/frc/robot/RobotContainer$4.class and b/build/classes/java/main/frc/robot/RobotContainer$4.class differ diff --git a/build/classes/java/main/frc/robot/RobotContainer$5.class b/build/classes/java/main/frc/robot/RobotContainer$5.class index e45c014..b17c762 100644 Binary files a/build/classes/java/main/frc/robot/RobotContainer$5.class and b/build/classes/java/main/frc/robot/RobotContainer$5.class differ diff --git a/build/classes/java/main/frc/robot/RobotContainer.class b/build/classes/java/main/frc/robot/RobotContainer.class index 362e796..bc92cf0 100644 Binary files a/build/classes/java/main/frc/robot/RobotContainer.class and b/build/classes/java/main/frc/robot/RobotContainer.class differ diff --git a/build/classes/java/main/frc/robot/commands/AutoCommand$1.class b/build/classes/java/main/frc/robot/commands/AutoCommand$1.class deleted file mode 100644 index 9d2f9cf..0000000 Binary files a/build/classes/java/main/frc/robot/commands/AutoCommand$1.class and /dev/null differ diff --git a/build/classes/java/main/frc/robot/commands/AutoRunner.class b/build/classes/java/main/frc/robot/commands/AutoRunner.class index fb70880..b14986c 100644 Binary files a/build/classes/java/main/frc/robot/commands/AutoRunner.class and b/build/classes/java/main/frc/robot/commands/AutoRunner.class differ diff --git a/build/classes/java/main/frc/robot/commands/Autos.class b/build/classes/java/main/frc/robot/commands/Autos.class index 28ce043..fd4d82a 100644 Binary files a/build/classes/java/main/frc/robot/commands/Autos.class and b/build/classes/java/main/frc/robot/commands/Autos.class differ diff --git a/build/classes/java/main/frc/robot/commands/autoAligment/DriveToPose.class b/build/classes/java/main/frc/robot/commands/autoAligment/DriveToPose.class index 8c48148..aa2cc8b 100644 Binary files a/build/classes/java/main/frc/robot/commands/autoAligment/DriveToPose.class and b/build/classes/java/main/frc/robot/commands/autoAligment/DriveToPose.class differ diff --git a/build/classes/java/main/frc/robot/commands/climber/MoveClimberDown.class b/build/classes/java/main/frc/robot/commands/climber/MoveClimberDown.class new file mode 100644 index 0000000..fe0b508 Binary files /dev/null and b/build/classes/java/main/frc/robot/commands/climber/MoveClimberDown.class differ diff --git a/build/classes/java/main/frc/robot/commands/climber/MoveClimberRaw.class b/build/classes/java/main/frc/robot/commands/climber/MoveClimberRaw.class new file mode 100644 index 0000000..c7e50a5 Binary files /dev/null and b/build/classes/java/main/frc/robot/commands/climber/MoveClimberRaw.class differ diff --git a/build/classes/java/main/frc/robot/commands/climber/MoveClimberUp.class b/build/classes/java/main/frc/robot/commands/climber/MoveClimberUp.class new file mode 100644 index 0000000..cb96d37 Binary files /dev/null and b/build/classes/java/main/frc/robot/commands/climber/MoveClimberUp.class differ diff --git a/build/classes/java/main/frc/robot/commands/compositions/ShootNoteTele.class b/build/classes/java/main/frc/robot/commands/compositions/ShootNoteTele.class index e230a5e..82c1843 100644 Binary files a/build/classes/java/main/frc/robot/commands/compositions/ShootNoteTele.class and b/build/classes/java/main/frc/robot/commands/compositions/ShootNoteTele.class differ diff --git a/build/classes/java/main/frc/robot/commands/drivetrain/AbsoluteFieldDrive.class b/build/classes/java/main/frc/robot/commands/drivetrain/AbsoluteFieldDrive.class index 90d44e0..ea5c4bf 100644 Binary files a/build/classes/java/main/frc/robot/commands/drivetrain/AbsoluteFieldDrive.class and b/build/classes/java/main/frc/robot/commands/drivetrain/AbsoluteFieldDrive.class differ diff --git a/build/classes/java/main/frc/robot/commands/drivetrain/DriveToNote.class b/build/classes/java/main/frc/robot/commands/drivetrain/DriveToNote.class index 2cab057..7a9b910 100644 Binary files a/build/classes/java/main/frc/robot/commands/drivetrain/DriveToNote.class and b/build/classes/java/main/frc/robot/commands/drivetrain/DriveToNote.class differ diff --git a/build/classes/java/main/frc/robot/commands/shooterComp/AutoCommand$1.class b/build/classes/java/main/frc/robot/commands/shooterComp/AutoCommand$1.class new file mode 100644 index 0000000..69d6080 Binary files /dev/null and b/build/classes/java/main/frc/robot/commands/shooterComp/AutoCommand$1.class differ diff --git a/build/classes/java/main/frc/robot/commands/AutoCommand.class b/build/classes/java/main/frc/robot/commands/shooterComp/AutoCommand.class similarity index 89% rename from build/classes/java/main/frc/robot/commands/AutoCommand.class rename to build/classes/java/main/frc/robot/commands/shooterComp/AutoCommand.class index b96b76b..999fbe4 100644 Binary files a/build/classes/java/main/frc/robot/commands/AutoCommand.class and b/build/classes/java/main/frc/robot/commands/shooterComp/AutoCommand.class differ diff --git a/build/classes/java/main/frc/robot/commands/shooterComp/ShooterWindupAuto.class b/build/classes/java/main/frc/robot/commands/shooterComp/ShooterWindupAuto.class new file mode 100644 index 0000000..2f189dc Binary files /dev/null and b/build/classes/java/main/frc/robot/commands/shooterComp/ShooterWindupAuto.class differ diff --git a/build/classes/java/main/frc/robot/lib/util/LimelightHelpers$LimelightResults.class b/build/classes/java/main/frc/robot/lib/util/LimelightHelpers$LimelightResults.class new file mode 100644 index 0000000..60ce310 Binary files /dev/null and b/build/classes/java/main/frc/robot/lib/util/LimelightHelpers$LimelightResults.class differ diff --git a/build/classes/java/main/frc/robot/lib/util/LimelightHelpers$LimelightTarget_Barcode.class b/build/classes/java/main/frc/robot/lib/util/LimelightHelpers$LimelightTarget_Barcode.class new file mode 100644 index 0000000..1d74bc5 Binary files /dev/null and b/build/classes/java/main/frc/robot/lib/util/LimelightHelpers$LimelightTarget_Barcode.class differ diff --git a/build/classes/java/main/frc/robot/lib/util/LimelightHelpers$LimelightTarget_Classifier.class b/build/classes/java/main/frc/robot/lib/util/LimelightHelpers$LimelightTarget_Classifier.class new file mode 100644 index 0000000..c84ac8b Binary files /dev/null and b/build/classes/java/main/frc/robot/lib/util/LimelightHelpers$LimelightTarget_Classifier.class differ diff --git a/build/classes/java/main/frc/robot/lib/util/LimelightHelpers$LimelightTarget_Detector.class b/build/classes/java/main/frc/robot/lib/util/LimelightHelpers$LimelightTarget_Detector.class new file mode 100644 index 0000000..16633f1 Binary files /dev/null and b/build/classes/java/main/frc/robot/lib/util/LimelightHelpers$LimelightTarget_Detector.class differ diff --git a/build/classes/java/main/frc/robot/lib/util/LimelightHelpers$LimelightTarget_Fiducial.class b/build/classes/java/main/frc/robot/lib/util/LimelightHelpers$LimelightTarget_Fiducial.class new file mode 100644 index 0000000..f7c5aa3 Binary files /dev/null and b/build/classes/java/main/frc/robot/lib/util/LimelightHelpers$LimelightTarget_Fiducial.class differ diff --git a/build/classes/java/main/frc/robot/lib/util/LimelightHelpers$LimelightTarget_Retro.class b/build/classes/java/main/frc/robot/lib/util/LimelightHelpers$LimelightTarget_Retro.class new file mode 100644 index 0000000..f6a33e0 Binary files /dev/null and b/build/classes/java/main/frc/robot/lib/util/LimelightHelpers$LimelightTarget_Retro.class differ diff --git a/build/classes/java/main/frc/robot/lib/util/LimelightHelpers$PoseEstimate.class b/build/classes/java/main/frc/robot/lib/util/LimelightHelpers$PoseEstimate.class new file mode 100644 index 0000000..2a4e30f Binary files /dev/null and b/build/classes/java/main/frc/robot/lib/util/LimelightHelpers$PoseEstimate.class differ diff --git a/build/classes/java/main/frc/robot/lib/util/LimelightHelpers$RawDetection.class b/build/classes/java/main/frc/robot/lib/util/LimelightHelpers$RawDetection.class new file mode 100644 index 0000000..4ba1b24 Binary files /dev/null and b/build/classes/java/main/frc/robot/lib/util/LimelightHelpers$RawDetection.class differ diff --git a/build/classes/java/main/frc/robot/lib/util/LimelightHelpers$RawFiducial.class b/build/classes/java/main/frc/robot/lib/util/LimelightHelpers$RawFiducial.class new file mode 100644 index 0000000..44f6d0f Binary files /dev/null and b/build/classes/java/main/frc/robot/lib/util/LimelightHelpers$RawFiducial.class differ diff --git a/build/classes/java/main/frc/robot/lib/util/LimelightHelpers.class b/build/classes/java/main/frc/robot/lib/util/LimelightHelpers.class new file mode 100644 index 0000000..85be569 Binary files /dev/null and b/build/classes/java/main/frc/robot/lib/util/LimelightHelpers.class differ diff --git a/build/classes/java/main/frc/robot/subsystems/Flywheel.class b/build/classes/java/main/frc/robot/subsystems/Flywheel.class new file mode 100644 index 0000000..d6c3941 Binary files /dev/null and b/build/classes/java/main/frc/robot/subsystems/Flywheel.class differ diff --git a/build/classes/java/main/frc/robot/subsystems/climber/Climber.class b/build/classes/java/main/frc/robot/subsystems/climber/Climber.class new file mode 100644 index 0000000..190008e Binary files /dev/null and b/build/classes/java/main/frc/robot/subsystems/climber/Climber.class differ diff --git a/build/classes/java/main/frc/robot/subsystems/climber/ClimberIO$ClimberIOInputs.class b/build/classes/java/main/frc/robot/subsystems/climber/ClimberIO$ClimberIOInputs.class new file mode 100644 index 0000000..2e0d489 Binary files /dev/null and b/build/classes/java/main/frc/robot/subsystems/climber/ClimberIO$ClimberIOInputs.class differ diff --git a/build/classes/java/main/frc/robot/subsystems/climber/ClimberIO.class b/build/classes/java/main/frc/robot/subsystems/climber/ClimberIO.class new file mode 100644 index 0000000..75d80c0 Binary files /dev/null and b/build/classes/java/main/frc/robot/subsystems/climber/ClimberIO.class differ diff --git a/build/classes/java/main/frc/robot/subsystems/climber/ClimberIOFalcon.class b/build/classes/java/main/frc/robot/subsystems/climber/ClimberIOFalcon.class new file mode 100644 index 0000000..4c5841d Binary files /dev/null and b/build/classes/java/main/frc/robot/subsystems/climber/ClimberIOFalcon.class differ diff --git a/build/classes/java/main/frc/robot/subsystems/climber/ClimberIOInputsAutoLogged.class b/build/classes/java/main/frc/robot/subsystems/climber/ClimberIOInputsAutoLogged.class new file mode 100644 index 0000000..db6f8e4 Binary files /dev/null and b/build/classes/java/main/frc/robot/subsystems/climber/ClimberIOInputsAutoLogged.class differ diff --git a/build/classes/java/main/frc/robot/subsystems/climber/ClimberIOSim.class b/build/classes/java/main/frc/robot/subsystems/climber/ClimberIOSim.class new file mode 100644 index 0000000..347c9a1 Binary files /dev/null and b/build/classes/java/main/frc/robot/subsystems/climber/ClimberIOSim.class differ diff --git a/build/classes/java/main/frc/robot/subsystems/drivetrain/swerve/DriveFFController.class b/build/classes/java/main/frc/robot/subsystems/drivetrain/swerve/DriveFFController.class index 9f0f56e..8c95033 100644 Binary files a/build/classes/java/main/frc/robot/subsystems/drivetrain/swerve/DriveFFController.class and b/build/classes/java/main/frc/robot/subsystems/drivetrain/swerve/DriveFFController.class differ diff --git a/build/classes/java/main/frc/robot/subsystems/drivetrain/swerve/GyroIO$GyroIOInputs.class b/build/classes/java/main/frc/robot/subsystems/drivetrain/swerve/GyroIO$GyroIOInputs.class index 4f89fd6..e90192e 100644 Binary files a/build/classes/java/main/frc/robot/subsystems/drivetrain/swerve/GyroIO$GyroIOInputs.class and b/build/classes/java/main/frc/robot/subsystems/drivetrain/swerve/GyroIO$GyroIOInputs.class differ diff --git a/build/classes/java/main/frc/robot/subsystems/drivetrain/swerve/GyroIO.class b/build/classes/java/main/frc/robot/subsystems/drivetrain/swerve/GyroIO.class index 1a76ddd..16d3879 100644 Binary files a/build/classes/java/main/frc/robot/subsystems/drivetrain/swerve/GyroIO.class and b/build/classes/java/main/frc/robot/subsystems/drivetrain/swerve/GyroIO.class differ diff --git a/build/classes/java/main/frc/robot/subsystems/drivetrain/swerve/GyroIOInputsAutoLogged.class b/build/classes/java/main/frc/robot/subsystems/drivetrain/swerve/GyroIOInputsAutoLogged.class index c175a7a..c35246c 100644 Binary files a/build/classes/java/main/frc/robot/subsystems/drivetrain/swerve/GyroIOInputsAutoLogged.class and b/build/classes/java/main/frc/robot/subsystems/drivetrain/swerve/GyroIOInputsAutoLogged.class differ diff --git a/build/classes/java/main/frc/robot/subsystems/drivetrain/swerve/GyroIONavX.class b/build/classes/java/main/frc/robot/subsystems/drivetrain/swerve/GyroIONavX.class index 3965592..3ec1e97 100644 Binary files a/build/classes/java/main/frc/robot/subsystems/drivetrain/swerve/GyroIONavX.class and b/build/classes/java/main/frc/robot/subsystems/drivetrain/swerve/GyroIONavX.class differ diff --git a/build/classes/java/main/frc/robot/subsystems/drivetrain/swerve/ModuleIOSIM.class b/build/classes/java/main/frc/robot/subsystems/drivetrain/swerve/ModuleIOSIM.class index 400368f..7c8390f 100644 Binary files a/build/classes/java/main/frc/robot/subsystems/drivetrain/swerve/ModuleIOSIM.class and b/build/classes/java/main/frc/robot/subsystems/drivetrain/swerve/ModuleIOSIM.class differ diff --git a/build/classes/java/main/frc/robot/subsystems/drivetrain/swerve/SwerveDrive$1.class b/build/classes/java/main/frc/robot/subsystems/drivetrain/swerve/SwerveDrive$1.class index f688331..919d658 100644 Binary files a/build/classes/java/main/frc/robot/subsystems/drivetrain/swerve/SwerveDrive$1.class and b/build/classes/java/main/frc/robot/subsystems/drivetrain/swerve/SwerveDrive$1.class differ diff --git a/build/classes/java/main/frc/robot/subsystems/drivetrain/swerve/SwerveDrive$2.class b/build/classes/java/main/frc/robot/subsystems/drivetrain/swerve/SwerveDrive$2.class index ca60e35..1a30266 100644 Binary files a/build/classes/java/main/frc/robot/subsystems/drivetrain/swerve/SwerveDrive$2.class and b/build/classes/java/main/frc/robot/subsystems/drivetrain/swerve/SwerveDrive$2.class differ diff --git a/build/classes/java/main/frc/robot/subsystems/drivetrain/swerve/SwerveDrive.class b/build/classes/java/main/frc/robot/subsystems/drivetrain/swerve/SwerveDrive.class index d6dfa22..4d1e5d8 100644 Binary files a/build/classes/java/main/frc/robot/subsystems/drivetrain/swerve/SwerveDrive.class and b/build/classes/java/main/frc/robot/subsystems/drivetrain/swerve/SwerveDrive.class differ diff --git a/build/classes/java/main/frc/robot/subsystems/drivetrain/vision/NoteDetector.class b/build/classes/java/main/frc/robot/subsystems/drivetrain/vision/NoteDetector.class index 5fb3df3..dcbbede 100644 Binary files a/build/classes/java/main/frc/robot/subsystems/drivetrain/vision/NoteDetector.class and b/build/classes/java/main/frc/robot/subsystems/drivetrain/vision/NoteDetector.class differ diff --git a/build/classes/java/main/frc/robot/subsystems/drivetrain/vision/NoteDetectorIOReal.class b/build/classes/java/main/frc/robot/subsystems/drivetrain/vision/NoteDetectorIOReal.class index 06c32ed..86ce8d4 100644 Binary files a/build/classes/java/main/frc/robot/subsystems/drivetrain/vision/NoteDetectorIOReal.class and b/build/classes/java/main/frc/robot/subsystems/drivetrain/vision/NoteDetectorIOReal.class differ diff --git a/build/classes/java/main/frc/robot/subsystems/noteVisulaizer/NoteVisualizer$Note.class b/build/classes/java/main/frc/robot/subsystems/noteVisulaizer/NoteVisualizer$Note.class new file mode 100644 index 0000000..cbbb61d Binary files /dev/null and b/build/classes/java/main/frc/robot/subsystems/noteVisulaizer/NoteVisualizer$Note.class differ diff --git a/build/classes/java/main/frc/robot/subsystems/noteVisulaizer/NoteVisualizer.class b/build/classes/java/main/frc/robot/subsystems/noteVisulaizer/NoteVisualizer.class new file mode 100644 index 0000000..aaa56be Binary files /dev/null and b/build/classes/java/main/frc/robot/subsystems/noteVisulaizer/NoteVisualizer.class differ diff --git a/build/classes/java/main/frc/robot/subsystems/poseLimelight/PoseLimelight$1.class b/build/classes/java/main/frc/robot/subsystems/poseLimelight/PoseLimelight$1.class new file mode 100644 index 0000000..0cfb6cb Binary files /dev/null and b/build/classes/java/main/frc/robot/subsystems/poseLimelight/PoseLimelight$1.class differ diff --git a/build/classes/java/main/frc/robot/subsystems/poseLimelight/PoseLimelight$2.class b/build/classes/java/main/frc/robot/subsystems/poseLimelight/PoseLimelight$2.class new file mode 100644 index 0000000..1d3c514 Binary files /dev/null and b/build/classes/java/main/frc/robot/subsystems/poseLimelight/PoseLimelight$2.class differ diff --git a/build/classes/java/main/frc/robot/subsystems/poseLimelight/PoseLimelight.class b/build/classes/java/main/frc/robot/subsystems/poseLimelight/PoseLimelight.class new file mode 100644 index 0000000..4ccd5dc Binary files /dev/null and b/build/classes/java/main/frc/robot/subsystems/poseLimelight/PoseLimelight.class differ diff --git a/build/classes/java/main/frc/robot/subsystems/poseLimelight/PoseLimelightIO$PoseLimelightIOInputs.class b/build/classes/java/main/frc/robot/subsystems/poseLimelight/PoseLimelightIO$PoseLimelightIOInputs.class new file mode 100644 index 0000000..8d54aae Binary files /dev/null and b/build/classes/java/main/frc/robot/subsystems/poseLimelight/PoseLimelightIO$PoseLimelightIOInputs.class differ diff --git a/build/classes/java/main/frc/robot/subsystems/poseLimelight/PoseLimelightIO.class b/build/classes/java/main/frc/robot/subsystems/poseLimelight/PoseLimelightIO.class new file mode 100644 index 0000000..414ffdb Binary files /dev/null and b/build/classes/java/main/frc/robot/subsystems/poseLimelight/PoseLimelightIO.class differ diff --git a/build/classes/java/main/frc/robot/subsystems/poseLimelight/PoseLimelightIOInputsAutoLogged.class b/build/classes/java/main/frc/robot/subsystems/poseLimelight/PoseLimelightIOInputsAutoLogged.class new file mode 100644 index 0000000..faa7101 Binary files /dev/null and b/build/classes/java/main/frc/robot/subsystems/poseLimelight/PoseLimelightIOInputsAutoLogged.class differ diff --git a/build/classes/java/main/frc/robot/subsystems/poseLimelight/PoseLimelightIOReal.class b/build/classes/java/main/frc/robot/subsystems/poseLimelight/PoseLimelightIOReal.class new file mode 100644 index 0000000..4e4d89d Binary files /dev/null and b/build/classes/java/main/frc/robot/subsystems/poseLimelight/PoseLimelightIOReal.class differ diff --git a/build/classes/java/main/frc/robot/subsystems/poseLimelight/PoseLimelightIOSim.class b/build/classes/java/main/frc/robot/subsystems/poseLimelight/PoseLimelightIOSim.class new file mode 100644 index 0000000..31f51bf Binary files /dev/null and b/build/classes/java/main/frc/robot/subsystems/poseLimelight/PoseLimelightIOSim.class differ diff --git a/build/generated/sources/annotationProcessor/java/main/frc/robot/subsystems/climber/ClimberIOInputsAutoLogged.java b/build/generated/sources/annotationProcessor/java/main/frc/robot/subsystems/climber/ClimberIOInputsAutoLogged.java new file mode 100644 index 0000000..b06bc52 --- /dev/null +++ b/build/generated/sources/annotationProcessor/java/main/frc/robot/subsystems/climber/ClimberIOInputsAutoLogged.java @@ -0,0 +1,33 @@ +package frc.robot.subsystems.climber; + +import java.lang.Cloneable; +import java.lang.Override; +import org.littletonrobotics.junction.LogTable; +import org.littletonrobotics.junction.inputs.LoggableInputs; + +public class ClimberIOInputsAutoLogged extends ClimberIO.ClimberIOInputs implements LoggableInputs, Cloneable { + @Override + public void toLog(LogTable table) { + table.put("ClimberHeightMeters", climberHeightMeters); + table.put("VoltageOut", voltageOut); + table.put("ReachedSetpoint", reachedSetpoint); + table.put("GoalPositionMeters", goalPositionMeters); + } + + @Override + public void fromLog(LogTable table) { + climberHeightMeters = table.get("ClimberHeightMeters", climberHeightMeters); + voltageOut = table.get("VoltageOut", voltageOut); + reachedSetpoint = table.get("ReachedSetpoint", reachedSetpoint); + goalPositionMeters = table.get("GoalPositionMeters", goalPositionMeters); + } + + public ClimberIOInputsAutoLogged clone() { + ClimberIOInputsAutoLogged copy = new ClimberIOInputsAutoLogged(); + copy.climberHeightMeters = this.climberHeightMeters; + copy.voltageOut = this.voltageOut; + copy.reachedSetpoint = this.reachedSetpoint; + copy.goalPositionMeters = this.goalPositionMeters; + return copy; + } +} diff --git a/build/generated/sources/annotationProcessor/java/main/frc/robot/subsystems/drivetrain/swerve/GyroIOInputsAutoLogged.java b/build/generated/sources/annotationProcessor/java/main/frc/robot/subsystems/drivetrain/swerve/GyroIOInputsAutoLogged.java index 2bba4da..f380911 100644 --- a/build/generated/sources/annotationProcessor/java/main/frc/robot/subsystems/drivetrain/swerve/GyroIOInputsAutoLogged.java +++ b/build/generated/sources/annotationProcessor/java/main/frc/robot/subsystems/drivetrain/swerve/GyroIOInputsAutoLogged.java @@ -10,18 +10,21 @@ public class GyroIOInputsAutoLogged extends GyroIO.GyroIOInputs implements Logga public void toLog(LogTable table) { table.put("Yaw", yaw); table.put("IsConnected", isConnected); + table.put("YawRadSec", yawRadSec); } @Override public void fromLog(LogTable table) { yaw = table.get("Yaw", yaw); isConnected = table.get("IsConnected", isConnected); + yawRadSec = table.get("YawRadSec", yawRadSec); } public GyroIOInputsAutoLogged clone() { GyroIOInputsAutoLogged copy = new GyroIOInputsAutoLogged(); copy.yaw = this.yaw; copy.isConnected = this.isConnected; + copy.yawRadSec = this.yawRadSec; return copy; } } diff --git a/build/generated/sources/annotationProcessor/java/main/frc/robot/subsystems/poseLimelight/PoseLimelightIOInputsAutoLogged.java b/build/generated/sources/annotationProcessor/java/main/frc/robot/subsystems/poseLimelight/PoseLimelightIOInputsAutoLogged.java new file mode 100644 index 0000000..372a8bf --- /dev/null +++ b/build/generated/sources/annotationProcessor/java/main/frc/robot/subsystems/poseLimelight/PoseLimelightIOInputsAutoLogged.java @@ -0,0 +1,39 @@ +package frc.robot.subsystems.poseLimelight; + +import java.lang.Cloneable; +import java.lang.Override; +import org.littletonrobotics.junction.LogTable; +import org.littletonrobotics.junction.inputs.LoggableInputs; + +public class PoseLimelightIOInputsAutoLogged extends PoseLimelightIO.PoseLimelightIOInputs implements LoggableInputs, Cloneable { + @Override + public void toLog(LogTable table) { + table.put("EstimatedPose", estimatedPose); + table.put("TimestampSeconds", timestampSeconds); + table.put("HasValidTargets", hasValidTargets); + table.put("PrimaryTagId", primaryTagId); + table.put("Tx", tx); + table.put("Ty", ty); + } + + @Override + public void fromLog(LogTable table) { + estimatedPose = table.get("EstimatedPose", estimatedPose); + timestampSeconds = table.get("TimestampSeconds", timestampSeconds); + hasValidTargets = table.get("HasValidTargets", hasValidTargets); + primaryTagId = table.get("PrimaryTagId", primaryTagId); + tx = table.get("Tx", tx); + ty = table.get("Ty", ty); + } + + public PoseLimelightIOInputsAutoLogged clone() { + PoseLimelightIOInputsAutoLogged copy = new PoseLimelightIOInputsAutoLogged(); + copy.estimatedPose = this.estimatedPose; + copy.timestampSeconds = this.timestampSeconds; + copy.hasValidTargets = this.hasValidTargets; + copy.primaryTagId = this.primaryTagId; + copy.tx = this.tx; + copy.ty = this.ty; + return copy; + } +} diff --git a/build/libs/2024-Crescendo-Offseason.jar b/build/libs/2024-Crescendo-Offseason.jar index ce027f3..61af08f 100644 Binary files a/build/libs/2024-Crescendo-Offseason.jar and b/build/libs/2024-Crescendo-Offseason.jar differ diff --git a/build/tmp/compileJava/previous-compilation-data.bin b/build/tmp/compileJava/previous-compilation-data.bin index 818bd6e..600cf0c 100644 Binary files a/build/tmp/compileJava/previous-compilation-data.bin and b/build/tmp/compileJava/previous-compilation-data.bin differ diff --git a/ctre_sim/CANCoder vers. H - 010 - 0 - ext.dat b/ctre_sim/CANCoder vers. H - 010 - 0 - ext.dat index 0fd7b5c..3630418 100644 Binary files a/ctre_sim/CANCoder vers. H - 010 - 0 - ext.dat and b/ctre_sim/CANCoder vers. H - 010 - 0 - ext.dat differ diff --git a/ctre_sim/CANCoder vers. H - 011 - 0 - ext.dat b/ctre_sim/CANCoder vers. H - 011 - 0 - ext.dat index 66e245c..7c802fe 100644 Binary files a/ctre_sim/CANCoder vers. H - 011 - 0 - ext.dat and b/ctre_sim/CANCoder vers. H - 011 - 0 - ext.dat differ diff --git a/ctre_sim/CANCoder vers. H - 08 - 0 - ext.dat b/ctre_sim/CANCoder vers. H - 08 - 0 - ext.dat index e3ad12a..3ac2d6c 100644 Binary files a/ctre_sim/CANCoder vers. H - 08 - 0 - ext.dat and b/ctre_sim/CANCoder vers. H - 08 - 0 - ext.dat differ diff --git a/ctre_sim/CANCoder vers. H - 09 - 0 - ext.dat b/ctre_sim/CANCoder vers. H - 09 - 0 - ext.dat index 9b7e8ec..0089046 100644 Binary files a/ctre_sim/CANCoder vers. H - 09 - 0 - ext.dat and b/ctre_sim/CANCoder vers. H - 09 - 0 - ext.dat differ diff --git a/ctre_sim/Talon FX vers. C - 00 - 0 - ext.dat b/ctre_sim/Talon FX vers. C - 00 - 0 - ext.dat index 2f624f6..684d853 100644 Binary files a/ctre_sim/Talon FX vers. C - 00 - 0 - ext.dat and b/ctre_sim/Talon FX vers. C - 00 - 0 - ext.dat differ diff --git a/ctre_sim/Talon FX vers. C - 01 - 0 - ext.dat b/ctre_sim/Talon FX vers. C - 01 - 0 - ext.dat index beae3b1..fe3864f 100644 Binary files a/ctre_sim/Talon FX vers. C - 01 - 0 - ext.dat and b/ctre_sim/Talon FX vers. C - 01 - 0 - ext.dat differ diff --git a/ctre_sim/Talon FX vers. C - 017 - 0 - ext.dat b/ctre_sim/Talon FX vers. C - 017 - 0 - ext.dat index 2fd74d3..cc47e1c 100644 Binary files a/ctre_sim/Talon FX vers. C - 017 - 0 - ext.dat and b/ctre_sim/Talon FX vers. C - 017 - 0 - ext.dat differ diff --git a/ctre_sim/Talon FX vers. C - 018 - 0 - ext.dat b/ctre_sim/Talon FX vers. C - 018 - 0 - ext.dat index 665dac2..85aca49 100644 Binary files a/ctre_sim/Talon FX vers. C - 018 - 0 - ext.dat and b/ctre_sim/Talon FX vers. C - 018 - 0 - ext.dat differ diff --git a/ctre_sim/Talon FX vers. C - 02 - 0 - ext.dat b/ctre_sim/Talon FX vers. C - 02 - 0 - ext.dat index e5076de..90d95b4 100644 Binary files a/ctre_sim/Talon FX vers. C - 02 - 0 - ext.dat and b/ctre_sim/Talon FX vers. C - 02 - 0 - ext.dat differ diff --git a/ctre_sim/Talon FX vers. C - 03 - 0 - ext.dat b/ctre_sim/Talon FX vers. C - 03 - 0 - ext.dat index 46a951a..404663b 100644 Binary files a/ctre_sim/Talon FX vers. C - 03 - 0 - ext.dat and b/ctre_sim/Talon FX vers. C - 03 - 0 - ext.dat differ diff --git a/ctre_sim/Talon FX vers. C - 04 - 0 - ext.dat b/ctre_sim/Talon FX vers. C - 04 - 0 - ext.dat index d4136a5..a820def 100644 Binary files a/ctre_sim/Talon FX vers. C - 04 - 0 - ext.dat and b/ctre_sim/Talon FX vers. C - 04 - 0 - ext.dat differ diff --git a/ctre_sim/Talon FX vers. C - 05 - 0 - ext.dat b/ctre_sim/Talon FX vers. C - 05 - 0 - ext.dat index 07ba939..48af9cb 100644 Binary files a/ctre_sim/Talon FX vers. C - 05 - 0 - ext.dat and b/ctre_sim/Talon FX vers. C - 05 - 0 - ext.dat differ diff --git a/ctre_sim/Talon FX vers. C - 06 - 0 - ext.dat b/ctre_sim/Talon FX vers. C - 06 - 0 - ext.dat index 6e8f2c2..6c97d78 100644 Binary files a/ctre_sim/Talon FX vers. C - 06 - 0 - ext.dat and b/ctre_sim/Talon FX vers. C - 06 - 0 - ext.dat differ diff --git a/ctre_sim/Talon FX vers. C - 07 - 0 - ext.dat b/ctre_sim/Talon FX vers. C - 07 - 0 - ext.dat index 73478e0..3a12dd5 100644 Binary files a/ctre_sim/Talon FX vers. C - 07 - 0 - ext.dat and b/ctre_sim/Talon FX vers. C - 07 - 0 - ext.dat differ diff --git a/hs_err_pid23413.log b/hs_err_pid23413.log new file mode 100644 index 0000000..87867b5 --- /dev/null +++ b/hs_err_pid23413.log @@ -0,0 +1,42 @@ +# +# A fatal error has been detected by the Java Runtime Environment: +# +# SIGSEGV (0xb) at pc=0x000000012b4ddb70, pid=23413, tid=259 +# +# JRE version: OpenJDK Runtime Environment Temurin-17.0.8.1+1 (17.0.8.1+1) (build 17.0.8.1+1) +# Java VM: OpenJDK 64-Bit Server VM Temurin-17.0.8.1+1 (17.0.8.1+1, mixed mode, tiered, compressed oops, compressed class ptrs, g1 gc, bsd-aarch64) +# Problematic frame: +# C [libhalsim_gui.dylib+0x1db70] std::__1::__function::__func, void ()>::operator()()+0x8 +# +# No core dump will be written. Core dumps have been disabled. To enable core dumping, try "ulimit -c unlimited" before starting Java again +# +# If you would like to submit a bug report, please visit: +# https://github.com/adoptium/adoptium-support/issues +# The crash happened outside the Java Virtual Machine in native code. +# See problematic frame for where to report the bug. +# + +--------------- S U M M A R Y ------------ + +Command Line: -agentlib:jdwp=transport=dt_socket,server=n,suspend=y,address=localhost:60125 -Djava.library.path=/Users/edan/FRC Repos/2024-Crescendo-Offseason/build/jni/release -XX:+ShowCodeDetailsInExceptionMessages frc.robot.Main + +Host: "Mac14,2" arm64, 8 cores, 8G, Darwin 23.2.0, macOS 14.2.1 (23C71) +Time: Tue Nov 26 16:42:36 2024 EST elapsed time: 261.772333 seconds (0d 0h 4m 21s) + +--------------- T H R E A D --------------- + +Current thread (0x000000013d008c00): JavaThread "main" [_thread_in_native, id=259, stack(0x000000016c930000,0x000000016d12c000)] + +Stack: [0x000000016c930000,0x000000016d12c000], sp=0x000000016d128890, free space=8162k +Native frames: (J=compiled Java code, j=interpreted, Vv=VM code, C=native code) +C [libhalsim_gui.dylib+0x1db70] std::__1::__function::__func, void ()>::operator()()+0x8 +C [libhalsim_gui.dylib+0xa5edc] wpi::gui::PlatformRenderFrame()+0x254 +C [libhalsim_gui.dylib+0x94f48] wpi::gui::Main()+0x170 +C [libhalsim_gui.dylib+0x1d24c] HALSIM_InitExtension::$_3::__invoke(void*)+0xc +j edu.wpi.first.hal.HAL.runMain()V+0 +j edu.wpi.first.wpilibj.RobotBase.startRobot(Ljava/util/function/Supplier;)V+82 +j frc.robot.Main.main([Ljava/lang/String;)V+5 +v ~StubRoutines::call_stub +V [libjvm.dylib+0x470fb0] JavaCalls::call_helper(JavaValue*, methodHandle const&, JavaCallArguments*, JavaThread*)+0x38c +V [libjvm.dylib+0x4d62bc] jni_invoke_static(JNIEnv_*, JavaValue*, _jobject*, JNICallType, _jmethodID*, JNI_ArgumentPusher*, JavaThread*)+0x12c +V [libjvm.dylib+0x4d98e8] \ No newline at end of file diff --git a/logs/Log_1c3f4d566b203f37.wpilog b/logs/Log_1c3f4d566b203f37.wpilog new file mode 100644 index 0000000..ff40a37 Binary files /dev/null and b/logs/Log_1c3f4d566b203f37.wpilog differ diff --git a/logs/Log_8cb42584101374e1.wpilog b/logs/Log_8cb42584101374e1.wpilog new file mode 100644 index 0000000..fd9a978 Binary files /dev/null and b/logs/Log_8cb42584101374e1.wpilog differ diff --git a/logs/Log_ad3e6e2519f04243.wpilog b/logs/Log_ad3e6e2519f04243.wpilog new file mode 100644 index 0000000..e9cfb26 Binary files /dev/null and b/logs/Log_ad3e6e2519f04243.wpilog differ diff --git a/logs/Log_b0bb52cf7b085238.wpilog b/logs/Log_b0bb52cf7b085238.wpilog new file mode 100644 index 0000000..0edad47 Binary files /dev/null and b/logs/Log_b0bb52cf7b085238.wpilog differ diff --git a/logs/Log_ce45587ab116c155.wpilog b/logs/Log_ce45587ab116c155.wpilog new file mode 100644 index 0000000..687924b Binary files /dev/null and b/logs/Log_ce45587ab116c155.wpilog differ diff --git a/simgui-ds.json b/simgui-ds.json index 73cc713..6fc0419 100644 --- a/simgui-ds.json +++ b/simgui-ds.json @@ -1,4 +1,9 @@ { + "Keyboard 3 Settings": { + "window": { + "visible": true + } + }, "keyboardJoysticks": [ { "axisConfig": [ @@ -84,7 +89,7 @@ "povCount": 0 }, { - "axisCount": 0, + "axisCount": 1, "buttonCount": 0, "povCount": 0 } diff --git a/simgui-window.json b/simgui-window.json index 9c841a9..323caad 100644 --- a/simgui-window.json +++ b/simgui-window.json @@ -10,8 +10,8 @@ "style": "0", "userScale": "2", "width": "1280", - "xpos": "110", - "ypos": "685" + "xpos": "103", + "ypos": "393" } }, "Window": { @@ -25,6 +25,11 @@ "Pos": "250,465", "Size": "796,73" }, + "###Keyboard 3 Settings": { + "Collapsed": "0", + "Pos": "940,50", + "Size": "300,560" + }, "###NetworkTables": { "Collapsed": "0", "Pos": "418,169", diff --git a/src/main/deploy/pathplanner/autos/1PAmp.auto b/src/main/deploy/pathplanner/autos/1PAmp.auto index 31bb442..f40acdd 100644 --- a/src/main/deploy/pathplanner/autos/1PAmp.auto +++ b/src/main/deploy/pathplanner/autos/1PAmp.auto @@ -1,43 +1,37 @@ -{ - "version": 1.0, - "startingPose": { - "position": { - "x": 0.7050561319382253, - "y": 6.72 - }, - "rotation": -120.0 - }, - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "wait", - "data": { - "waitTime": 1.5 - } - }, - { - "type": "named", - "data": { - "name": "ShooterWindUp" - } - }, - { - "type": "wait", - "data": { - "waitTime": 0.7 - } - }, - { - "type": "named", - "data": { - "name": "ShootNoteAuto" - } - } - ] - } - }, - "folder": null, - "choreoAuto": false +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "wait", + "data": { + "waitTime": 1.5 + } + }, + { + "type": "named", + "data": { + "name": "ShooterWindUp" + } + }, + { + "type": "wait", + "data": { + "waitTime": 0.7 + } + }, + { + "type": "named", + "data": { + "name": "ShootNoteAuto" + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/1PMid.auto b/src/main/deploy/pathplanner/autos/1PMid.auto index bd9eb19..f66b350 100644 --- a/src/main/deploy/pathplanner/autos/1PMid.auto +++ b/src/main/deploy/pathplanner/autos/1PMid.auto @@ -1,37 +1,31 @@ -{ - "version": 1.0, - "startingPose": { - "position": { - "x": 1.37, - "y": 5.52 - }, - "rotation": 180.0 - }, - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "ShooterWindUp" - } - }, - { - "type": "wait", - "data": { - "waitTime": 0.3 - } - }, - { - "type": "named", - "data": { - "name": "ShootNoteAuto" - } - } - ] - } - }, - "folder": null, - "choreoAuto": false +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "ShooterWindUp" + } + }, + { + "type": "wait", + "data": { + "waitTime": 0.3 + } + }, + { + "type": "named", + "data": { + "name": "ShootNoteAuto" + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/2.5PAmpA1.auto b/src/main/deploy/pathplanner/autos/2.5PAmpA1.auto index f24ee08..a98a0b1 100644 --- a/src/main/deploy/pathplanner/autos/2.5PAmpA1.auto +++ b/src/main/deploy/pathplanner/autos/2.5PAmpA1.auto @@ -1,119 +1,113 @@ -{ - "version": 1.0, - "startingPose": { - "position": { - "x": 0.7, - "y": 6.7 - }, - "rotation": -120.13594030325343 - }, - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "ShooterWindUp" - } - }, - { - "type": "wait", - "data": { - "waitTime": 0.7 - } - }, - { - "type": "named", - "data": { - "name": "ShootNoteAuto" - } - }, - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "sequential", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "ToAMPNoteFromAMP" - } - }, - { - "type": "path", - "data": { - "pathName": "FromAMPNoteToAMP" - } - } - ] - } - }, - { - "type": "named", - "data": { - "name": "IntakeNote" - } - } - ] - } - }, - { - "type": "named", - "data": { - "name": "ShootNoteAuto" - } - }, - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "IntakeNote" - } - }, - { - "type": "sequential", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "ToFar1FromAMP" - } - }, - { - "type": "named", - "data": { - "name": "InIntake" - } - }, - { - "type": "path", - "data": { - "pathName": "FromFar1ToHome" - } - } - ] - } - } - ] - } - }, - { - "type": "named", - "data": { - "name": "ShooterStop" - } - } - ] - } - }, - "folder": null, - "choreoAuto": false +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "ShooterWindUp" + } + }, + { + "type": "wait", + "data": { + "waitTime": 0.7 + } + }, + { + "type": "named", + "data": { + "name": "ShootNoteAuto" + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "ToAMPNoteFromAMP" + } + }, + { + "type": "path", + "data": { + "pathName": "FromAMPNoteToAMP" + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "IntakeNote" + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "ShootNoteAuto" + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "IntakeNote" + } + }, + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "ToFar1FromAMP" + } + }, + { + "type": "named", + "data": { + "name": "InIntake" + } + }, + { + "type": "path", + "data": { + "pathName": "FromFar1ToHome" + } + } + ] + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "ShooterStop" + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/2PAmp.auto b/src/main/deploy/pathplanner/autos/2PAmp.auto index f567cde..710ae4c 100644 --- a/src/main/deploy/pathplanner/autos/2PAmp.auto +++ b/src/main/deploy/pathplanner/autos/2PAmp.auto @@ -1,75 +1,69 @@ -{ - "version": 1.0, - "startingPose": { - "position": { - "x": 0.7050561319382253, - "y": 6.72 - }, - "rotation": -120.0 - }, - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "ShooterWindUp" - } - }, - { - "type": "wait", - "data": { - "waitTime": 0.7 - } - }, - { - "type": "named", - "data": { - "name": "ShootNoteAuto" - } - }, - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "IntakeNote" - } - }, - { - "type": "sequential", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "ToAMPNoteFromAMP" - } - }, - { - "type": "path", - "data": { - "pathName": "FromAMPNoteToAMP" - } - } - ] - } - } - ] - } - }, - { - "type": "named", - "data": { - "name": "ShootNoteAuto" - } - } - ] - } - }, - "folder": null, - "choreoAuto": false +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "ShooterWindUp" + } + }, + { + "type": "wait", + "data": { + "waitTime": 0.7 + } + }, + { + "type": "named", + "data": { + "name": "ShootNoteAuto" + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "IntakeNote" + } + }, + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "ToAMPNoteFromAMP" + } + }, + { + "type": "path", + "data": { + "pathName": "FromAMPNoteToAMP" + } + } + ] + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "ShootNoteAuto" + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/2PMid.auto b/src/main/deploy/pathplanner/autos/2PMid.auto index e756f66..b5a184c 100644 --- a/src/main/deploy/pathplanner/autos/2PMid.auto +++ b/src/main/deploy/pathplanner/autos/2PMid.auto @@ -1,81 +1,75 @@ -{ - "version": 1.0, - "startingPose": { - "position": { - "x": 1.35, - "y": 5.52 - }, - "rotation": 180.0 - }, - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "ShooterWindUp" - } - }, - { - "type": "wait", - "data": { - "waitTime": 0.3 - } - }, - { - "type": "named", - "data": { - "name": "ShootNoteAuto" - } - }, - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "IntakeNote" - } - }, - { - "type": "sequential", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "ToMidNoteFromMid" - } - }, - { - "type": "path", - "data": { - "pathName": "FromMidNoteToMid" - } - } - ] - } - } - ] - } - }, - { - "type": "wait", - "data": { - "waitTime": 3.0 - } - }, - { - "type": "named", - "data": { - "name": "ShootNoteAuto" - } - } - ] - } - }, - "folder": null, - "choreoAuto": false +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "ShooterWindUp" + } + }, + { + "type": "wait", + "data": { + "waitTime": 0.3 + } + }, + { + "type": "named", + "data": { + "name": "ShootNoteAuto" + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "IntakeNote" + } + }, + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "ToMidNoteFromMid" + } + }, + { + "type": "path", + "data": { + "pathName": "FromMidNoteToMid" + } + } + ] + } + } + ] + } + }, + { + "type": "wait", + "data": { + "waitTime": 3.0 + } + }, + { + "type": "named", + "data": { + "name": "ShootNoteAuto" + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/2PMidOut.auto b/src/main/deploy/pathplanner/autos/2PMidOut.auto index 4316b6a..75f06ce 100644 --- a/src/main/deploy/pathplanner/autos/2PMidOut.auto +++ b/src/main/deploy/pathplanner/autos/2PMidOut.auto @@ -1,126 +1,120 @@ -{ - "version": 1.0, - "startingPose": { - "position": { - "x": 1.35, - "y": 5.52 - }, - "rotation": 180.0 - }, - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "ShooterWindUp" - } - }, - { - "type": "wait", - "data": { - "waitTime": 0.7 - } - }, - { - "type": "named", - "data": { - "name": "ShootNoteAuto" - } - }, - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "IntakeNote" - } - }, - { - "type": "sequential", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "ToMidNoteFromMid" - } - }, - { - "type": "path", - "data": { - "pathName": "FromMidNoteToMid" - } - } - ] - } - } - ] - } - }, - { - "type": "named", - "data": { - "name": "ShootNoteAuto" - } - }, - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "MidToFar3" - } - }, - { - "type": "sequential", - "data": { - "commands": [ - { - "type": "race", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "IntakeNote" - } - }, - { - "type": "wait", - "data": { - "waitTime": 6.0 - } - } - ] - } - }, - { - "type": "named", - "data": { - "name": "CancelIntakeNote" - } - } - ] - } - } - ] - } - }, - { - "type": "named", - "data": { - "name": "ShooterStop" - } - } - ] - } - }, - "folder": null, - "choreoAuto": false +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "ShooterWindUp" + } + }, + { + "type": "wait", + "data": { + "waitTime": 0.7 + } + }, + { + "type": "named", + "data": { + "name": "ShootNoteAuto" + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "IntakeNote" + } + }, + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "ToMidNoteFromMid" + } + }, + { + "type": "path", + "data": { + "pathName": "FromMidNoteToMid" + } + } + ] + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "ShootNoteAuto" + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "MidToFar3" + } + }, + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "race", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "IntakeNote" + } + }, + { + "type": "wait", + "data": { + "waitTime": 6.0 + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "CancelIntakeNote" + } + } + ] + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "ShooterStop" + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/2PSource.auto b/src/main/deploy/pathplanner/autos/2PSource.auto index e6f4989..6e299bd 100644 --- a/src/main/deploy/pathplanner/autos/2PSource.auto +++ b/src/main/deploy/pathplanner/autos/2PSource.auto @@ -1,75 +1,69 @@ -{ - "version": 1.0, - "startingPose": { - "position": { - "x": 0.716766968484007, - "y": 4.368142031576504 - }, - "rotation": 120.0 - }, - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "ShooterWindUp" - } - }, - { - "type": "wait", - "data": { - "waitTime": 1.0 - } - }, - { - "type": "named", - "data": { - "name": "ShootNoteAuto" - } - }, - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "IntakeNote" - } - }, - { - "type": "sequential", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "ToSourceNoteFromSource" - } - }, - { - "type": "path", - "data": { - "pathName": "FromSourceNoteToSource" - } - } - ] - } - } - ] - } - }, - { - "type": "named", - "data": { - "name": "ShootNoteAuto" - } - } - ] - } - }, - "folder": null, - "choreoAuto": false +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "ShooterWindUp" + } + }, + { + "type": "wait", + "data": { + "waitTime": 1.0 + } + }, + { + "type": "named", + "data": { + "name": "ShootNoteAuto" + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "IntakeNote" + } + }, + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "ToSourceNoteFromSource" + } + }, + { + "type": "path", + "data": { + "pathName": "FromSourceNoteToSource" + } + } + ] + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "ShootNoteAuto" + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/2PSourceTaxi.auto b/src/main/deploy/pathplanner/autos/2PSourceTaxi.auto index b54d691..382c27a 100644 --- a/src/main/deploy/pathplanner/autos/2PSourceTaxi.auto +++ b/src/main/deploy/pathplanner/autos/2PSourceTaxi.auto @@ -1,113 +1,107 @@ -{ - "version": 1.0, - "startingPose": { - "position": { - "x": 0.72, - "y": 4.37 - }, - "rotation": 120.0 - }, - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "ShooterWindUp" - } - }, - { - "type": "wait", - "data": { - "waitTime": 0.3 - } - }, - { - "type": "named", - "data": { - "name": "ShootNoteAuto" - } - }, - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "sequential", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "ToSourceNoteFromSource" - } - }, - { - "type": "path", - "data": { - "pathName": "FromSourceNoteToSource" - } - } - ] - } - }, - { - "type": "named", - "data": { - "name": "IntakeNote" - } - } - ] - } - }, - { - "type": "named", - "data": { - "name": "ShootNoteAuto" - } - }, - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "sequential", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "ToMidNoteFromSource" - } - }, - { - "type": "path", - "data": { - "pathName": "FromMidNoteToSource" - } - } - ] - } - }, - { - "type": "named", - "data": { - "name": "IntakeNote" - } - } - ] - } - }, - { - "type": "named", - "data": { - "name": "ShootNoteAuto" - } - } - ] - } - }, - "folder": null, - "choreoAuto": false +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "ShooterWindUp" + } + }, + { + "type": "wait", + "data": { + "waitTime": 0.3 + } + }, + { + "type": "named", + "data": { + "name": "ShootNoteAuto" + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "ToSourceNoteFromSource" + } + }, + { + "type": "path", + "data": { + "pathName": "FromSourceNoteToSource" + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "IntakeNote" + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "ShootNoteAuto" + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "ToMidNoteFromSource" + } + }, + { + "type": "path", + "data": { + "pathName": "FromMidNoteToSource" + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "IntakeNote" + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "ShootNoteAuto" + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/2SourceS4.auto b/src/main/deploy/pathplanner/autos/2SourceS4.auto index 5226abe..cffbd0f 100644 --- a/src/main/deploy/pathplanner/autos/2SourceS4.auto +++ b/src/main/deploy/pathplanner/autos/2SourceS4.auto @@ -1,81 +1,75 @@ -{ - "version": 1.0, - "startingPose": { - "position": { - "x": 0.72, - "y": 4.37 - }, - "rotation": 120.0 - }, - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "ShooterWindUp" - } - }, - { - "type": "wait", - "data": { - "waitTime": 0.7 - } - }, - { - "type": "named", - "data": { - "name": "ShootNoteAuto" - } - }, - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "sequential", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "SourceToFar4" - } - }, - { - "type": "path", - "data": { - "pathName": "Far4ToSource" - } - } - ] - } - }, - { - "type": "named", - "data": { - "name": "IntakeNote" - } - } - ] - } - }, - { - "type": "named", - "data": { - "name": "ShootNoteAuto" - } - }, - { - "type": "named", - "data": { - "name": "ShooterStop" - } - } - ] - } - }, - "folder": null, - "choreoAuto": false +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "ShooterWindUp" + } + }, + { + "type": "wait", + "data": { + "waitTime": 0.7 + } + }, + { + "type": "named", + "data": { + "name": "ShootNoteAuto" + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "SourceToFar4" + } + }, + { + "type": "path", + "data": { + "pathName": "Far4ToSource" + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "IntakeNote" + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "ShootNoteAuto" + } + }, + { + "type": "named", + "data": { + "name": "ShooterStop" + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/3PAmpA1.auto b/src/main/deploy/pathplanner/autos/3PAmpA1.auto index 0dab7e3..51af387 100644 --- a/src/main/deploy/pathplanner/autos/3PAmpA1.auto +++ b/src/main/deploy/pathplanner/autos/3PAmpA1.auto @@ -1,125 +1,119 @@ -{ - "version": 1.0, - "startingPose": { - "position": { - "x": 0.7, - "y": 6.7 - }, - "rotation": -120.13594030325343 - }, - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "ShooterWindUp" - } - }, - { - "type": "wait", - "data": { - "waitTime": 0.7 - } - }, - { - "type": "named", - "data": { - "name": "ShootNoteAuto" - } - }, - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "sequential", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "ToAMPNoteFromAMP" - } - }, - { - "type": "path", - "data": { - "pathName": "FromAMPNoteToAMP" - } - } - ] - } - }, - { - "type": "named", - "data": { - "name": "IntakeNote" - } - } - ] - } - }, - { - "type": "named", - "data": { - "name": "ShootNoteAuto" - } - }, - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "IntakeNote" - } - }, - { - "type": "sequential", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "ToFar1FromAMP" - } - }, - { - "type": "named", - "data": { - "name": "InIntake" - } - }, - { - "type": "path", - "data": { - "pathName": "ToAMPFromFar1" - } - } - ] - } - } - ] - } - }, - { - "type": "named", - "data": { - "name": "ShootNoteAuto" - } - }, - { - "type": "named", - "data": { - "name": "ShooterStop" - } - } - ] - } - }, - "folder": null, - "choreoAuto": false +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "ShooterWindUp" + } + }, + { + "type": "wait", + "data": { + "waitTime": 0.7 + } + }, + { + "type": "named", + "data": { + "name": "ShootNoteAuto" + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "ToAMPNoteFromAMP" + } + }, + { + "type": "path", + "data": { + "pathName": "FromAMPNoteToAMP" + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "IntakeNote" + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "ShootNoteAuto" + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "IntakeNote" + } + }, + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "ToFar1FromAMP" + } + }, + { + "type": "named", + "data": { + "name": "InIntake" + } + }, + { + "type": "path", + "data": { + "pathName": "ToAMPFromFar1" + } + } + ] + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "ShootNoteAuto" + } + }, + { + "type": "named", + "data": { + "name": "ShooterStop" + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/3PAmpA2.auto b/src/main/deploy/pathplanner/autos/3PAmpA2.auto index 8f34f4b..ed22fc9 100644 --- a/src/main/deploy/pathplanner/autos/3PAmpA2.auto +++ b/src/main/deploy/pathplanner/autos/3PAmpA2.auto @@ -1,125 +1,119 @@ -{ - "version": 1.0, - "startingPose": { - "position": { - "x": 0.7, - "y": 6.7 - }, - "rotation": -120.13594030325343 - }, - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "ShooterWindUp" - } - }, - { - "type": "wait", - "data": { - "waitTime": 0.7 - } - }, - { - "type": "named", - "data": { - "name": "ShootNoteAuto" - } - }, - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "sequential", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "ToAMPNoteFromAMP" - } - }, - { - "type": "path", - "data": { - "pathName": "FromAMPNoteToAMP" - } - } - ] - } - }, - { - "type": "named", - "data": { - "name": "IntakeNote" - } - } - ] - } - }, - { - "type": "named", - "data": { - "name": "ShootNoteAuto" - } - }, - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "IntakeNote" - } - }, - { - "type": "sequential", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "ToFar2FromAMP" - } - }, - { - "type": "named", - "data": { - "name": "InIntake" - } - }, - { - "type": "path", - "data": { - "pathName": null - } - } - ] - } - } - ] - } - }, - { - "type": "named", - "data": { - "name": "ShootNoteAuto" - } - }, - { - "type": "named", - "data": { - "name": "ShooterStop" - } - } - ] - } - }, - "folder": null, - "choreoAuto": false +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "ShooterWindUp" + } + }, + { + "type": "wait", + "data": { + "waitTime": 0.7 + } + }, + { + "type": "named", + "data": { + "name": "ShootNoteAuto" + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "ToAMPNoteFromAMP" + } + }, + { + "type": "path", + "data": { + "pathName": "FromAMPNoteToAMP" + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "IntakeNote" + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "ShootNoteAuto" + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "IntakeNote" + } + }, + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "ToFar2FromAMP" + } + }, + { + "type": "named", + "data": { + "name": "InIntake" + } + }, + { + "type": "path", + "data": { + "pathName": null + } + } + ] + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "ShootNoteAuto" + } + }, + { + "type": "named", + "data": { + "name": "ShooterStop" + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/3PAmpAM.auto b/src/main/deploy/pathplanner/autos/3PAmpAM.auto index f4b276f..920f151 100644 --- a/src/main/deploy/pathplanner/autos/3PAmpAM.auto +++ b/src/main/deploy/pathplanner/autos/3PAmpAM.auto @@ -1,113 +1,107 @@ -{ - "version": 1.0, - "startingPose": { - "position": { - "x": 0.71, - "y": 6.72 - }, - "rotation": -120.0 - }, - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "ShooterWindUp" - } - }, - { - "type": "wait", - "data": { - "waitTime": 0.3 - } - }, - { - "type": "named", - "data": { - "name": "ShootNoteAuto" - } - }, - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "sequential", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "ToAMPNoteFromAMP" - } - }, - { - "type": "path", - "data": { - "pathName": "FromAMPNoteToAMP" - } - } - ] - } - }, - { - "type": "named", - "data": { - "name": "IntakeNote" - } - } - ] - } - }, - { - "type": "named", - "data": { - "name": "ShootNoteAuto" - } - }, - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "sequential", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": null - } - }, - { - "type": "path", - "data": { - "pathName": "FromMidNoteToAMP" - } - } - ] - } - }, - { - "type": "named", - "data": { - "name": "IntakeNote" - } - } - ] - } - }, - { - "type": "named", - "data": { - "name": "ShootNoteAuto" - } - } - ] - } - }, - "folder": null, - "choreoAuto": false +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "ShooterWindUp" + } + }, + { + "type": "wait", + "data": { + "waitTime": 0.3 + } + }, + { + "type": "named", + "data": { + "name": "ShootNoteAuto" + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "ToAMPNoteFromAMP" + } + }, + { + "type": "path", + "data": { + "pathName": "FromAMPNoteToAMP" + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "IntakeNote" + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "ShootNoteAuto" + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": null + } + }, + { + "type": "path", + "data": { + "pathName": "FromMidNoteToAMP" + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "IntakeNote" + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "ShootNoteAuto" + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/3PMidAmpVariable.auto b/src/main/deploy/pathplanner/autos/3PMidAmpVariable.auto index 72397c3..8ab0b24 100644 --- a/src/main/deploy/pathplanner/autos/3PMidAmpVariable.auto +++ b/src/main/deploy/pathplanner/autos/3PMidAmpVariable.auto @@ -1,161 +1,155 @@ -{ - "version": 1.0, - "startingPose": { - "position": { - "x": 1.35, - "y": 5.52 - }, - "rotation": 180.0 - }, - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "ShooterWindUp" - } - }, - { - "type": "wait", - "data": { - "waitTime": 0.7 - } - }, - { - "type": "named", - "data": { - "name": "ShootNoteAuto" - } - }, - { - "type": "wait", - "data": { - "waitTime": 0.2 - } - }, - { - "type": "named", - "data": { - "name": "ShooterStop" - } - }, - { - "type": "named", - "data": { - "name": "VariableShoot" - } - }, - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "IntakeNote" - } - }, - { - "type": "sequential", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "ToMidNoteFromMid" - } - }, - { - "type": "path", - "data": { - "pathName": "Copy of FromMidNoteToMid" - } - } - ] - } - } - ] - } - }, - { - "type": "wait", - "data": { - "waitTime": 0.3 - } - }, - { - "type": "named", - "data": { - "name": "RollIntakeIn" - } - }, - { - "type": "wait", - "data": { - "waitTime": 0.5 - } - }, - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "sequential", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "MidPointToAmp" - } - }, - { - "type": "path", - "data": { - "pathName": "AmpToMidPoint" - } - } - ] - } - }, - { - "type": "named", - "data": { - "name": "IntakeNote" - } - } - ] - } - }, - { - "type": "wait", - "data": { - "waitTime": 0.3 - } - }, - { - "type": "named", - "data": { - "name": "ShootNoteAuto" - } - }, - { - "type": "wait", - "data": { - "waitTime": 0.33 - } - }, - { - "type": "named", - "data": { - "name": "ShooterStop" - } - } - ] - } - }, - "folder": null, - "choreoAuto": false +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "ShooterWindUp" + } + }, + { + "type": "wait", + "data": { + "waitTime": 0.7 + } + }, + { + "type": "named", + "data": { + "name": "ShootNoteAuto" + } + }, + { + "type": "wait", + "data": { + "waitTime": 0.2 + } + }, + { + "type": "named", + "data": { + "name": "ShooterStop" + } + }, + { + "type": "named", + "data": { + "name": "VariableShoot" + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "IntakeNote" + } + }, + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "ToMidNoteFromMid" + } + }, + { + "type": "path", + "data": { + "pathName": "Copy of FromMidNoteToMid" + } + } + ] + } + } + ] + } + }, + { + "type": "wait", + "data": { + "waitTime": 0.3 + } + }, + { + "type": "named", + "data": { + "name": "RollIntakeIn" + } + }, + { + "type": "wait", + "data": { + "waitTime": 0.5 + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "MidPointToAmp" + } + }, + { + "type": "path", + "data": { + "pathName": "AmpToMidPoint" + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "IntakeNote" + } + } + ] + } + }, + { + "type": "wait", + "data": { + "waitTime": 0.3 + } + }, + { + "type": "named", + "data": { + "name": "ShootNoteAuto" + } + }, + { + "type": "wait", + "data": { + "waitTime": 0.33 + } + }, + { + "type": "named", + "data": { + "name": "ShooterStop" + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/3PMidM3.auto b/src/main/deploy/pathplanner/autos/3PMidM3.auto index 4159fa4..8958507 100644 --- a/src/main/deploy/pathplanner/autos/3PMidM3.auto +++ b/src/main/deploy/pathplanner/autos/3PMidM3.auto @@ -1,132 +1,126 @@ -{ - "version": 1.0, - "startingPose": { - "position": { - "x": 1.37, - "y": 5.524499726219249 - }, - "rotation": 180.0 - }, - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "ShooterWindUp" - } - }, - { - "type": "wait", - "data": { - "waitTime": 0.68 - } - }, - { - "type": "named", - "data": { - "name": "ShootNoteAuto" - } - }, - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "sequential", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "ToMidNoteFromMid" - } - }, - { - "type": "path", - "data": { - "pathName": "FromMidNoteToMid" - } - } - ] - } - }, - { - "type": "named", - "data": { - "name": "IntakeNote" - } - } - ] - } - }, - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "sequential", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "ToFar3FromMid" - } - }, - { - "type": "path", - "data": { - "pathName": "FromFar3ToMid" - } - } - ] - } - }, - { - "type": "sequential", - "data": { - "commands": [ - { - "type": "wait", - "data": { - "waitTime": 3.0 - } - }, - { - "type": "named", - "data": { - "name": "IntakeNote" - } - } - ] - } - } - ] - } - }, - { - "type": "named", - "data": { - "name": "CancelIntakeNote" - } - }, - { - "type": "named", - "data": { - "name": "ShootNote" - } - }, - { - "type": "named", - "data": { - "name": "ShootNote" - } - } - ] - } - }, - "folder": null, - "choreoAuto": false +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "ShooterWindUp" + } + }, + { + "type": "wait", + "data": { + "waitTime": 0.68 + } + }, + { + "type": "named", + "data": { + "name": "ShootNoteAuto" + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "ToMidNoteFromMid" + } + }, + { + "type": "path", + "data": { + "pathName": "FromMidNoteToMid" + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "IntakeNote" + } + } + ] + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "ToFar3FromMid" + } + }, + { + "type": "path", + "data": { + "pathName": "FromFar3ToMid" + } + } + ] + } + }, + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "wait", + "data": { + "waitTime": 3.0 + } + }, + { + "type": "named", + "data": { + "name": "IntakeNote" + } + } + ] + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "CancelIntakeNote" + } + }, + { + "type": "named", + "data": { + "name": "ShootNote" + } + }, + { + "type": "named", + "data": { + "name": "ShootNote" + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/3PMidMAScoreTurn.auto b/src/main/deploy/pathplanner/autos/3PMidMAScoreTurn.auto index 3503dd7..02d4178 100644 --- a/src/main/deploy/pathplanner/autos/3PMidMAScoreTurn.auto +++ b/src/main/deploy/pathplanner/autos/3PMidMAScoreTurn.auto @@ -1,113 +1,107 @@ -{ - "version": 1.0, - "startingPose": { - "position": { - "x": 1.37, - "y": 5.52 - }, - "rotation": 180.0 - }, - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "ShooterWindUp" - } - }, - { - "type": "wait", - "data": { - "waitTime": 0.3 - } - }, - { - "type": "named", - "data": { - "name": "ShootNoteAuto" - } - }, - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "IntakeNote" - } - }, - { - "type": "sequential", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "ToMidNoteFromMid" - } - }, - { - "type": "path", - "data": { - "pathName": "FromMidNoteToMid" - } - } - ] - } - } - ] - } - }, - { - "type": "named", - "data": { - "name": "ShootNoteAuto" - } - }, - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "IntakeNote" - } - }, - { - "type": "sequential", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "ToAMPNoteFromMidTurn" - } - }, - { - "type": "path", - "data": { - "pathName": "FromAMPNoteToMidTurn" - } - } - ] - } - } - ] - } - }, - { - "type": "named", - "data": { - "name": "ShootNoteAuto" - } - } - ] - } - }, - "folder": null, - "choreoAuto": false +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "ShooterWindUp" + } + }, + { + "type": "wait", + "data": { + "waitTime": 0.3 + } + }, + { + "type": "named", + "data": { + "name": "ShootNoteAuto" + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "IntakeNote" + } + }, + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "ToMidNoteFromMid" + } + }, + { + "type": "path", + "data": { + "pathName": "FromMidNoteToMid" + } + } + ] + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "ShootNoteAuto" + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "IntakeNote" + } + }, + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "ToAMPNoteFromMidTurn" + } + }, + { + "type": "path", + "data": { + "pathName": "FromAMPNoteToMidTurn" + } + } + ] + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "ShootNoteAuto" + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/3PMidMS.auto b/src/main/deploy/pathplanner/autos/3PMidMS.auto index f4888eb..6b57517 100644 --- a/src/main/deploy/pathplanner/autos/3PMidMS.auto +++ b/src/main/deploy/pathplanner/autos/3PMidMS.auto @@ -1,119 +1,113 @@ -{ - "version": 1.0, - "startingPose": { - "position": { - "x": 1.34, - "y": 5.51843359236209 - }, - "rotation": 180.0 - }, - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "ShooterWindUp" - } - }, - { - "type": "wait", - "data": { - "waitTime": 0.3 - } - }, - { - "type": "named", - "data": { - "name": "ShootNoteAuto" - } - }, - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "sequential", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "ToMidNoteFromMid" - } - }, - { - "type": "path", - "data": { - "pathName": "FromMidNoteToMid" - } - } - ] - } - }, - { - "type": "named", - "data": { - "name": "IntakeNote" - } - } - ] - } - }, - { - "type": "named", - "data": { - "name": "ShootNoteAuto" - } - }, - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "sequential", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "ToSourceNoteFromMid" - } - }, - { - "type": "path", - "data": { - "pathName": "FromSourceNoteToMid" - } - } - ] - } - }, - { - "type": "named", - "data": { - "name": "IntakeNote" - } - } - ] - } - }, - { - "type": "named", - "data": { - "name": "ShootNoteAuto" - } - }, - { - "type": "named", - "data": { - "name": "ShooterStop" - } - } - ] - } - }, - "folder": null, - "choreoAuto": false +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "ShooterWindUp" + } + }, + { + "type": "wait", + "data": { + "waitTime": 0.3 + } + }, + { + "type": "named", + "data": { + "name": "ShootNoteAuto" + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "ToMidNoteFromMid" + } + }, + { + "type": "path", + "data": { + "pathName": "FromMidNoteToMid" + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "IntakeNote" + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "ShootNoteAuto" + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "ToSourceNoteFromMid" + } + }, + { + "type": "path", + "data": { + "pathName": "FromSourceNoteToMid" + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "IntakeNote" + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "ShootNoteAuto" + } + }, + { + "type": "named", + "data": { + "name": "ShooterStop" + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/3PSourceFar4Far5.auto b/src/main/deploy/pathplanner/autos/3PSourceFar4Far5.auto index 163e7da..434737d 100644 --- a/src/main/deploy/pathplanner/autos/3PSourceFar4Far5.auto +++ b/src/main/deploy/pathplanner/autos/3PSourceFar4Far5.auto @@ -1,145 +1,139 @@ -{ - "version": 1.0, - "startingPose": { - "position": { - "x": 0.72, - "y": 4.37 - }, - "rotation": 120.0 - }, - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "ShooterWindUp" - } - }, - { - "type": "wait", - "data": { - "waitTime": 0.4 - } - }, - { - "type": "named", - "data": { - "name": "ShootNoteAuto" - } - }, - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "sequential", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "ToFar5FromSource" - } - }, - { - "type": "path", - "data": { - "pathName": "FromFar5ToSource" - } - } - ] - } - }, - { - "type": "sequential", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "IntakeNote" - } - }, - { - "type": "wait", - "data": { - "waitTime": 2.7 - } - } - ] - } - } - ] - } - }, - { - "type": "named", - "data": { - "name": "ShootNoteAuto" - } - }, - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "sequential", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "SourceToFar4" - } - }, - { - "type": "path", - "data": { - "pathName": "Far4ToSource" - } - } - ] - } - }, - { - "type": "sequential", - "data": { - "commands": [ - { - "type": "wait", - "data": { - "waitTime": 2.7 - } - }, - { - "type": "named", - "data": { - "name": "IntakeNote" - } - } - ] - } - } - ] - } - }, - { - "type": "named", - "data": { - "name": "ShootNoteAuto" - } - }, - { - "type": "named", - "data": { - "name": "ShooterStop" - } - } - ] - } - }, - "folder": null, - "choreoAuto": false +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "ShooterWindUp" + } + }, + { + "type": "wait", + "data": { + "waitTime": 0.4 + } + }, + { + "type": "named", + "data": { + "name": "ShootNoteAuto" + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "ToFar5FromSource" + } + }, + { + "type": "path", + "data": { + "pathName": "FromFar5ToSource" + } + } + ] + } + }, + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "IntakeNote" + } + }, + { + "type": "wait", + "data": { + "waitTime": 2.7 + } + } + ] + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "ShootNoteAuto" + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "SourceToFar4" + } + }, + { + "type": "path", + "data": { + "pathName": "Far4ToSource" + } + } + ] + } + }, + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "wait", + "data": { + "waitTime": 2.7 + } + }, + { + "type": "named", + "data": { + "name": "IntakeNote" + } + } + ] + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "ShootNoteAuto" + } + }, + { + "type": "named", + "data": { + "name": "ShooterStop" + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/3PSourceFar4S.auto b/src/main/deploy/pathplanner/autos/3PSourceFar4S.auto index be3eab0..3322e27 100644 --- a/src/main/deploy/pathplanner/autos/3PSourceFar4S.auto +++ b/src/main/deploy/pathplanner/autos/3PSourceFar4S.auto @@ -1,75 +1,69 @@ -{ - "version": 1.0, - "startingPose": { - "position": { - "x": 0.72, - "y": 4.368142031576504 - }, - "rotation": 120.0 - }, - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "ShooterWindUp" - } - }, - { - "type": "wait", - "data": { - "waitTime": 0.9 - } - }, - { - "type": "named", - "data": { - "name": "ShootNoteAuto" - } - }, - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "IntakeNote" - } - }, - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "SourceToFar4" - } - }, - { - "type": "path", - "data": { - "pathName": "Far4ToSource" - } - } - ] - } - } - ] - } - }, - { - "type": "named", - "data": { - "name": "ShootNoteAuto" - } - } - ] - } - }, - "folder": null, - "choreoAuto": false +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "ShooterWindUp" + } + }, + { + "type": "wait", + "data": { + "waitTime": 0.9 + } + }, + { + "type": "named", + "data": { + "name": "ShootNoteAuto" + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "IntakeNote" + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "SourceToFar4" + } + }, + { + "type": "path", + "data": { + "pathName": "Far4ToSource" + } + } + ] + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "ShootNoteAuto" + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/3PSourceS4.auto b/src/main/deploy/pathplanner/autos/3PSourceS4.auto index 1a0abf0..cef7502 100644 --- a/src/main/deploy/pathplanner/autos/3PSourceS4.auto +++ b/src/main/deploy/pathplanner/autos/3PSourceS4.auto @@ -1,119 +1,113 @@ -{ - "version": 1.0, - "startingPose": { - "position": { - "x": 0.72, - "y": 4.37 - }, - "rotation": 120.0 - }, - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "ShooterWindUp" - } - }, - { - "type": "wait", - "data": { - "waitTime": 0.7 - } - }, - { - "type": "named", - "data": { - "name": "ShootNoteAuto" - } - }, - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "sequential", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "ToSourceNoteFromSource" - } - }, - { - "type": "path", - "data": { - "pathName": "FromSourceNoteToSource" - } - } - ] - } - }, - { - "type": "named", - "data": { - "name": "IntakeNote" - } - } - ] - } - }, - { - "type": "named", - "data": { - "name": "ShootNoteAuto" - } - }, - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "sequential", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "SourceToFar4" - } - }, - { - "type": "path", - "data": { - "pathName": "Far4ToSource" - } - } - ] - } - }, - { - "type": "named", - "data": { - "name": "IntakeNote" - } - } - ] - } - }, - { - "type": "named", - "data": { - "name": "ShootNoteAuto" - } - }, - { - "type": "named", - "data": { - "name": "ShooterStop" - } - } - ] - } - }, - "folder": null, - "choreoAuto": false +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "ShooterWindUp" + } + }, + { + "type": "wait", + "data": { + "waitTime": 0.7 + } + }, + { + "type": "named", + "data": { + "name": "ShootNoteAuto" + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "ToSourceNoteFromSource" + } + }, + { + "type": "path", + "data": { + "pathName": "FromSourceNoteToSource" + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "IntakeNote" + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "ShootNoteAuto" + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "SourceToFar4" + } + }, + { + "type": "path", + "data": { + "pathName": "Far4ToSource" + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "IntakeNote" + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "ShootNoteAuto" + } + }, + { + "type": "named", + "data": { + "name": "ShooterStop" + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/3PSourceS5.auto b/src/main/deploy/pathplanner/autos/3PSourceS5.auto index f900b30..d503651 100644 --- a/src/main/deploy/pathplanner/autos/3PSourceS5.auto +++ b/src/main/deploy/pathplanner/autos/3PSourceS5.auto @@ -1,113 +1,107 @@ -{ - "version": 1.0, - "startingPose": { - "position": { - "x": 0.72, - "y": 4.37 - }, - "rotation": 120.0 - }, - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "ShooterWindUp" - } - }, - { - "type": "wait", - "data": { - "waitTime": 0.3 - } - }, - { - "type": "named", - "data": { - "name": "ShootNoteAuto" - } - }, - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "sequential", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "ToFar5FromSource" - } - }, - { - "type": "path", - "data": { - "pathName": "FromFar5ToSource" - } - } - ] - } - }, - { - "type": "named", - "data": { - "name": "IntakeNote" - } - } - ] - } - }, - { - "type": "named", - "data": { - "name": "CancelIntakeNote" - } - }, - { - "type": "named", - "data": { - "name": "ShootNoteAuto" - } - }, - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "sequential", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "ToSourceNoteFromSource" - } - }, - { - "type": "path", - "data": { - "pathName": "FromSourceNoteToSource" - } - } - ] - } - } - ] - } - }, - { - "type": "named", - "data": { - "name": "ShootNoteAuto" - } - } - ] - } - }, - "folder": null, - "choreoAuto": false +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "ShooterWindUp" + } + }, + { + "type": "wait", + "data": { + "waitTime": 0.3 + } + }, + { + "type": "named", + "data": { + "name": "ShootNoteAuto" + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "ToFar5FromSource" + } + }, + { + "type": "path", + "data": { + "pathName": "FromFar5ToSource" + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "IntakeNote" + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "CancelIntakeNote" + } + }, + { + "type": "named", + "data": { + "name": "ShootNoteAuto" + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "ToSourceNoteFromSource" + } + }, + { + "type": "path", + "data": { + "pathName": "FromSourceNoteToSource" + } + } + ] + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "ShootNoteAuto" + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/4PAMPAM1.auto b/src/main/deploy/pathplanner/autos/4PAMPAM1.auto index 3d0f2c6..8f964ac 100644 --- a/src/main/deploy/pathplanner/autos/4PAMPAM1.auto +++ b/src/main/deploy/pathplanner/autos/4PAMPAM1.auto @@ -1,91 +1,85 @@ -{ - "version": 1.0, - "startingPose": { - "position": { - "x": 0.75, - "y": 6.5832987179074784 - }, - "rotation": -120.0 - }, - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "ShooterWindUp" - } - }, - { - "type": "wait", - "data": { - "waitTime": 0.68 - } - }, - { - "type": "named", - "data": { - "name": "ShootNote" - } - }, - { - "type": "path", - "data": { - "pathName": null - } - }, - { - "type": "path", - "data": { - "pathName": null - } - }, - { - "type": "named", - "data": { - "name": "ShootNote" - } - }, - { - "type": "path", - "data": { - "pathName": null - } - }, - { - "type": "path", - "data": { - "pathName": null - } - }, - { - "type": "named", - "data": { - "name": "ShootNote" - } - }, - { - "type": "path", - "data": { - "pathName": "ToMidNoteFromMid" - } - }, - { - "type": "path", - "data": { - "pathName": "FromMidNoteToMid" - } - }, - { - "type": "named", - "data": { - "name": "ShootNote" - } - } - ] - } - }, - "folder": null, - "choreoAuto": false +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "ShooterWindUp" + } + }, + { + "type": "wait", + "data": { + "waitTime": 0.68 + } + }, + { + "type": "named", + "data": { + "name": "ShootNote" + } + }, + { + "type": "path", + "data": { + "pathName": null + } + }, + { + "type": "path", + "data": { + "pathName": null + } + }, + { + "type": "named", + "data": { + "name": "ShootNote" + } + }, + { + "type": "path", + "data": { + "pathName": null + } + }, + { + "type": "path", + "data": { + "pathName": null + } + }, + { + "type": "named", + "data": { + "name": "ShootNote" + } + }, + { + "type": "path", + "data": { + "pathName": "ToMidNoteFromMid" + } + }, + { + "type": "path", + "data": { + "pathName": "FromMidNoteToMid" + } + }, + { + "type": "named", + "data": { + "name": "ShootNote" + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/4PAmpA12.auto b/src/main/deploy/pathplanner/autos/4PAmpA12.auto index 45acded..56743a6 100644 --- a/src/main/deploy/pathplanner/autos/4PAmpA12.auto +++ b/src/main/deploy/pathplanner/autos/4PAmpA12.auto @@ -1,157 +1,151 @@ -{ - "version": 1.0, - "startingPose": { - "position": { - "x": 0.7050561319382253, - "y": 6.722020177278586 - }, - "rotation": -120.13594030325343 - }, - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "ShooterWindUp" - } - }, - { - "type": "wait", - "data": { - "waitTime": 0.9 - } - }, - { - "type": "named", - "data": { - "name": "ShootNoteAuto" - } - }, - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "sequential", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "ToAMPNoteFromAMP" - } - }, - { - "type": "path", - "data": { - "pathName": "FromAMPNoteToAMP" - } - } - ] - } - }, - { - "type": "named", - "data": { - "name": "IntakeNote" - } - } - ] - } - }, - { - "type": "named", - "data": { - "name": "ShootNoteAuto" - } - }, - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "IntakeNote" - } - }, - { - "type": "sequential", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "ToFar1FromAMP" - } - }, - { - "type": "path", - "data": { - "pathName": null - } - } - ] - } - } - ] - } - }, - { - "type": "named", - "data": { - "name": "ShootNoteAuto" - } - }, - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "sequential", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": null - } - }, - { - "type": "path", - "data": { - "pathName": "Copy of FromFar2ToAMP" - } - } - ] - } - }, - { - "type": "named", - "data": { - "name": "IntakeNote" - } - } - ] - } - }, - { - "type": "named", - "data": { - "name": "ShootNoteAuto" - } - }, - { - "type": "named", - "data": { - "name": "ShooterStop" - } - } - ] - } - }, - "folder": null, - "choreoAuto": false +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "ShooterWindUp" + } + }, + { + "type": "wait", + "data": { + "waitTime": 0.9 + } + }, + { + "type": "named", + "data": { + "name": "ShootNoteAuto" + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "ToAMPNoteFromAMP" + } + }, + { + "type": "path", + "data": { + "pathName": "FromAMPNoteToAMP" + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "IntakeNote" + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "ShootNoteAuto" + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "IntakeNote" + } + }, + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "ToFar1FromAMP" + } + }, + { + "type": "path", + "data": { + "pathName": null + } + } + ] + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "ShootNoteAuto" + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": null + } + }, + { + "type": "path", + "data": { + "pathName": "Copy of FromFar2ToAMP" + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "IntakeNote" + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "ShootNoteAuto" + } + }, + { + "type": "named", + "data": { + "name": "ShooterStop" + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/4PMidMASScoreTrans.auto b/src/main/deploy/pathplanner/autos/4PMidMASScoreTrans.auto index bdcb0ff..4328b54 100644 --- a/src/main/deploy/pathplanner/autos/4PMidMASScoreTrans.auto +++ b/src/main/deploy/pathplanner/autos/4PMidMASScoreTrans.auto @@ -1,163 +1,157 @@ -{ - "version": 1.0, - "startingPose": { - "position": { - "x": 1.36, - "y": 5.52 - }, - "rotation": 180.0 - }, - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "ShooterWindUp" - } - }, - { - "type": "wait", - "data": { - "waitTime": 0.9 - } - }, - { - "type": "named", - "data": { - "name": "ShootNoteAuto" - } - }, - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "IntakeNote" - } - }, - { - "type": "sequential", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "ToMidNoteFromMid" - } - }, - { - "type": "path", - "data": { - "pathName": "FromMidNoteToMid" - } - } - ] - } - } - ] - } - }, - { - "type": "wait", - "data": { - "waitTime": 0.35 - } - }, - { - "type": "named", - "data": { - "name": "ShootNoteAuto" - } - }, - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "IntakeNote" - } - }, - { - "type": "sequential", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "ToSourceNoteFromMidTrans" - } - }, - { - "type": "path", - "data": { - "pathName": "FromSourceNoteToMidTrans" - } - } - ] - } - } - ] - } - }, - { - "type": "named", - "data": { - "name": "ShootNoteAuto" - } - }, - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "IntakeNote" - } - }, - { - "type": "sequential", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "ToAMPNoteFromMidTrans" - } - }, - { - "type": "path", - "data": { - "pathName": "FromAMPNoteToMidTrans" - } - } - ] - } - } - ] - } - }, - { - "type": "named", - "data": { - "name": "ShootNoteAuto" - } - }, - { - "type": "named", - "data": { - "name": "ShooterStop" - } - } - ] - } - }, - "folder": null, - "choreoAuto": false +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "ShooterWindUp" + } + }, + { + "type": "wait", + "data": { + "waitTime": 0.9 + } + }, + { + "type": "named", + "data": { + "name": "ShootNoteAuto" + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "IntakeNote" + } + }, + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "ToMidNoteFromMid" + } + }, + { + "type": "path", + "data": { + "pathName": "FromMidNoteToMid" + } + } + ] + } + } + ] + } + }, + { + "type": "wait", + "data": { + "waitTime": 0.35 + } + }, + { + "type": "named", + "data": { + "name": "ShootNoteAuto" + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "IntakeNote" + } + }, + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "ToSourceNoteFromMidTrans" + } + }, + { + "type": "path", + "data": { + "pathName": "FromSourceNoteToMidTrans" + } + } + ] + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "ShootNoteAuto" + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "IntakeNote" + } + }, + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "ToAMPNoteFromMidTrans" + } + }, + { + "type": "path", + "data": { + "pathName": "FromAMPNoteToMidTrans" + } + } + ] + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "ShootNoteAuto" + } + }, + { + "type": "named", + "data": { + "name": "ShooterStop" + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/4PMidMASScoreTurn.auto b/src/main/deploy/pathplanner/autos/4PMidMASScoreTurn.auto index d07cf57..d2888dc 100644 --- a/src/main/deploy/pathplanner/autos/4PMidMASScoreTurn.auto +++ b/src/main/deploy/pathplanner/autos/4PMidMASScoreTurn.auto @@ -1,12 +1,5 @@ { - "version": 1.0, - "startingPose": { - "position": { - "x": 1.34, - "y": 5.51843359236209 - }, - "rotation": 180.0 - }, + "version": "2025.0", "command": { "type": "sequential", "data": { @@ -170,6 +163,7 @@ ] } }, + "resetOdom": true, "folder": null, "choreoAuto": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/4PMidMS3.auto b/src/main/deploy/pathplanner/autos/4PMidMS3.auto index fd2d4b7..039d1f3 100644 --- a/src/main/deploy/pathplanner/autos/4PMidMS3.auto +++ b/src/main/deploy/pathplanner/autos/4PMidMS3.auto @@ -1,91 +1,85 @@ -{ - "version": 1.0, - "startingPose": { - "position": { - "x": 1.37, - "y": 5.524499726219249 - }, - "rotation": 180.0 - }, - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "ShooterWindUp" - } - }, - { - "type": "wait", - "data": { - "waitTime": 0.3 - } - }, - { - "type": "named", - "data": { - "name": "ShootNoteAuto" - } - }, - { - "type": "path", - "data": { - "pathName": "ToFar3FromMid" - } - }, - { - "type": "path", - "data": { - "pathName": "FromFar3ToMid" - } - }, - { - "type": "named", - "data": { - "name": "ShootNote" - } - }, - { - "type": "path", - "data": { - "pathName": "ToMidNoteFromMid" - } - }, - { - "type": "path", - "data": { - "pathName": "FromMidNoteToMid" - } - }, - { - "type": "named", - "data": { - "name": "ShootNote" - } - }, - { - "type": "path", - "data": { - "pathName": "ToSourceNoteFromMid" - } - }, - { - "type": "path", - "data": { - "pathName": "FromSourceNoteToMid" - } - }, - { - "type": "named", - "data": { - "name": "ShootNote" - } - } - ] - } - }, - "folder": null, - "choreoAuto": false +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "ShooterWindUp" + } + }, + { + "type": "wait", + "data": { + "waitTime": 0.3 + } + }, + { + "type": "named", + "data": { + "name": "ShootNoteAuto" + } + }, + { + "type": "path", + "data": { + "pathName": "ToFar3FromMid" + } + }, + { + "type": "path", + "data": { + "pathName": "FromFar3ToMid" + } + }, + { + "type": "named", + "data": { + "name": "ShootNote" + } + }, + { + "type": "path", + "data": { + "pathName": "ToMidNoteFromMid" + } + }, + { + "type": "path", + "data": { + "pathName": "FromMidNoteToMid" + } + }, + { + "type": "named", + "data": { + "name": "ShootNote" + } + }, + { + "type": "path", + "data": { + "pathName": "ToSourceNoteFromMid" + } + }, + { + "type": "path", + "data": { + "pathName": "FromSourceNoteToMid" + } + }, + { + "type": "named", + "data": { + "name": "ShootNote" + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/4PMidMSFar1.auto b/src/main/deploy/pathplanner/autos/4PMidMSFar1.auto index 2710f4b..90e0a8e 100644 --- a/src/main/deploy/pathplanner/autos/4PMidMSFar1.auto +++ b/src/main/deploy/pathplanner/autos/4PMidMSFar1.auto @@ -1,170 +1,164 @@ -{ - "version": 1.0, - "startingPose": { - "position": { - "x": 1.35, - "y": 5.52 - }, - "rotation": 180.0 - }, - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "ShooterWindUp" - } - }, - { - "type": "wait", - "data": { - "waitTime": 0.3 - } - }, - { - "type": "named", - "data": { - "name": "ShootNoteAuto" - } - }, - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "IntakeNote" - } - }, - { - "type": "sequential", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "ToMidNoteFromMid" - } - }, - { - "type": "path", - "data": { - "pathName": "FromMidNoteToMid" - } - } - ] - } - } - ] - } - }, - { - "type": "wait", - "data": { - "waitTime": 0.3 - } - }, - { - "type": "named", - "data": { - "name": "ShootNoteAuto" - } - }, - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "IntakeNote" - } - }, - { - "type": "sequential", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "ToAMPNoteFromMidTurn" - } - }, - { - "type": "path", - "data": { - "pathName": "FromAMPNoteToMid" - } - } - ] - } - } - ] - } - }, - { - "type": "named", - "data": { - "name": "ShootNoteAuto" - } - }, - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "sequential", - "data": { - "commands": [ - { - "type": "wait", - "data": { - "waitTime": 0.8 - } - }, - { - "type": "named", - "data": { - "name": "IntakeNote" - } - } - ] - } - }, - { - "type": "sequential", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "ToFar1FromMid" - } - }, - { - "type": "path", - "data": { - "pathName": "FromFar1ToMid" - } - } - ] - } - } - ] - } - }, - { - "type": "named", - "data": { - "name": "ShooterStop" - } - } - ] - } - }, - "folder": null, - "choreoAuto": false +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "ShooterWindUp" + } + }, + { + "type": "wait", + "data": { + "waitTime": 0.3 + } + }, + { + "type": "named", + "data": { + "name": "ShootNoteAuto" + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "IntakeNote" + } + }, + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "ToMidNoteFromMid" + } + }, + { + "type": "path", + "data": { + "pathName": "FromMidNoteToMid" + } + } + ] + } + } + ] + } + }, + { + "type": "wait", + "data": { + "waitTime": 0.3 + } + }, + { + "type": "named", + "data": { + "name": "ShootNoteAuto" + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "IntakeNote" + } + }, + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "ToAMPNoteFromMidTurn" + } + }, + { + "type": "path", + "data": { + "pathName": "FromAMPNoteToMid" + } + } + ] + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "ShootNoteAuto" + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "wait", + "data": { + "waitTime": 0.8 + } + }, + { + "type": "named", + "data": { + "name": "IntakeNote" + } + } + ] + } + }, + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "ToFar1FromMid" + } + }, + { + "type": "path", + "data": { + "pathName": "FromFar1ToMid" + } + } + ] + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "ShooterStop" + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/4PSourceSM5.auto b/src/main/deploy/pathplanner/autos/4PSourceSM5.auto index 645188b..ae78cba 100644 --- a/src/main/deploy/pathplanner/autos/4PSourceSM5.auto +++ b/src/main/deploy/pathplanner/autos/4PSourceSM5.auto @@ -1,91 +1,85 @@ -{ - "version": 1.0, - "startingPose": { - "position": { - "x": 0.716766968484007, - "y": 4.368142031576504 - }, - "rotation": 120.0 - }, - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "ShooterWindUp" - } - }, - { - "type": "wait", - "data": { - "waitTime": 0.68 - } - }, - { - "type": "named", - "data": { - "name": "ShootNote" - } - }, - { - "type": "path", - "data": { - "pathName": null - } - }, - { - "type": "path", - "data": { - "pathName": "FromFar5ToSource" - } - }, - { - "type": "named", - "data": { - "name": "ShootNote" - } - }, - { - "type": "path", - "data": { - "pathName": "ToSourceNoteFromSource" - } - }, - { - "type": "path", - "data": { - "pathName": "FromSourceNoteToMid" - } - }, - { - "type": "named", - "data": { - "name": "ShootNote" - } - }, - { - "type": "path", - "data": { - "pathName": "ToMidNoteFromMid" - } - }, - { - "type": "path", - "data": { - "pathName": "FromMidNoteToMid" - } - }, - { - "type": "named", - "data": { - "name": "ShootNote" - } - } - ] - } - }, - "folder": null, - "choreoAuto": false +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "ShooterWindUp" + } + }, + { + "type": "wait", + "data": { + "waitTime": 0.68 + } + }, + { + "type": "named", + "data": { + "name": "ShootNote" + } + }, + { + "type": "path", + "data": { + "pathName": null + } + }, + { + "type": "path", + "data": { + "pathName": "FromFar5ToSource" + } + }, + { + "type": "named", + "data": { + "name": "ShootNote" + } + }, + { + "type": "path", + "data": { + "pathName": "ToSourceNoteFromSource" + } + }, + { + "type": "path", + "data": { + "pathName": "FromSourceNoteToMid" + } + }, + { + "type": "named", + "data": { + "name": "ShootNote" + } + }, + { + "type": "path", + "data": { + "pathName": "ToMidNoteFromMid" + } + }, + { + "type": "path", + "data": { + "pathName": "FromMidNoteToMid" + } + }, + { + "type": "named", + "data": { + "name": "ShootNote" + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/AdaptableTest.auto b/src/main/deploy/pathplanner/autos/AdaptableTest.auto index 6189f4e..571ce66 100644 --- a/src/main/deploy/pathplanner/autos/AdaptableTest.auto +++ b/src/main/deploy/pathplanner/autos/AdaptableTest.auto @@ -1,108 +1,102 @@ -{ - "version": 1.0, - "startingPose": { - "position": { - "x": 0.7, - "y": 6.7 - }, - "rotation": -120.0 - }, - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "ToAmpNoteFromAmpShort" - } - }, - { - "type": "race", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "AmpNotePresent" - } - }, - { - "type": "named", - "data": { - "name": "IntakeNote" - } - } - ] - } - }, - { - "type": "race", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "AmpNoteNotPresent" - } - }, - { - "type": "sequential", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "CancelIntakeNote" - } - }, - { - "type": "named", - "data": { - "name": "DriveToMidNoteFromAmp" - } - } - ] - } - } - ] - } - }, - { - "type": "race", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "MidNotePresent" - } - }, - { - "type": "sequential", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "IntakeNote" - } - } - ] - } - } - ] - } - }, - { - "type": "path", - "data": { - "pathName": "ToAmpFromAmpNoteShort" - } - } - ] - } - }, - "folder": null, - "choreoAuto": false +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "ToAmpNoteFromAmpShort" + } + }, + { + "type": "race", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "AmpNotePresent" + } + }, + { + "type": "named", + "data": { + "name": "IntakeNote" + } + } + ] + } + }, + { + "type": "race", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "AmpNoteNotPresent" + } + }, + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "CancelIntakeNote" + } + }, + { + "type": "named", + "data": { + "name": "DriveToMidNoteFromAmp" + } + } + ] + } + } + ] + } + }, + { + "type": "race", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "MidNotePresent" + } + }, + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "IntakeNote" + } + } + ] + } + } + ] + } + }, + { + "type": "path", + "data": { + "pathName": "ToAmpFromAmpNoteShort" + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/AmpMidlineDisrupt.auto b/src/main/deploy/pathplanner/autos/AmpMidlineDisrupt.auto index 16b9e36..6d562ec 100644 --- a/src/main/deploy/pathplanner/autos/AmpMidlineDisrupt.auto +++ b/src/main/deploy/pathplanner/autos/AmpMidlineDisrupt.auto @@ -1,43 +1,37 @@ -{ - "version": 1.0, - "startingPose": { - "position": { - "x": 1.36, - "y": 7.696215392430785 - }, - "rotation": 0 - }, - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "RollIntakeEject" - } - }, - { - "type": "path", - "data": { - "pathName": "ToFar1RideWall" - } - }, - { - "type": "named", - "data": { - "name": "StopIntake" - } - }, - { - "type": "path", - "data": { - "pathName": "theFuckMeMovement" - } - } - ] - } - }, - "folder": null, - "choreoAuto": false +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "RollIntakeEject" + } + }, + { + "type": "path", + "data": { + "pathName": "ToFar1RideWall" + } + }, + { + "type": "named", + "data": { + "name": "StopIntake" + } + }, + { + "type": "path", + "data": { + "pathName": "theFuckMeMovement" + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Copy of 4PMidMASScoreTrans.auto b/src/main/deploy/pathplanner/autos/Copy of 4PMidMASScoreTrans.auto index dcebc59..93240e3 100644 --- a/src/main/deploy/pathplanner/autos/Copy of 4PMidMASScoreTrans.auto +++ b/src/main/deploy/pathplanner/autos/Copy of 4PMidMASScoreTrans.auto @@ -1,97 +1,91 @@ -{ - "version": 1.0, - "startingPose": { - "position": { - "x": 1.36, - "y": 5.52 - }, - "rotation": 180.0 - }, - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "sequential", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "ToMidNoteFromMid" - } - }, - { - "type": "path", - "data": { - "pathName": "FromMidNoteToMid" - } - } - ] - } - } - ] - } - }, - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "sequential", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "ToSourceNoteFromMidTrans" - } - }, - { - "type": "path", - "data": { - "pathName": "FromSourceNoteToMidTrans" - } - } - ] - } - } - ] - } - }, - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "sequential", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "ToAMPNoteFromMidTrans" - } - }, - { - "type": "path", - "data": { - "pathName": "FromAMPNoteToMidTrans" - } - } - ] - } - } - ] - } - } - ] - } - }, - "folder": null, - "choreoAuto": false +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "ToMidNoteFromMid" + } + }, + { + "type": "path", + "data": { + "pathName": "FromMidNoteToMid" + } + } + ] + } + } + ] + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "ToSourceNoteFromMidTrans" + } + }, + { + "type": "path", + "data": { + "pathName": "FromSourceNoteToMidTrans" + } + } + ] + } + } + ] + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "ToAMPNoteFromMidTrans" + } + }, + { + "type": "path", + "data": { + "pathName": "FromAMPNoteToMidTrans" + } + } + ] + } + } + ] + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Copy of 4PMidMASScoreTurn.auto b/src/main/deploy/pathplanner/autos/Copy of 4PMidMASScoreTurn.auto index 9883d0d..744f2bc 100644 --- a/src/main/deploy/pathplanner/autos/Copy of 4PMidMASScoreTurn.auto +++ b/src/main/deploy/pathplanner/autos/Copy of 4PMidMASScoreTurn.auto @@ -1,97 +1,91 @@ -{ - "version": 1.0, - "startingPose": { - "position": { - "x": 1.34, - "y": 5.51843359236209 - }, - "rotation": 180.0 - }, - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "sequential", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "ToMidNoteFromMid" - } - }, - { - "type": "path", - "data": { - "pathName": "FromMidNoteToMid" - } - } - ] - } - } - ] - } - }, - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "sequential", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "ToSourceNoteFromMid" - } - }, - { - "type": "path", - "data": { - "pathName": "FromSourceNoteToMid" - } - } - ] - } - } - ] - } - }, - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "sequential", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "ToAMPNoteFromMidTurn" - } - }, - { - "type": "path", - "data": { - "pathName": "FromAMPNoteToMidTurn" - } - } - ] - } - } - ] - } - } - ] - } - }, - "folder": null, - "choreoAuto": false +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "ToMidNoteFromMid" + } + }, + { + "type": "path", + "data": { + "pathName": "FromMidNoteToMid" + } + } + ] + } + } + ] + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "ToSourceNoteFromMid" + } + }, + { + "type": "path", + "data": { + "pathName": "FromSourceNoteToMid" + } + } + ] + } + } + ] + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "ToAMPNoteFromMidTurn" + } + }, + { + "type": "path", + "data": { + "pathName": "FromAMPNoteToMidTurn" + } + } + ] + } + } + ] + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/MegaChink.auto b/src/main/deploy/pathplanner/autos/MegaChink.auto index fb2cfcb..b07db03 100644 --- a/src/main/deploy/pathplanner/autos/MegaChink.auto +++ b/src/main/deploy/pathplanner/autos/MegaChink.auto @@ -1,114 +1,108 @@ -{ - "version": 1.0, - "startingPose": { - "position": { - "x": 0.72, - "y": 4.37 - }, - "rotation": 120.0 - }, - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "sequential", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "ToFar5FromSource" - } - }, - { - "type": "path", - "data": { - "pathName": "FromFar5ToShot" - } - } - ] - } - }, - { - "type": "sequential", - "data": { - "commands": [ - { - "type": "wait", - "data": { - "waitTime": 2.1 - } - }, - { - "type": "named", - "data": { - "name": "IntakeNote" - } - } - ] - } - } - ] - } - }, - { - "type": "named", - "data": { - "name": "LobNoteAuto" - } - }, - { - "type": "path", - "data": { - "pathName": "SourceShotToFar4" - } - }, - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "sequential", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "Far4ToFar3" - } - }, - { - "type": "path", - "data": { - "pathName": "FromFar3ToSource" - } - } - ] - } - }, - { - "type": "named", - "data": { - "name": "IntakeNote" - } - } - ] - } - }, - { - "type": "named", - "data": { - "name": "ShootNoteAuto" - } - } - ] - } - }, - "folder": null, - "choreoAuto": false +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "ToFar5FromSource" + } + }, + { + "type": "path", + "data": { + "pathName": "FromFar5ToShot" + } + } + ] + } + }, + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "wait", + "data": { + "waitTime": 2.1 + } + }, + { + "type": "named", + "data": { + "name": "IntakeNote" + } + } + ] + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "LobNoteAuto" + } + }, + { + "type": "path", + "data": { + "pathName": "SourceShotToFar4" + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "Far4ToFar3" + } + }, + { + "type": "path", + "data": { + "pathName": "FromFar3ToSource" + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "IntakeNote" + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "ShootNoteAuto" + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/OUCH4PMidMASScoreTurn.auto b/src/main/deploy/pathplanner/autos/OUCH4PMidMASScoreTurn.auto index 7702e66..be27227 100644 --- a/src/main/deploy/pathplanner/autos/OUCH4PMidMASScoreTurn.auto +++ b/src/main/deploy/pathplanner/autos/OUCH4PMidMASScoreTurn.auto @@ -1,93 +1,87 @@ -{ - "version": 1.0, - "startingPose": { - "position": { - "x": 1.35, - "y": 5.52 - }, - "rotation": 180.0 - }, - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "ShooterWindUp" - } - }, - { - "type": "wait", - "data": { - "waitTime": 0.3 - } - }, - { - "type": "named", - "data": { - "name": "ShootNoteAuto" - } - }, - { - "type": "named", - "data": { - "name": "VariableShoot" - } - }, - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "IntakeNote" - } - }, - { - "type": "sequential", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "ToMidNoteFromMid" - } - }, - { - "type": "path", - "data": { - "pathName": "Copy of FromMidNoteToMid" - } - } - ] - } - } - ] - } - }, - { - "type": "named", - "data": { - "name": "RollIntakeIn" - } - }, - { - "type": "wait", - "data": { - "waitTime": 0.3 - } - }, - { - "type": "named", - "data": { - "name": "ShooterStop" - } - } - ] - } - }, - "folder": null, - "choreoAuto": false +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "ShooterWindUp" + } + }, + { + "type": "wait", + "data": { + "waitTime": 0.3 + } + }, + { + "type": "named", + "data": { + "name": "ShootNoteAuto" + } + }, + { + "type": "named", + "data": { + "name": "VariableShoot" + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "IntakeNote" + } + }, + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "ToMidNoteFromMid" + } + }, + { + "type": "path", + "data": { + "pathName": "Copy of FromMidNoteToMid" + } + } + ] + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "RollIntakeIn" + } + }, + { + "type": "wait", + "data": { + "waitTime": 0.3 + } + }, + { + "type": "named", + "data": { + "name": "ShooterStop" + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/SourceMidlineDisrupt.auto b/src/main/deploy/pathplanner/autos/SourceMidlineDisrupt.auto index e14beb3..6cf8dd9 100644 --- a/src/main/deploy/pathplanner/autos/SourceMidlineDisrupt.auto +++ b/src/main/deploy/pathplanner/autos/SourceMidlineDisrupt.auto @@ -1,31 +1,25 @@ -{ - "version": 1.0, - "startingPose": { - "position": { - "x": 1.4311279977766793, - "y": 1.5809629336805058 - }, - "rotation": 0.0 - }, - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "ToFar5FromSourceUnaligned" - } - }, - { - "type": "path", - "data": { - "pathName": "theFuckYouMovement" - } - } - ] - } - }, - "folder": null, - "choreoAuto": false +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "ToFar5FromSourceUnaligned" + } + }, + { + "type": "path", + "data": { + "pathName": "theFuckYouMovement" + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/TT.auto b/src/main/deploy/pathplanner/autos/TT.auto index b97ea93..fb9c5d5 100644 --- a/src/main/deploy/pathplanner/autos/TT.auto +++ b/src/main/deploy/pathplanner/autos/TT.auto @@ -1,25 +1,19 @@ -{ - "version": 1.0, - "startingPose": { - "position": { - "x": 2.0, - "y": 7.0 - }, - "rotation": 0.0 - }, - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "TurnTesting" - } - } - ] - } - }, - "folder": null, - "choreoAuto": false +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "TurnTesting" + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/configtauto.auto b/src/main/deploy/pathplanner/autos/configtauto.auto index 69e4fae..e48598b 100644 --- a/src/main/deploy/pathplanner/autos/configtauto.auto +++ b/src/main/deploy/pathplanner/autos/configtauto.auto @@ -1,12 +1,5 @@ { - "version": 1.0, - "startingPose": { - "position": { - "x": 2.0, - "y": 7.0 - }, - "rotation": 0 - }, + "version": "2025.0", "command": { "type": "sequential", "data": { @@ -20,6 +13,7 @@ ] } }, + "resetOdom": true, "folder": null, "choreoAuto": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/navgrid.json b/src/main/deploy/pathplanner/navgrid.json index bab0da9..8050b5c 100644 --- a/src/main/deploy/pathplanner/navgrid.json +++ b/src/main/deploy/pathplanner/navgrid.json @@ -1 +1 @@ -{"field_size":{"x":16.54,"y":8.21},"nodeSizeMeters":0.3,"grid":[[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true],[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true],[true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true],[true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true],[true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,true,true,true,false,false,false,false,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,false,false,false,false,true,true,true,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,true,true,true],[true,true,true,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,true,true,true,true],[true,true,true,true,false,false,false,false,false,false,true,true,true,false,false,false,false,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,false,false,false,false,true,true,true,false,false,false,false,false,false,true,true,true,true,true],[true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true],[true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true],[true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true],[true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true],[true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true],[true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true],[true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true],[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true],[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true]]} \ No newline at end of file +{"field_size":{"x":16.54,"y":8.21},"nodeSizeMeters":0.3,"grid":[[false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false],[false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false],[false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false],[false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false],[false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false],[false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false],[false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false],[false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false],[false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false],[false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false],[false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false],[false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false],[false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false],[false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false],[false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false],[false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false],[false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false],[false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false],[false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false],[false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false],[false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false],[false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false],[false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false],[false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false],[false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false],[false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false],[false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false],[false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false]]} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/AmpToMidPoint.path b/src/main/deploy/pathplanner/paths/AmpToMidPoint.path index eb511bf..bc82d42 100644 --- a/src/main/deploy/pathplanner/paths/AmpToMidPoint.path +++ b/src/main/deploy/pathplanner/paths/AmpToMidPoint.path @@ -1,5 +1,5 @@ { - "version": 1.0, + "version": "2025.0", "waypoints": [ { "anchor": { @@ -31,8 +31,7 @@ "rotationTargets": [ { "waypointRelativePos": 0.3, - "rotationDegrees": 180.0, - "rotateFast": false + "rotationDegrees": 180.0 } ], "constraintZones": [ @@ -44,27 +43,31 @@ "maxVelocity": 1.0, "maxAcceleration": 0.5, "maxAngularVelocity": 360.0, - "maxAngularAcceleration": 180.0 + "maxAngularAcceleration": 180.0, + "nominalVoltage": 12.0, + "unlimited": false } } ], + "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { "maxVelocity": 4.5, "maxAcceleration": 2.5, "maxAngularVelocity": 216.0, - "maxAngularAcceleration": 2520.0 + "maxAngularAcceleration": 2520.0, + "nominalVoltage": 12.0, + "unlimited": false }, "goalEndState": { "velocity": 0, - "rotation": 180.0, - "rotateFast": true + "rotation": 180.0 }, "reversed": false, "folder": null, - "previewStartingState": { - "rotation": -120.0, - "velocity": 0 + "idealStartingState": { + "velocity": 0, + "rotation": 0.0 }, "useDefaultConstraints": true } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Copy of FromFar2ToAMP.path b/src/main/deploy/pathplanner/paths/Copy of FromFar2ToAMP.path index 79cdcf8..762c7b6 100644 --- a/src/main/deploy/pathplanner/paths/Copy of FromFar2ToAMP.path +++ b/src/main/deploy/pathplanner/paths/Copy of FromFar2ToAMP.path @@ -1,5 +1,5 @@ { - "version": 1.0, + "version": "2025.0", "waypoints": [ { "anchor": { @@ -47,28 +47,29 @@ "rotationTargets": [ { "waypointRelativePos": 1.0499999999999998, - "rotationDegrees": -120.0, - "rotateFast": false + "rotationDegrees": -119.99999999999999 } ], "constraintZones": [], + "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { "maxVelocity": 4.5, "maxAcceleration": 2.5, "maxAngularVelocity": 216.0, - "maxAngularAcceleration": 2520.0 + "maxAngularAcceleration": 2520.0, + "nominalVoltage": 12.0, + "unlimited": false }, "goalEndState": { "velocity": 0, - "rotation": -120.0, - "rotateFast": false + "rotation": -119.99999999999999 }, "reversed": false, "folder": null, - "previewStartingState": { - "rotation": 180.0, - "velocity": 0 + "idealStartingState": { + "velocity": 0, + "rotation": 0.0 }, "useDefaultConstraints": true } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Copy of FromMidNoteToMid.path b/src/main/deploy/pathplanner/paths/Copy of FromMidNoteToMid.path index f017e95..0da7b2b 100644 --- a/src/main/deploy/pathplanner/paths/Copy of FromMidNoteToMid.path +++ b/src/main/deploy/pathplanner/paths/Copy of FromMidNoteToMid.path @@ -1,5 +1,5 @@ { - "version": 1.0, + "version": "2025.0", "waypoints": [ { "anchor": { @@ -8,8 +8,8 @@ }, "prevControl": null, "nextControl": { - "x": 2.4600025418243923, - "y": 5.51946682020915 + "x": 2.4200030259814196, + "y": 5.519663625513352 }, "isLocked": false, "linkedName": "StartMidMidNote" @@ -30,23 +30,25 @@ ], "rotationTargets": [], "constraintZones": [], + "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { "maxVelocity": 4.5, "maxAcceleration": 2.5, "maxAngularVelocity": 216.0, - "maxAngularAcceleration": 2520.0 + "maxAngularAcceleration": 2520.0, + "nominalVoltage": 12.0, + "unlimited": false }, "goalEndState": { "velocity": 0, - "rotation": 180.0, - "rotateFast": false + "rotation": 180.0 }, "reversed": false, "folder": null, - "previewStartingState": { - "rotation": 180.0, - "velocity": 0 + "idealStartingState": { + "velocity": 0, + "rotation": 0.0 }, "useDefaultConstraints": true } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Far4ToFar3.path b/src/main/deploy/pathplanner/paths/Far4ToFar3.path index d90bd62..62c46ea 100644 --- a/src/main/deploy/pathplanner/paths/Far4ToFar3.path +++ b/src/main/deploy/pathplanner/paths/Far4ToFar3.path @@ -1,5 +1,5 @@ { - "version": 1.0, + "version": "2025.0", "waypoints": [ { "anchor": { @@ -31,8 +31,7 @@ "rotationTargets": [ { "waypointRelativePos": 0.0, - "rotationDegrees": -90.0, - "rotateFast": false + "rotationDegrees": -90.0 } ], "constraintZones": [ @@ -44,27 +43,31 @@ "maxVelocity": 1.0, "maxAcceleration": 0.7, "maxAngularVelocity": 400.0, - "maxAngularAcceleration": 200.0 + "maxAngularAcceleration": 200.0, + "nominalVoltage": 12.0, + "unlimited": false } } ], + "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { "maxVelocity": 4.5, "maxAcceleration": 2.5, "maxAngularVelocity": 216.0, - "maxAngularAcceleration": 2520.0 + "maxAngularAcceleration": 2520.0, + "nominalVoltage": 12.0, + "unlimited": false }, "goalEndState": { "velocity": 0, - "rotation": -90.0, - "rotateFast": false + "rotation": -90.0 }, "reversed": false, "folder": null, - "previewStartingState": { - "rotation": 135.0, - "velocity": 0 + "idealStartingState": { + "velocity": 0, + "rotation": 0.0 }, "useDefaultConstraints": true } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Far4ToSource.path b/src/main/deploy/pathplanner/paths/Far4ToSource.path index 343ab85..b0346d3 100644 --- a/src/main/deploy/pathplanner/paths/Far4ToSource.path +++ b/src/main/deploy/pathplanner/paths/Far4ToSource.path @@ -1,5 +1,5 @@ { - "version": 1.0, + "version": "2025.0", "waypoints": [ { "anchor": { @@ -31,8 +31,7 @@ "rotationTargets": [ { "waypointRelativePos": 0.15, - "rotationDegrees": 120.0, - "rotateFast": true + "rotationDegrees": 119.99999999999999 } ], "constraintZones": [ @@ -44,27 +43,31 @@ "maxVelocity": 2.0, "maxAcceleration": 1.0, "maxAngularVelocity": 720.0, - "maxAngularAcceleration": 360.0 + "maxAngularAcceleration": 360.0, + "nominalVoltage": 12.0, + "unlimited": false } } ], + "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { "maxVelocity": 4.5, "maxAcceleration": 2.5, "maxAngularVelocity": 216.0, - "maxAngularAcceleration": 2520.0 + "maxAngularAcceleration": 2520.0, + "nominalVoltage": 12.0, + "unlimited": false }, "goalEndState": { "velocity": 0.0, - "rotation": 120.0, - "rotateFast": true + "rotation": 119.99999999999999 }, "reversed": false, "folder": null, - "previewStartingState": { - "rotation": 180.0, - "velocity": 0 + "idealStartingState": { + "velocity": 0, + "rotation": 0.0 }, "useDefaultConstraints": true } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/FromAMPNoteToAMP.path b/src/main/deploy/pathplanner/paths/FromAMPNoteToAMP.path index c10906e..e2263bc 100644 --- a/src/main/deploy/pathplanner/paths/FromAMPNoteToAMP.path +++ b/src/main/deploy/pathplanner/paths/FromAMPNoteToAMP.path @@ -1,5 +1,5 @@ { - "version": 1.0, + "version": "2025.0", "waypoints": [ { "anchor": { @@ -38,27 +38,31 @@ "maxVelocity": 2.0, "maxAcceleration": 1.0, "maxAngularVelocity": 360.0, - "maxAngularAcceleration": 180.0 + "maxAngularAcceleration": 180.0, + "nominalVoltage": 12.0, + "unlimited": false } } ], + "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { "maxVelocity": 4.5, "maxAcceleration": 2.5, "maxAngularVelocity": 216.0, - "maxAngularAcceleration": 2520.0 + "maxAngularAcceleration": 2520.0, + "nominalVoltage": 12.0, + "unlimited": false }, "goalEndState": { "velocity": 0.0, - "rotation": -120.0, - "rotateFast": false + "rotation": -119.99999999999999 }, "reversed": false, "folder": null, - "previewStartingState": { - "rotation": -160.0, - "velocity": 0 + "idealStartingState": { + "velocity": 0, + "rotation": 0.0 }, "useDefaultConstraints": true } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/FromAMPNoteToMid.path b/src/main/deploy/pathplanner/paths/FromAMPNoteToMid.path index 61c5086..3022c49 100644 --- a/src/main/deploy/pathplanner/paths/FromAMPNoteToMid.path +++ b/src/main/deploy/pathplanner/paths/FromAMPNoteToMid.path @@ -1,5 +1,5 @@ { - "version": 1.0, + "version": "2025.0", "waypoints": [ { "anchor": { @@ -9,7 +9,7 @@ "prevControl": null, "nextControl": { "x": 2.6362321955413157, - "y": 6.588361547219053 + "y": 6.380585568863446 }, "isLocked": false, "linkedName": "StartMidAmpNote" @@ -30,23 +30,25 @@ ], "rotationTargets": [], "constraintZones": [], + "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { "maxVelocity": 4.5, "maxAcceleration": 2.5, "maxAngularVelocity": 216.0, - "maxAngularAcceleration": 2520.0 + "maxAngularAcceleration": 2520.0, + "nominalVoltage": 12.0, + "unlimited": false }, "goalEndState": { "velocity": 0, - "rotation": 180.0, - "rotateFast": false + "rotation": 180.0 }, "reversed": false, "folder": null, - "previewStartingState": { - "rotation": -135.0, - "velocity": 0 + "idealStartingState": { + "velocity": 0, + "rotation": 0.0 }, "useDefaultConstraints": true } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/FromAMPNoteToMid2.path b/src/main/deploy/pathplanner/paths/FromAMPNoteToMid2.path index dd353a8..83b8fb4 100644 --- a/src/main/deploy/pathplanner/paths/FromAMPNoteToMid2.path +++ b/src/main/deploy/pathplanner/paths/FromAMPNoteToMid2.path @@ -1,5 +1,5 @@ { - "version": 1.0, + "version": "2025.0", "waypoints": [ { "anchor": { @@ -8,8 +8,8 @@ }, "prevControl": null, "nextControl": { - "x": 2.5251325372409488, - "y": 6.9913693764261 + "x": 2.6980127370198903, + "y": 7.106622548642847 }, "isLocked": false, "linkedName": "StartAMPAMPNote" @@ -30,23 +30,25 @@ ], "rotationTargets": [], "constraintZones": [], + "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { "maxVelocity": 4.5, "maxAcceleration": 2.5, "maxAngularVelocity": 216.0, - "maxAngularAcceleration": 2520.0 + "maxAngularAcceleration": 2520.0, + "nominalVoltage": 12.0, + "unlimited": false }, "goalEndState": { "velocity": 0, - "rotation": 180.0, - "rotateFast": false + "rotation": 180.0 }, "reversed": false, "folder": null, - "previewStartingState": { - "rotation": -160.0, - "velocity": 0 + "idealStartingState": { + "velocity": 0, + "rotation": 0.0 }, "useDefaultConstraints": true } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/FromAMPNoteToMidTrans.path b/src/main/deploy/pathplanner/paths/FromAMPNoteToMidTrans.path index 7ccfb8b..062f95e 100644 --- a/src/main/deploy/pathplanner/paths/FromAMPNoteToMidTrans.path +++ b/src/main/deploy/pathplanner/paths/FromAMPNoteToMidTrans.path @@ -1,5 +1,5 @@ { - "version": 1.0, + "version": "2025.0", "waypoints": [ { "anchor": { @@ -9,7 +9,7 @@ "prevControl": null, "nextControl": { "x": 2.4, - "y": 6.76 + "y": 6.75 }, "isLocked": false, "linkedName": null @@ -30,23 +30,25 @@ ], "rotationTargets": [], "constraintZones": [], + "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { "maxVelocity": 4.5, "maxAcceleration": 2.5, "maxAngularVelocity": 216.0, - "maxAngularAcceleration": 2520.0 + "maxAngularAcceleration": 2520.0, + "nominalVoltage": 12.0, + "unlimited": false }, "goalEndState": { "velocity": 0.0, - "rotation": 180.0, - "rotateFast": false + "rotation": 180.0 }, "reversed": false, "folder": null, - "previewStartingState": { - "rotation": 180.0, - "velocity": 0 + "idealStartingState": { + "velocity": 0, + "rotation": 0.0 }, "useDefaultConstraints": true } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/FromAMPNoteToMidTurn.path b/src/main/deploy/pathplanner/paths/FromAMPNoteToMidTurn.path index 9192a0a..9fd6775 100644 --- a/src/main/deploy/pathplanner/paths/FromAMPNoteToMidTurn.path +++ b/src/main/deploy/pathplanner/paths/FromAMPNoteToMidTurn.path @@ -1,5 +1,5 @@ { - "version": 1.0, + "version": "2025.0", "waypoints": [ { "anchor": { @@ -31,8 +31,7 @@ "rotationTargets": [ { "waypointRelativePos": 0.1, - "rotationDegrees": 180.0, - "rotateFast": true + "rotationDegrees": 180.0 } ], "constraintZones": [ @@ -44,27 +43,31 @@ "maxVelocity": 2.0, "maxAcceleration": 1.0, "maxAngularVelocity": 360.0, - "maxAngularAcceleration": 180.0 + "maxAngularAcceleration": 180.0, + "nominalVoltage": 12.0, + "unlimited": false } } ], + "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { "maxVelocity": 4.5, "maxAcceleration": 2.5, "maxAngularVelocity": 216.0, - "maxAngularAcceleration": 2520.0 + "maxAngularAcceleration": 2520.0, + "nominalVoltage": 12.0, + "unlimited": false }, "goalEndState": { "velocity": 0.0, - "rotation": 180.0, - "rotateFast": true + "rotation": 180.0 }, "reversed": false, "folder": null, - "previewStartingState": { - "rotation": -135.0, - "velocity": 0 + "idealStartingState": { + "velocity": 0, + "rotation": 0.0 }, "useDefaultConstraints": true } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/FromFar1ToAMP.path b/src/main/deploy/pathplanner/paths/FromFar1ToAMP.path index 4fd69c5..c3bf1f5 100644 --- a/src/main/deploy/pathplanner/paths/FromFar1ToAMP.path +++ b/src/main/deploy/pathplanner/paths/FromFar1ToAMP.path @@ -1,5 +1,5 @@ { - "version": 1.0, + "version": "2025.0", "waypoints": [ { "anchor": { @@ -38,27 +38,31 @@ "maxVelocity": 2.0, "maxAcceleration": 1.0, "maxAngularVelocity": 360.0, - "maxAngularAcceleration": 180.0 + "maxAngularAcceleration": 180.0, + "nominalVoltage": 12.0, + "unlimited": false } } ], + "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { "maxVelocity": 4.5, "maxAcceleration": 2.5, "maxAngularVelocity": 216.0, - "maxAngularAcceleration": 2520.0 + "maxAngularAcceleration": 2520.0, + "nominalVoltage": 12.0, + "unlimited": false }, "goalEndState": { "velocity": 0.0, - "rotation": 180.0, - "rotateFast": false + "rotation": 180.0 }, "reversed": false, "folder": null, - "previewStartingState": { - "rotation": 180.0, - "velocity": 0 + "idealStartingState": { + "velocity": 0, + "rotation": 0.0 }, "useDefaultConstraints": true } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/FromFar1ToHome.path b/src/main/deploy/pathplanner/paths/FromFar1ToHome.path index 4fd69c5..c3bf1f5 100644 --- a/src/main/deploy/pathplanner/paths/FromFar1ToHome.path +++ b/src/main/deploy/pathplanner/paths/FromFar1ToHome.path @@ -1,5 +1,5 @@ { - "version": 1.0, + "version": "2025.0", "waypoints": [ { "anchor": { @@ -38,27 +38,31 @@ "maxVelocity": 2.0, "maxAcceleration": 1.0, "maxAngularVelocity": 360.0, - "maxAngularAcceleration": 180.0 + "maxAngularAcceleration": 180.0, + "nominalVoltage": 12.0, + "unlimited": false } } ], + "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { "maxVelocity": 4.5, "maxAcceleration": 2.5, "maxAngularVelocity": 216.0, - "maxAngularAcceleration": 2520.0 + "maxAngularAcceleration": 2520.0, + "nominalVoltage": 12.0, + "unlimited": false }, "goalEndState": { "velocity": 0.0, - "rotation": 180.0, - "rotateFast": false + "rotation": 180.0 }, "reversed": false, "folder": null, - "previewStartingState": { - "rotation": 180.0, - "velocity": 0 + "idealStartingState": { + "velocity": 0, + "rotation": 0.0 }, "useDefaultConstraints": true } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/FromFar1ToMid.path b/src/main/deploy/pathplanner/paths/FromFar1ToMid.path index 4427916..2ffb4e8 100644 --- a/src/main/deploy/pathplanner/paths/FromFar1ToMid.path +++ b/src/main/deploy/pathplanner/paths/FromFar1ToMid.path @@ -1,5 +1,5 @@ { - "version": 1.0, + "version": "2025.0", "waypoints": [ { "anchor": { @@ -47,28 +47,29 @@ "rotationTargets": [ { "waypointRelativePos": 1.1, - "rotationDegrees": 180.0, - "rotateFast": false + "rotationDegrees": 180.0 } ], "constraintZones": [], + "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { "maxVelocity": 4.5, "maxAcceleration": 2.5, "maxAngularVelocity": 216.0, - "maxAngularAcceleration": 2520.0 + "maxAngularAcceleration": 2520.0, + "nominalVoltage": 12.0, + "unlimited": false }, "goalEndState": { "velocity": 0, - "rotation": 180.0, - "rotateFast": false + "rotation": 180.0 }, "reversed": false, "folder": null, - "previewStartingState": { - "rotation": -179.48356992615493, - "velocity": 0 + "idealStartingState": { + "velocity": 0, + "rotation": 0.0 }, "useDefaultConstraints": true } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/FromFar2ToAMP.path b/src/main/deploy/pathplanner/paths/FromFar2ToAMP.path index b24557d..f98cec9 100644 --- a/src/main/deploy/pathplanner/paths/FromFar2ToAMP.path +++ b/src/main/deploy/pathplanner/paths/FromFar2ToAMP.path @@ -1,5 +1,5 @@ { - "version": 1.0, + "version": "2025.0", "waypoints": [ { "anchor": { @@ -31,8 +31,7 @@ "rotationTargets": [ { "waypointRelativePos": 0.15, - "rotationDegrees": -120.0, - "rotateFast": true + "rotationDegrees": -119.99999999999999 } ], "constraintZones": [ @@ -44,27 +43,31 @@ "maxVelocity": 1.0, "maxAcceleration": 0.9, "maxAngularVelocity": 360.0, - "maxAngularAcceleration": 180.0 + "maxAngularAcceleration": 180.0, + "nominalVoltage": 12.0, + "unlimited": false } } ], + "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { "maxVelocity": 4.5, "maxAcceleration": 2.5, "maxAngularVelocity": 216.0, - "maxAngularAcceleration": 2520.0 + "maxAngularAcceleration": 2520.0, + "nominalVoltage": 12.0, + "unlimited": false }, "goalEndState": { "velocity": 0, - "rotation": -120.0, - "rotateFast": false + "rotation": -119.99999999999999 }, "reversed": false, "folder": null, - "previewStartingState": { - "rotation": 180.0, - "velocity": 0 + "idealStartingState": { + "velocity": 0, + "rotation": 0.0 }, "useDefaultConstraints": true } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/FromFar3ToAMP.path b/src/main/deploy/pathplanner/paths/FromFar3ToAMP.path index 022cd55..2381e56 100644 --- a/src/main/deploy/pathplanner/paths/FromFar3ToAMP.path +++ b/src/main/deploy/pathplanner/paths/FromFar3ToAMP.path @@ -1,5 +1,5 @@ { - "version": 1.0, + "version": "2025.0", "waypoints": [ { "anchor": { @@ -63,28 +63,29 @@ "rotationTargets": [ { "waypointRelativePos": 2.0999999999999996, - "rotationDegrees": 180.0, - "rotateFast": false + "rotationDegrees": 180.0 } ], "constraintZones": [], + "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { "maxVelocity": 4.5, "maxAcceleration": 2.5, "maxAngularVelocity": 216.0, - "maxAngularAcceleration": 2520.0 + "maxAngularAcceleration": 2520.0, + "nominalVoltage": 12.0, + "unlimited": false }, "goalEndState": { "velocity": 0, - "rotation": -120.0, - "rotateFast": false + "rotation": -119.99999999999999 }, "reversed": false, "folder": null, - "previewStartingState": { - "rotation": 180.0, - "velocity": 0 + "idealStartingState": { + "velocity": 0, + "rotation": 0.0 }, "useDefaultConstraints": true } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/FromFar3ToMid.path b/src/main/deploy/pathplanner/paths/FromFar3ToMid.path index 0e985b1..57ce2cc 100644 --- a/src/main/deploy/pathplanner/paths/FromFar3ToMid.path +++ b/src/main/deploy/pathplanner/paths/FromFar3ToMid.path @@ -1,5 +1,5 @@ { - "version": 1.0, + "version": "2025.0", "waypoints": [ { "anchor": { @@ -46,23 +46,25 @@ ], "rotationTargets": [], "constraintZones": [], + "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { "maxVelocity": 4.5, "maxAcceleration": 2.5, "maxAngularVelocity": 216.0, - "maxAngularAcceleration": 2520.0 + "maxAngularAcceleration": 2520.0, + "nominalVoltage": 12.0, + "unlimited": false }, "goalEndState": { "velocity": 0, - "rotation": 180.0, - "rotateFast": false + "rotation": 180.0 }, "reversed": false, "folder": null, - "previewStartingState": { - "rotation": 180.0, - "velocity": 0 + "idealStartingState": { + "velocity": 0, + "rotation": 0.0 }, "useDefaultConstraints": true } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/FromFar3ToSource.path b/src/main/deploy/pathplanner/paths/FromFar3ToSource.path index a7ec8ad..71883af 100644 --- a/src/main/deploy/pathplanner/paths/FromFar3ToSource.path +++ b/src/main/deploy/pathplanner/paths/FromFar3ToSource.path @@ -1,5 +1,5 @@ { - "version": 1.0, + "version": "2025.0", "waypoints": [ { "anchor": { @@ -46,14 +46,12 @@ ], "rotationTargets": [ { - "waypointRelativePos": 1.65, - "rotationDegrees": 120.0, - "rotateFast": false + "waypointRelativePos": 0.0, + "rotationDegrees": 150.0 }, { - "waypointRelativePos": 0.0, - "rotationDegrees": 150.0, - "rotateFast": false + "waypointRelativePos": 1.65, + "rotationDegrees": 119.99999999999999 } ], "constraintZones": [ @@ -65,27 +63,31 @@ "maxVelocity": 1.7, "maxAcceleration": 0.7, "maxAngularVelocity": 360.0, - "maxAngularAcceleration": 180.0 + "maxAngularAcceleration": 180.0, + "nominalVoltage": 12.0, + "unlimited": false } } ], + "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { "maxVelocity": 4.5, "maxAcceleration": 2.5, "maxAngularVelocity": 216.0, - "maxAngularAcceleration": 2520.0 + "maxAngularAcceleration": 2520.0, + "nominalVoltage": 12.0, + "unlimited": false }, "goalEndState": { "velocity": 0, - "rotation": 120.0, - "rotateFast": false + "rotation": 119.99999999999999 }, "reversed": false, "folder": null, - "previewStartingState": { - "rotation": -90.0, - "velocity": 0 + "idealStartingState": { + "velocity": 0, + "rotation": 0.0 }, "useDefaultConstraints": true } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/FromFar5ToShot.path b/src/main/deploy/pathplanner/paths/FromFar5ToShot.path index ed6f9a8..c1d2b5d 100644 --- a/src/main/deploy/pathplanner/paths/FromFar5ToShot.path +++ b/src/main/deploy/pathplanner/paths/FromFar5ToShot.path @@ -1,5 +1,5 @@ { - "version": 1.0, + "version": "2025.0", "waypoints": [ { "anchor": { @@ -31,8 +31,7 @@ "rotationTargets": [ { "waypointRelativePos": 0.65, - "rotationDegrees": 135.0, - "rotateFast": false + "rotationDegrees": 135.0 } ], "constraintZones": [ @@ -44,27 +43,31 @@ "maxVelocity": 3.0, "maxAcceleration": 1.5, "maxAngularVelocity": 720.0, - "maxAngularAcceleration": 360.0 + "maxAngularAcceleration": 360.0, + "nominalVoltage": 12.0, + "unlimited": false } } ], + "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { "maxVelocity": 4.5, "maxAcceleration": 2.5, "maxAngularVelocity": 216.0, - "maxAngularAcceleration": 2520.0 + "maxAngularAcceleration": 2520.0, + "nominalVoltage": 12.0, + "unlimited": false }, "goalEndState": { "velocity": 0.8, - "rotation": 135.0, - "rotateFast": true + "rotation": 135.0 }, "reversed": false, "folder": null, - "previewStartingState": { - "rotation": 180.0, - "velocity": 0 + "idealStartingState": { + "velocity": 0, + "rotation": 0.0 }, "useDefaultConstraints": true } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/FromFar5ToSource.path b/src/main/deploy/pathplanner/paths/FromFar5ToSource.path index 4674104..6340ac1 100644 --- a/src/main/deploy/pathplanner/paths/FromFar5ToSource.path +++ b/src/main/deploy/pathplanner/paths/FromFar5ToSource.path @@ -1,5 +1,5 @@ { - "version": 1.0, + "version": "2025.0", "waypoints": [ { "anchor": { @@ -8,8 +8,8 @@ }, "prevControl": null, "nextControl": { - "x": 4.301123559314367, - "y": 1.5899547221081427 + "x": 4.301123559314366, + "y": 1.5899547221081434 }, "isLocked": false, "linkedName": "Far5" @@ -31,8 +31,7 @@ "rotationTargets": [ { "waypointRelativePos": 0.65, - "rotationDegrees": 180.0, - "rotateFast": false + "rotationDegrees": 180.0 } ], "constraintZones": [ @@ -44,27 +43,31 @@ "maxVelocity": 3.0, "maxAcceleration": 1.5, "maxAngularVelocity": 720.0, - "maxAngularAcceleration": 360.0 + "maxAngularAcceleration": 360.0, + "nominalVoltage": 12.0, + "unlimited": false } } ], + "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { "maxVelocity": 4.5, "maxAcceleration": 2.5, "maxAngularVelocity": 216.0, - "maxAngularAcceleration": 2520.0 + "maxAngularAcceleration": 2520.0, + "nominalVoltage": 12.0, + "unlimited": false }, "goalEndState": { "velocity": 0, - "rotation": 120.0, - "rotateFast": true + "rotation": 119.99999999999999 }, "reversed": false, "folder": null, - "previewStartingState": { - "rotation": 180.0, - "velocity": 0 + "idealStartingState": { + "velocity": 0, + "rotation": 0.0 }, "useDefaultConstraints": true } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/FromMidNoteToAMP.path b/src/main/deploy/pathplanner/paths/FromMidNoteToAMP.path index 560ad58..21a7227 100644 --- a/src/main/deploy/pathplanner/paths/FromMidNoteToAMP.path +++ b/src/main/deploy/pathplanner/paths/FromMidNoteToAMP.path @@ -1,5 +1,5 @@ { - "version": 1.0, + "version": "2025.0", "waypoints": [ { "anchor": { @@ -31,28 +31,29 @@ "rotationTargets": [ { "waypointRelativePos": 0.8, - "rotationDegrees": -120.0, - "rotateFast": false + "rotationDegrees": -119.99999999999999 } ], "constraintZones": [], + "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { "maxVelocity": 4.5, "maxAcceleration": 2.5, "maxAngularVelocity": 216.0, - "maxAngularAcceleration": 2520.0 + "maxAngularAcceleration": 2520.0, + "nominalVoltage": 12.0, + "unlimited": false }, "goalEndState": { "velocity": 0, - "rotation": -120.0, - "rotateFast": false + "rotation": -119.99999999999999 }, "reversed": false, "folder": null, - "previewStartingState": { - "rotation": 139.87578624216107, - "velocity": 0 + "idealStartingState": { + "velocity": 0, + "rotation": 0.0 }, "useDefaultConstraints": true } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/FromMidNoteToAmpShort.path b/src/main/deploy/pathplanner/paths/FromMidNoteToAmpShort.path index e0bf481..7767783 100644 --- a/src/main/deploy/pathplanner/paths/FromMidNoteToAmpShort.path +++ b/src/main/deploy/pathplanner/paths/FromMidNoteToAmpShort.path @@ -1,5 +1,5 @@ { - "version": 1.0, + "version": "2025.0", "waypoints": [ { "anchor": { @@ -20,7 +20,7 @@ "y": 6.7 }, "prevControl": { - "x": 0.916492009723599, + "x": 0.9164920097235989, "y": 6.925834667510113 }, "nextControl": null, @@ -30,23 +30,25 @@ ], "rotationTargets": [], "constraintZones": [], + "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { "maxVelocity": 4.5, "maxAcceleration": 2.5, "maxAngularVelocity": 216.0, - "maxAngularAcceleration": 2520.0 + "maxAngularAcceleration": 2520.0, + "nominalVoltage": 12.0, + "unlimited": false }, "goalEndState": { "velocity": 0, - "rotation": -120.0, - "rotateFast": true + "rotation": -119.99999999999999 }, "reversed": false, "folder": null, - "previewStartingState": { - "rotation": 126.84955805567365, - "velocity": 0 + "idealStartingState": { + "velocity": 0, + "rotation": 0.0 }, "useDefaultConstraints": true } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/FromMidNoteToMid.path b/src/main/deploy/pathplanner/paths/FromMidNoteToMid.path index bd3d40a..a6133f9 100644 --- a/src/main/deploy/pathplanner/paths/FromMidNoteToMid.path +++ b/src/main/deploy/pathplanner/paths/FromMidNoteToMid.path @@ -1,5 +1,5 @@ { - "version": 1.0, + "version": "2025.0", "waypoints": [ { "anchor": { @@ -8,7 +8,7 @@ }, "prevControl": null, "nextControl": { - "x": 1.4562089370466949, + "x": 1.4562089370466946, "y": 5.524405677632315 }, "isLocked": false, @@ -30,23 +30,25 @@ ], "rotationTargets": [], "constraintZones": [], + "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { "maxVelocity": 4.5, "maxAcceleration": 2.5, "maxAngularVelocity": 216.0, - "maxAngularAcceleration": 2520.0 + "maxAngularAcceleration": 2520.0, + "nominalVoltage": 12.0, + "unlimited": false }, "goalEndState": { "velocity": 0, - "rotation": 180.0, - "rotateFast": false + "rotation": 180.0 }, "reversed": false, "folder": null, - "previewStartingState": { - "rotation": 180.0, - "velocity": 0.0 + "idealStartingState": { + "velocity": 0, + "rotation": 0.0 }, "useDefaultConstraints": true } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/FromMidNoteToSource.path b/src/main/deploy/pathplanner/paths/FromMidNoteToSource.path index 74d7e0f..7feff65 100644 --- a/src/main/deploy/pathplanner/paths/FromMidNoteToSource.path +++ b/src/main/deploy/pathplanner/paths/FromMidNoteToSource.path @@ -1,5 +1,5 @@ { - "version": 1.0, + "version": "2025.0", "waypoints": [ { "anchor": { @@ -31,28 +31,29 @@ "rotationTargets": [ { "waypointRelativePos": 0.5, - "rotationDegrees": 120.0, - "rotateFast": false + "rotationDegrees": 119.99999999999999 } ], "constraintZones": [], + "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { "maxVelocity": 4.5, "maxAcceleration": 2.5, "maxAngularVelocity": 216.0, - "maxAngularAcceleration": 2520.0 + "maxAngularAcceleration": 2520.0, + "nominalVoltage": 12.0, + "unlimited": false }, "goalEndState": { "velocity": 0, - "rotation": 120.0, - "rotateFast": false + "rotation": 119.99999999999999 }, "reversed": false, "folder": null, - "previewStartingState": { - "rotation": -138.67410902620415, - "velocity": 0 + "idealStartingState": { + "velocity": 0, + "rotation": 0.0 }, "useDefaultConstraints": true } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/FromSourceNoteToMid.path b/src/main/deploy/pathplanner/paths/FromSourceNoteToMid.path index 3603507..10abd71 100644 --- a/src/main/deploy/pathplanner/paths/FromSourceNoteToMid.path +++ b/src/main/deploy/pathplanner/paths/FromSourceNoteToMid.path @@ -1,5 +1,5 @@ { - "version": 1.0, + "version": "2025.0", "waypoints": [ { "anchor": { @@ -31,8 +31,7 @@ "rotationTargets": [ { "waypointRelativePos": 0.3, - "rotationDegrees": 180.0, - "rotateFast": true + "rotationDegrees": 180.0 } ], "constraintZones": [ @@ -44,27 +43,31 @@ "maxVelocity": 2.0, "maxAcceleration": 0.9, "maxAngularVelocity": 360.0, - "maxAngularAcceleration": 180.0 + "maxAngularAcceleration": 180.0, + "nominalVoltage": 12.0, + "unlimited": false } } ], + "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { "maxVelocity": 4.5, "maxAcceleration": 2.5, "maxAngularVelocity": 216.0, - "maxAngularAcceleration": 2520.0 + "maxAngularAcceleration": 2520.0, + "nominalVoltage": 12.0, + "unlimited": false }, "goalEndState": { "velocity": 0.0, - "rotation": 180.0, - "rotateFast": false + "rotation": 180.0 }, "reversed": false, "folder": null, - "previewStartingState": { - "rotation": 147.0, - "velocity": 0.0 + "idealStartingState": { + "velocity": 0, + "rotation": 0.0 }, "useDefaultConstraints": true } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/FromSourceNoteToMidTrans.path b/src/main/deploy/pathplanner/paths/FromSourceNoteToMidTrans.path index 022a568..9436c37 100644 --- a/src/main/deploy/pathplanner/paths/FromSourceNoteToMidTrans.path +++ b/src/main/deploy/pathplanner/paths/FromSourceNoteToMidTrans.path @@ -1,5 +1,5 @@ { - "version": 1.0, + "version": "2025.0", "waypoints": [ { "anchor": { @@ -30,23 +30,25 @@ ], "rotationTargets": [], "constraintZones": [], + "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { "maxVelocity": 4.5, "maxAcceleration": 2.5, "maxAngularVelocity": 216.0, - "maxAngularAcceleration": 2520.0 + "maxAngularAcceleration": 2520.0, + "nominalVoltage": 12.0, + "unlimited": false }, "goalEndState": { "velocity": 0.2, - "rotation": 180.0, - "rotateFast": false + "rotation": 180.0 }, "reversed": false, "folder": null, - "previewStartingState": { - "rotation": 180.0, - "velocity": 0.0 + "idealStartingState": { + "velocity": 0, + "rotation": 0.0 }, "useDefaultConstraints": true } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/FromSourceNoteToSource.path b/src/main/deploy/pathplanner/paths/FromSourceNoteToSource.path index c901eab..42de9a8 100644 --- a/src/main/deploy/pathplanner/paths/FromSourceNoteToSource.path +++ b/src/main/deploy/pathplanner/paths/FromSourceNoteToSource.path @@ -1,5 +1,5 @@ { - "version": 1.0, + "version": "2025.0", "waypoints": [ { "anchor": { @@ -9,7 +9,7 @@ "prevControl": null, "nextControl": { "x": 1.44283883432246, - "y": 3.80602187737899 + "y": 3.8060218773789893 }, "isLocked": false, "linkedName": null @@ -31,8 +31,7 @@ "rotationTargets": [ { "waypointRelativePos": 0.65, - "rotationDegrees": 120.0, - "rotateFast": true + "rotationDegrees": 119.99999999999999 } ], "constraintZones": [ @@ -44,27 +43,31 @@ "maxVelocity": 2.0, "maxAcceleration": 1.0, "maxAngularVelocity": 360.0, - "maxAngularAcceleration": 180.0 + "maxAngularAcceleration": 180.0, + "nominalVoltage": 12.0, + "unlimited": false } } ], + "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { "maxVelocity": 4.5, "maxAcceleration": 2.5, "maxAngularVelocity": 216.0, - "maxAngularAcceleration": 2520.0 + "maxAngularAcceleration": 2520.0, + "nominalVoltage": 12.0, + "unlimited": false }, "goalEndState": { "velocity": 0, - "rotation": 120.0, - "rotateFast": true + "rotation": 119.99999999999999 }, "reversed": false, "folder": null, - "previewStartingState": { - "rotation": 180.0, - "velocity": 0 + "idealStartingState": { + "velocity": 0, + "rotation": 0.0 }, "useDefaultConstraints": true } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/MidPointToAmp.path b/src/main/deploy/pathplanner/paths/MidPointToAmp.path index 6dfd839..742302b 100644 --- a/src/main/deploy/pathplanner/paths/MidPointToAmp.path +++ b/src/main/deploy/pathplanner/paths/MidPointToAmp.path @@ -1,5 +1,5 @@ { - "version": 1.0, + "version": "2025.0", "waypoints": [ { "anchor": { @@ -8,8 +8,8 @@ }, "prevControl": null, "nextControl": { - "x": 2.2274648828898216, - "y": 5.7047438054335045 + "x": 2.2359607525407674, + "y": 5.715387419418235 }, "isLocked": false, "linkedName": null @@ -31,28 +31,29 @@ "rotationTargets": [ { "waypointRelativePos": 0.65, - "rotationDegrees": -120.0, - "rotateFast": true + "rotationDegrees": -119.99999999999999 } ], "constraintZones": [], + "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { "maxVelocity": 4.5, "maxAcceleration": 2.5, "maxAngularVelocity": 216.0, - "maxAngularAcceleration": 2520.0 + "maxAngularAcceleration": 2520.0, + "nominalVoltage": 12.0, + "unlimited": false }, "goalEndState": { "velocity": 0, - "rotation": -120.0, - "rotateFast": true + "rotation": -119.99999999999999 }, "reversed": false, "folder": null, - "previewStartingState": { - "rotation": 180.0, - "velocity": 0 + "idealStartingState": { + "velocity": 0, + "rotation": 0.0 }, "useDefaultConstraints": true } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/MidToFar3.path b/src/main/deploy/pathplanner/paths/MidToFar3.path index d355e61..ebfc3af 100644 --- a/src/main/deploy/pathplanner/paths/MidToFar3.path +++ b/src/main/deploy/pathplanner/paths/MidToFar3.path @@ -1,5 +1,5 @@ { - "version": 1.0, + "version": "2025.0", "waypoints": [ { "anchor": { @@ -30,23 +30,25 @@ ], "rotationTargets": [], "constraintZones": [], + "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { "maxVelocity": 4.5, "maxAcceleration": 2.5, "maxAngularVelocity": 216.0, - "maxAngularAcceleration": 2520.0 + "maxAngularAcceleration": 2520.0, + "nominalVoltage": 12.0, + "unlimited": false }, "goalEndState": { "velocity": 0, - "rotation": 180.0, - "rotateFast": false + "rotation": 180.0 }, "reversed": false, "folder": null, - "previewStartingState": { - "rotation": 180.0, - "velocity": 0 + "idealStartingState": { + "velocity": 0, + "rotation": 0.0 }, "useDefaultConstraints": true } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/New New New New New Path.path b/src/main/deploy/pathplanner/paths/New New New New New Path.path new file mode 100644 index 0000000..066219a --- /dev/null +++ b/src/main/deploy/pathplanner/paths/New New New New New Path.path @@ -0,0 +1,171 @@ +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 1.3424156153867866, + "y": 5.5614063867016625 + }, + "prevControl": null, + "nextControl": { + "x": 1.6590640977861286, + "y": 5.547071387083094 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 2.4868797599676715, + "y": 5.5614063867016625 + }, + "prevControl": { + "x": 2.0699116125869432, + "y": 5.449712766371139 + }, + "nextControl": { + "x": 2.728365944351635, + "y": 5.6260935009646635 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 7.818588201768835, + "y": 7.414970372153262 + }, + "prevControl": { + "x": 7.718686839538876, + "y": 7.67055743391677 + }, + "nextControl": { + "x": 7.9345501094568425, + "y": 7.1182941046740895 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 3.704667887865616, + "y": 5.941840330733062 + }, + "prevControl": { + "x": 3.7891312128237207, + "y": 6.177140026306647 + }, + "nextControl": { + "x": 3.6202045629075115, + "y": 5.706540635159477 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 4.802967286065577, + "y": 4.323123076741059 + }, + "prevControl": { + "x": 4.403166743014709, + "y": 4.509480351748185 + }, + "nextControl": { + "x": 5.029560029609937, + "y": 4.217502394235026 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 7.818588201768835, + "y": 4.1128304363595625 + }, + "prevControl": { + "x": 7.789188365884794, + "y": 3.864565155560995 + }, + "nextControl": { + "x": 7.852022474423406, + "y": 4.3951642943315 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 4.29957222450835, + "y": 4.839637916175396 + }, + "prevControl": { + "x": 4.542405675968557, + "y": 4.6997876674064845 + }, + "nextControl": { + "x": 4.082930904403031, + "y": 4.964403850720947 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 2.1132717483775583, + "y": 6.2833777741791295 + }, + "prevControl": { + "x": 2.165045495484004, + "y": 6.018536953376673 + }, + "nextControl": { + "x": 2.0653071572200004, + "y": 6.5287334303093445 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 2.4868797599676715, + "y": 6.846587737025547 + }, + "prevControl": { + "x": 2.2457183185568144, + "y": 6.78070026343126 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [ + { + "waypointRelativePos": 1.013641304347827, + "rotationDegrees": 180.0 + } + ], + "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": -155.59264301295366 + }, + "reversed": false, + "folder": null, + "idealStartingState": { + "velocity": 0, + "rotation": 180.0 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/New New New New Path.path b/src/main/deploy/pathplanner/paths/New New New New Path.path index 250ffe6..d63acca 100644 --- a/src/main/deploy/pathplanner/paths/New New New New Path.path +++ b/src/main/deploy/pathplanner/paths/New New New New Path.path @@ -1,5 +1,5 @@ { - "version": 1.0, + "version": "2025.0", "waypoints": [ { "anchor": { @@ -30,23 +30,25 @@ ], "rotationTargets": [], "constraintZones": [], + "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { "maxVelocity": 4.5, "maxAcceleration": 2.5, "maxAngularVelocity": 216.0, - "maxAngularAcceleration": 2520.0 + "maxAngularAcceleration": 2520.0, + "nominalVoltage": 12.0, + "unlimited": false }, "goalEndState": { "velocity": 0, - "rotation": 0, - "rotateFast": false + "rotation": 0.0 }, "reversed": false, "folder": null, - "previewStartingState": { - "rotation": 0, - "velocity": 0 + "idealStartingState": { + "velocity": 0, + "rotation": 0.0 }, "useDefaultConstraints": true } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/New New New Path.path b/src/main/deploy/pathplanner/paths/New New New Path.path index d9fe07e..d3e95c8 100644 --- a/src/main/deploy/pathplanner/paths/New New New Path.path +++ b/src/main/deploy/pathplanner/paths/New New New Path.path @@ -1,5 +1,5 @@ { - "version": 1.0, + "version": "2025.0", "waypoints": [ { "anchor": { @@ -30,23 +30,25 @@ ], "rotationTargets": [], "constraintZones": [], + "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { "maxVelocity": 4.5, "maxAcceleration": 2.5, "maxAngularVelocity": 216.0, - "maxAngularAcceleration": 2520.0 + "maxAngularAcceleration": 2520.0, + "nominalVoltage": 12.0, + "unlimited": false }, "goalEndState": { "velocity": 0, - "rotation": -76.61807219669451, - "rotateFast": false + "rotation": -76.61807219669451 }, "reversed": false, "folder": null, - "previewStartingState": { - "rotation": 0, - "velocity": 0 + "idealStartingState": { + "velocity": 0, + "rotation": 0.0 }, "useDefaultConstraints": true } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/New New Path.path b/src/main/deploy/pathplanner/paths/New New Path.path index 61639ff..474f48c 100644 --- a/src/main/deploy/pathplanner/paths/New New Path.path +++ b/src/main/deploy/pathplanner/paths/New New Path.path @@ -1,5 +1,5 @@ { - "version": 1.0, + "version": "2025.0", "waypoints": [ { "anchor": { @@ -20,8 +20,8 @@ "y": 4.098792791023527 }, "prevControl": { - "x": 6.01470916979788, - "y": 4.0811865512688845 + "x": 6.160285873496235, + "y": 3.9069375363194956 }, "nextControl": null, "isLocked": false, @@ -30,23 +30,25 @@ ], "rotationTargets": [], "constraintZones": [], + "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { "maxVelocity": 4.5, "maxAcceleration": 2.5, "maxAngularVelocity": 216.0, - "maxAngularAcceleration": 2520.0 + "maxAngularAcceleration": 2520.0, + "nominalVoltage": 12.0, + "unlimited": false }, "goalEndState": { "velocity": 0, - "rotation": 180.0, - "rotateFast": false + "rotation": 180.0 }, "reversed": false, "folder": null, - "previewStartingState": { - "rotation": 0, - "velocity": 0 + "idealStartingState": { + "velocity": 0, + "rotation": 0.0 }, "useDefaultConstraints": true } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/New Path.path b/src/main/deploy/pathplanner/paths/New Path.path index d0355d6..9dff9d0 100644 --- a/src/main/deploy/pathplanner/paths/New Path.path +++ b/src/main/deploy/pathplanner/paths/New Path.path @@ -1,5 +1,5 @@ { - "version": 1.0, + "version": "2025.0", "waypoints": [ { "anchor": { @@ -30,23 +30,25 @@ ], "rotationTargets": [], "constraintZones": [], + "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { "maxVelocity": 4.5, "maxAcceleration": 2.5, "maxAngularVelocity": 216.0, - "maxAngularAcceleration": 2520.0 + "maxAngularAcceleration": 2520.0, + "nominalVoltage": 12.0, + "unlimited": false }, "goalEndState": { "velocity": 0, - "rotation": 0, - "rotateFast": false + "rotation": 0.0 }, "reversed": false, "folder": null, - "previewStartingState": { - "rotation": 0, - "velocity": 0 + "idealStartingState": { + "velocity": 0, + "rotation": 0.0 }, "useDefaultConstraints": true } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/SourceShotToFar4.path b/src/main/deploy/pathplanner/paths/SourceShotToFar4.path index f398ae0..8ed2d47 100644 --- a/src/main/deploy/pathplanner/paths/SourceShotToFar4.path +++ b/src/main/deploy/pathplanner/paths/SourceShotToFar4.path @@ -1,5 +1,5 @@ { - "version": 1.0, + "version": "2025.0", "waypoints": [ { "anchor": { @@ -21,7 +21,7 @@ }, "prevControl": { "x": 8.0630507414861, - "y": 2.5456712451886445 + "y": 2.305538187999453 }, "nextControl": null, "isLocked": false, @@ -30,23 +30,25 @@ ], "rotationTargets": [], "constraintZones": [], + "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { "maxVelocity": 4.5, "maxAcceleration": 2.5, "maxAngularVelocity": 216.0, - "maxAngularAcceleration": 2520.0 + "maxAngularAcceleration": 2520.0, + "nominalVoltage": 12.0, + "unlimited": false }, "goalEndState": { "velocity": 0.8, - "rotation": 135.0, - "rotateFast": true + "rotation": 135.0 }, "reversed": false, "folder": null, - "previewStartingState": { - "rotation": 135.0, - "velocity": 0.0 + "idealStartingState": { + "velocity": 0, + "rotation": 0.0 }, "useDefaultConstraints": true } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/SourceToFar4.path b/src/main/deploy/pathplanner/paths/SourceToFar4.path index 01595f5..d5ed1c0 100644 --- a/src/main/deploy/pathplanner/paths/SourceToFar4.path +++ b/src/main/deploy/pathplanner/paths/SourceToFar4.path @@ -1,5 +1,5 @@ { - "version": 1.0, + "version": "2025.0", "waypoints": [ { "anchor": { @@ -8,7 +8,7 @@ }, "prevControl": null, "nextControl": { - "x": 3.1391431649767725, + "x": 3.139143164976773, "y": 2.014411017752135 }, "isLocked": false, @@ -21,7 +21,7 @@ }, "prevControl": { "x": 6.010065087170149, - "y": 1.0891077987577669 + "y": 1.0891077987577666 }, "nextControl": { "x": 7.394519798922012, @@ -46,14 +46,12 @@ ], "rotationTargets": [ { - "waypointRelativePos": 0.9, - "rotationDegrees": 180.0, - "rotateFast": true + "waypointRelativePos": 0.15, + "rotationDegrees": 119.99999999999999 }, { - "waypointRelativePos": 0.15, - "rotationDegrees": 120.0, - "rotateFast": false + "waypointRelativePos": 0.9, + "rotationDegrees": 180.0 } ], "constraintZones": [ @@ -65,27 +63,31 @@ "maxVelocity": 2.0, "maxAcceleration": 1.0, "maxAngularVelocity": 720.0, - "maxAngularAcceleration": 360.0 + "maxAngularAcceleration": 360.0, + "nominalVoltage": 12.0, + "unlimited": false } } ], + "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { "maxVelocity": 4.5, "maxAcceleration": 2.5, "maxAngularVelocity": 216.0, - "maxAngularAcceleration": 2520.0 + "maxAngularAcceleration": 2520.0, + "nominalVoltage": 12.0, + "unlimited": false }, "goalEndState": { "velocity": 0.0, - "rotation": 180.0, - "rotateFast": true + "rotation": 180.0 }, "reversed": false, "folder": null, - "previewStartingState": { - "rotation": 120.0, - "velocity": 0 + "idealStartingState": { + "velocity": 0, + "rotation": 0.0 }, "useDefaultConstraints": true } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/TaxiFromAmpNote.path b/src/main/deploy/pathplanner/paths/TaxiFromAmpNote.path index 658c584..3670387 100644 --- a/src/main/deploy/pathplanner/paths/TaxiFromAmpNote.path +++ b/src/main/deploy/pathplanner/paths/TaxiFromAmpNote.path @@ -1,5 +1,5 @@ { - "version": 1.0, + "version": "2025.0", "waypoints": [ { "anchor": { @@ -30,23 +30,25 @@ ], "rotationTargets": [], "constraintZones": [], + "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { "maxVelocity": 4.5, "maxAcceleration": 2.5, "maxAngularVelocity": 216.0, - "maxAngularAcceleration": 2520.0 + "maxAngularAcceleration": 2520.0, + "nominalVoltage": 12.0, + "unlimited": false }, "goalEndState": { "velocity": 0, - "rotation": 180.0, - "rotateFast": false + "rotation": 180.0 }, "reversed": false, "folder": null, - "previewStartingState": { - "rotation": 0, - "velocity": 0 + "idealStartingState": { + "velocity": 0, + "rotation": 0.0 }, "useDefaultConstraints": true } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/TaxiOutDestroyMid.path b/src/main/deploy/pathplanner/paths/TaxiOutDestroyMid.path index 8df2462..71a3f4b 100644 --- a/src/main/deploy/pathplanner/paths/TaxiOutDestroyMid.path +++ b/src/main/deploy/pathplanner/paths/TaxiOutDestroyMid.path @@ -1,5 +1,5 @@ { - "version": 1.0, + "version": "2025.0", "waypoints": [ { "anchor": { @@ -30,23 +30,25 @@ ], "rotationTargets": [], "constraintZones": [], + "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { "maxVelocity": 4.5, "maxAcceleration": 2.5, "maxAngularVelocity": 216.0, - "maxAngularAcceleration": 2520.0 + "maxAngularAcceleration": 2520.0, + "nominalVoltage": 12.0, + "unlimited": false }, "goalEndState": { "velocity": 0, - "rotation": 0.0, - "rotateFast": false + "rotation": 0.0 }, "reversed": false, "folder": null, - "previewStartingState": { - "rotation": 0.0, - "velocity": 0 + "idealStartingState": { + "velocity": 0, + "rotation": 0.0 }, "useDefaultConstraints": true } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/TaxiOutSourceStart.path b/src/main/deploy/pathplanner/paths/TaxiOutSourceStart.path index 80a54d9..f68d25c 100644 --- a/src/main/deploy/pathplanner/paths/TaxiOutSourceStart.path +++ b/src/main/deploy/pathplanner/paths/TaxiOutSourceStart.path @@ -1,5 +1,5 @@ { - "version": 1.0, + "version": "2025.0", "waypoints": [ { "anchor": { @@ -30,23 +30,25 @@ ], "rotationTargets": [], "constraintZones": [], + "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { "maxVelocity": 4.5, "maxAcceleration": 2.5, "maxAngularVelocity": 216.0, - "maxAngularAcceleration": 2520.0 + "maxAngularAcceleration": 2520.0, + "nominalVoltage": 12.0, + "unlimited": false }, "goalEndState": { "velocity": 0, - "rotation": 180.0, - "rotateFast": false + "rotation": 180.0 }, "reversed": false, "folder": null, - "previewStartingState": { - "rotation": 120.0, - "velocity": 0 + "idealStartingState": { + "velocity": 0, + "rotation": 0.0 }, "useDefaultConstraints": true } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/ToAMPFromFar1.path b/src/main/deploy/pathplanner/paths/ToAMPFromFar1.path index 0b8c13d..aa7f168 100644 --- a/src/main/deploy/pathplanner/paths/ToAMPFromFar1.path +++ b/src/main/deploy/pathplanner/paths/ToAMPFromFar1.path @@ -1,5 +1,5 @@ { - "version": 1.0, + "version": "2025.0", "waypoints": [ { "anchor": { @@ -31,8 +31,7 @@ "rotationTargets": [ { "waypointRelativePos": 0.25, - "rotationDegrees": -120.0, - "rotateFast": true + "rotationDegrees": -119.99999999999999 } ], "constraintZones": [ @@ -44,27 +43,31 @@ "maxVelocity": 3.0, "maxAcceleration": 1.5, "maxAngularVelocity": 720.0, - "maxAngularAcceleration": 360.0 + "maxAngularAcceleration": 360.0, + "nominalVoltage": 12.0, + "unlimited": false } } ], + "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { "maxVelocity": 4.5, "maxAcceleration": 2.5, "maxAngularVelocity": 216.0, - "maxAngularAcceleration": 2520.0 + "maxAngularAcceleration": 2520.0, + "nominalVoltage": 12.0, + "unlimited": false }, "goalEndState": { "velocity": 0.0, - "rotation": -120.0, - "rotateFast": false + "rotation": -119.99999999999999 }, "reversed": false, "folder": null, - "previewStartingState": { - "rotation": 180.0, - "velocity": 0 + "idealStartingState": { + "velocity": 0, + "rotation": 0.0 }, "useDefaultConstraints": true } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/ToAMPNoteFromAMP.path b/src/main/deploy/pathplanner/paths/ToAMPNoteFromAMP.path index ba00f58..deac881 100644 --- a/src/main/deploy/pathplanner/paths/ToAMPNoteFromAMP.path +++ b/src/main/deploy/pathplanner/paths/ToAMPNoteFromAMP.path @@ -1,5 +1,5 @@ { - "version": 1.0, + "version": "2025.0", "waypoints": [ { "anchor": { @@ -8,7 +8,7 @@ }, "prevControl": null, "nextControl": { - "x": 1.290597959227301, + "x": 1.2905979592273007, "y": 7.155321129472502 }, "isLocked": false, @@ -20,7 +20,7 @@ "y": 6.9679477447399965 }, "prevControl": { - "x": 1.548236363234494, + "x": 1.5482363632344938, "y": 7.167031966018283 }, "nextControl": null, @@ -31,28 +31,29 @@ "rotationTargets": [ { "waypointRelativePos": 0.8, - "rotationDegrees": -160.0, - "rotateFast": false + "rotationDegrees": -160.0 } ], "constraintZones": [], + "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { "maxVelocity": 4.5, "maxAcceleration": 2.5, "maxAngularVelocity": 216.0, - "maxAngularAcceleration": 2520.0 + "maxAngularAcceleration": 2520.0, + "nominalVoltage": 12.0, + "unlimited": false }, "goalEndState": { "velocity": 0.0, - "rotation": -160.0, - "rotateFast": false + "rotation": -160.0 }, "reversed": false, "folder": null, - "previewStartingState": { - "rotation": -120.75, - "velocity": 0 + "idealStartingState": { + "velocity": 0, + "rotation": 0.0 }, "useDefaultConstraints": true } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/ToAMPNoteFromMidTrans.path b/src/main/deploy/pathplanner/paths/ToAMPNoteFromMidTrans.path index 75469fc..c133b42 100644 --- a/src/main/deploy/pathplanner/paths/ToAMPNoteFromMidTrans.path +++ b/src/main/deploy/pathplanner/paths/ToAMPNoteFromMidTrans.path @@ -1,5 +1,5 @@ { - "version": 1.0, + "version": "2025.0", "waypoints": [ { "anchor": { @@ -30,23 +30,25 @@ ], "rotationTargets": [], "constraintZones": [], + "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { "maxVelocity": 4.5, "maxAcceleration": 2.5, "maxAngularVelocity": 216.0, - "maxAngularAcceleration": 2520.0 + "maxAngularAcceleration": 2520.0, + "nominalVoltage": 12.0, + "unlimited": false }, "goalEndState": { "velocity": 0.2, - "rotation": 180.0, - "rotateFast": false + "rotation": 180.0 }, "reversed": false, "folder": null, - "previewStartingState": { - "rotation": 178.92402620035944, - "velocity": 0 + "idealStartingState": { + "velocity": 0, + "rotation": 0.0 }, "useDefaultConstraints": true } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/ToAMPNoteFromMidTurn.path b/src/main/deploy/pathplanner/paths/ToAMPNoteFromMidTurn.path index e7ded2a..6184fe8 100644 --- a/src/main/deploy/pathplanner/paths/ToAMPNoteFromMidTurn.path +++ b/src/main/deploy/pathplanner/paths/ToAMPNoteFromMidTurn.path @@ -1,5 +1,5 @@ { - "version": 1.0, + "version": "2025.0", "waypoints": [ { "anchor": { @@ -8,7 +8,7 @@ }, "prevControl": null, "nextControl": { - "x": 1.4700000000000004, + "x": 1.57, "y": 5.51843359236209 }, "isLocked": false, @@ -20,8 +20,8 @@ "y": 6.630585568863446 }, "prevControl": { - "x": 2.5796636530463917, - "y": 6.574017026368522 + "x": 2.4594555002446787, + "y": 6.4538088735668095 }, "nextControl": null, "isLocked": false, @@ -31,28 +31,29 @@ "rotationTargets": [ { "waypointRelativePos": 0.6, - "rotationDegrees": -135.0, - "rotateFast": true + "rotationDegrees": -135.0 } ], "constraintZones": [], + "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { "maxVelocity": 4.5, "maxAcceleration": 2.5, "maxAngularVelocity": 216.0, - "maxAngularAcceleration": 2520.0 + "maxAngularAcceleration": 2520.0, + "nominalVoltage": 12.0, + "unlimited": false }, "goalEndState": { "velocity": 0.0, - "rotation": -135.0, - "rotateFast": false + "rotation": -135.0 }, "reversed": false, "folder": null, - "previewStartingState": { - "rotation": 178.92402620035944, - "velocity": 0 + "idealStartingState": { + "velocity": 0, + "rotation": 0.0 }, "useDefaultConstraints": true } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/ToAmpFromAmpNoteShort.path b/src/main/deploy/pathplanner/paths/ToAmpFromAmpNoteShort.path index ace6ca8..23438ed 100644 --- a/src/main/deploy/pathplanner/paths/ToAmpFromAmpNoteShort.path +++ b/src/main/deploy/pathplanner/paths/ToAmpFromAmpNoteShort.path @@ -1,5 +1,5 @@ { - "version": 1.0, + "version": "2025.0", "waypoints": [ { "anchor": { @@ -30,23 +30,25 @@ ], "rotationTargets": [], "constraintZones": [], + "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { "maxVelocity": 4.5, "maxAcceleration": 2.5, "maxAngularVelocity": 216.0, - "maxAngularAcceleration": 2520.0 + "maxAngularAcceleration": 2520.0, + "nominalVoltage": 12.0, + "unlimited": false }, "goalEndState": { "velocity": 0, - "rotation": -120.0, - "rotateFast": true + "rotation": -119.99999999999999 }, "reversed": false, "folder": null, - "previewStartingState": { - "rotation": 180.0, - "velocity": 0 + "idealStartingState": { + "velocity": 0, + "rotation": 0.0 }, "useDefaultConstraints": true } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/ToAmpNoteFromAmpShort.path b/src/main/deploy/pathplanner/paths/ToAmpNoteFromAmpShort.path index d8462f5..78b7d2f 100644 --- a/src/main/deploy/pathplanner/paths/ToAmpNoteFromAmpShort.path +++ b/src/main/deploy/pathplanner/paths/ToAmpNoteFromAmpShort.path @@ -1,5 +1,5 @@ { - "version": 1.0, + "version": "2025.0", "waypoints": [ { "anchor": { @@ -30,23 +30,25 @@ ], "rotationTargets": [], "constraintZones": [], + "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { "maxVelocity": 4.5, "maxAcceleration": 2.5, "maxAngularVelocity": 216.0, - "maxAngularAcceleration": 2520.0 + "maxAngularAcceleration": 2520.0, + "nominalVoltage": 12.0, + "unlimited": false }, "goalEndState": { "velocity": 2.0, - "rotation": 180.0, - "rotateFast": false + "rotation": 180.0 }, "reversed": false, "folder": null, - "previewStartingState": { - "rotation": -122.41273441309177, - "velocity": 0 + "idealStartingState": { + "velocity": 0, + "rotation": 0.0 }, "useDefaultConstraints": true } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/ToFar1FromAMP.path b/src/main/deploy/pathplanner/paths/ToFar1FromAMP.path index d4905e2..f921247 100644 --- a/src/main/deploy/pathplanner/paths/ToFar1FromAMP.path +++ b/src/main/deploy/pathplanner/paths/ToFar1FromAMP.path @@ -1,5 +1,5 @@ { - "version": 1.0, + "version": "2025.0", "waypoints": [ { "anchor": { @@ -8,7 +8,7 @@ }, "prevControl": null, "nextControl": { - "x": 1.3208629785019899, + "x": 1.3208629785019896, "y": 7.608214998301123 }, "isLocked": false, @@ -31,8 +31,7 @@ "rotationTargets": [ { "waypointRelativePos": 0.25, - "rotationDegrees": 180.0, - "rotateFast": true + "rotationDegrees": 180.0 } ], "constraintZones": [ @@ -44,27 +43,31 @@ "maxVelocity": 3.0, "maxAcceleration": 1.5, "maxAngularVelocity": 720.0, - "maxAngularAcceleration": 360.0 + "maxAngularAcceleration": 360.0, + "nominalVoltage": 12.0, + "unlimited": false } } ], + "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { "maxVelocity": 4.5, "maxAcceleration": 2.5, "maxAngularVelocity": 216.0, - "maxAngularAcceleration": 2520.0 + "maxAngularAcceleration": 2520.0, + "nominalVoltage": 12.0, + "unlimited": false }, "goalEndState": { "velocity": 0.0, - "rotation": 180.0, - "rotateFast": false + "rotation": 180.0 }, "reversed": false, "folder": null, - "previewStartingState": { - "rotation": -120.0, - "velocity": 0 + "idealStartingState": { + "velocity": 0, + "rotation": 0.0 }, "useDefaultConstraints": true } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/ToFar1FromMid.path b/src/main/deploy/pathplanner/paths/ToFar1FromMid.path index 9c39811..30f2563 100644 --- a/src/main/deploy/pathplanner/paths/ToFar1FromMid.path +++ b/src/main/deploy/pathplanner/paths/ToFar1FromMid.path @@ -1,5 +1,5 @@ { - "version": 1.0, + "version": "2025.0", "waypoints": [ { "anchor": { @@ -31,28 +31,29 @@ "rotationTargets": [ { "waypointRelativePos": 0.45, - "rotationDegrees": 180.0, - "rotateFast": false + "rotationDegrees": 180.0 } ], "constraintZones": [], + "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { "maxVelocity": 4.5, "maxAcceleration": 2.5, "maxAngularVelocity": 216.0, - "maxAngularAcceleration": 2520.0 + "maxAngularAcceleration": 2520.0, + "nominalVoltage": 12.0, + "unlimited": false }, "goalEndState": { "velocity": 0.0, - "rotation": 180.0, - "rotateFast": false + "rotation": 180.0 }, "reversed": false, "folder": null, - "previewStartingState": { - "rotation": 180.0, - "velocity": 0 + "idealStartingState": { + "velocity": 0, + "rotation": 0.0 }, "useDefaultConstraints": true } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/ToFar1RideWall.path b/src/main/deploy/pathplanner/paths/ToFar1RideWall.path index c154d3d..f3e242e 100644 --- a/src/main/deploy/pathplanner/paths/ToFar1RideWall.path +++ b/src/main/deploy/pathplanner/paths/ToFar1RideWall.path @@ -1,5 +1,5 @@ { - "version": 1.0, + "version": "2025.0", "waypoints": [ { "anchor": { @@ -36,8 +36,8 @@ "y": 7.3114046228092455 }, "prevControl": { - "x": 7.854876907446122, - "y": 7.442141615052462 + "x": 7.841272635866248, + "y": 7.5597486151866065 }, "nextControl": null, "isLocked": false, @@ -47,28 +47,29 @@ "rotationTargets": [ { "waypointRelativePos": 1.45, - "rotationDegrees": 0, - "rotateFast": false + "rotationDegrees": 0.0 } ], "constraintZones": [], + "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { "maxVelocity": 4.5, "maxAcceleration": 2.5, "maxAngularVelocity": 216.0, - "maxAngularAcceleration": 2520.0 + "maxAngularAcceleration": 2520.0, + "nominalVoltage": 12.0, + "unlimited": false }, "goalEndState": { "velocity": 0.0, - "rotation": 0.0, - "rotateFast": false + "rotation": 0.0 }, "reversed": false, "folder": null, - "previewStartingState": { - "rotation": 0.0, - "velocity": 0 + "idealStartingState": { + "velocity": 0, + "rotation": 0.0 }, "useDefaultConstraints": true } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/ToFar2FromAMP.path b/src/main/deploy/pathplanner/paths/ToFar2FromAMP.path index 5a1fd8a..4e72ff3 100644 --- a/src/main/deploy/pathplanner/paths/ToFar2FromAMP.path +++ b/src/main/deploy/pathplanner/paths/ToFar2FromAMP.path @@ -1,5 +1,5 @@ { - "version": 1.0, + "version": "2025.0", "waypoints": [ { "anchor": { @@ -52,8 +52,8 @@ "y": 5.831996599799192 }, "prevControl": { - "x": 7.903386084101252, - "y": 5.857798755808134 + "x": 7.7584652102531315, + "y": 5.896501989821547 }, "nextControl": null, "isLocked": false, @@ -62,14 +62,12 @@ ], "rotationTargets": [ { - "waypointRelativePos": 2.3000000000000003, - "rotationDegrees": 180.0, - "rotateFast": true + "waypointRelativePos": 1.6500000000000001, + "rotationDegrees": -110.0 }, { - "waypointRelativePos": 1.6500000000000001, - "rotationDegrees": -110.0, - "rotateFast": false + "waypointRelativePos": 2.3000000000000003, + "rotationDegrees": 180.0 } ], "constraintZones": [ @@ -81,27 +79,31 @@ "maxVelocity": 2.0, "maxAcceleration": 1.0, "maxAngularVelocity": 360.0, - "maxAngularAcceleration": 180.0 + "maxAngularAcceleration": 180.0, + "nominalVoltage": 12.0, + "unlimited": false } } ], + "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { "maxVelocity": 4.5, "maxAcceleration": 2.5, "maxAngularVelocity": 216.0, - "maxAngularAcceleration": 2520.0 + "maxAngularAcceleration": 2520.0, + "nominalVoltage": 12.0, + "unlimited": false }, "goalEndState": { "velocity": 0, - "rotation": 180.0, - "rotateFast": false + "rotation": 180.0 }, "reversed": false, "folder": null, - "previewStartingState": { - "rotation": -120.0, - "velocity": 0 + "idealStartingState": { + "velocity": 0, + "rotation": 0.0 }, "useDefaultConstraints": true } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/ToFar3FromAMP.path b/src/main/deploy/pathplanner/paths/ToFar3FromAMP.path index 28ed380..8c8b718 100644 --- a/src/main/deploy/pathplanner/paths/ToFar3FromAMP.path +++ b/src/main/deploy/pathplanner/paths/ToFar3FromAMP.path @@ -1,5 +1,5 @@ { - "version": 1.0, + "version": "2025.0", "waypoints": [ { "anchor": { @@ -63,28 +63,29 @@ "rotationTargets": [ { "waypointRelativePos": 0.6, - "rotationDegrees": 180.0, - "rotateFast": false + "rotationDegrees": 180.0 } ], "constraintZones": [], + "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { "maxVelocity": 4.5, "maxAcceleration": 2.5, "maxAngularVelocity": 216.0, - "maxAngularAcceleration": 2520.0 + "maxAngularAcceleration": 2520.0, + "nominalVoltage": 12.0, + "unlimited": false }, "goalEndState": { "velocity": 0, - "rotation": 180.0, - "rotateFast": false + "rotation": 180.0 }, "reversed": false, "folder": null, - "previewStartingState": { - "rotation": -120.0, - "velocity": 0 + "idealStartingState": { + "velocity": 0, + "rotation": 0.0 }, "useDefaultConstraints": true } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/ToFar3FromMid.path b/src/main/deploy/pathplanner/paths/ToFar3FromMid.path index db5f15f..072844c 100644 --- a/src/main/deploy/pathplanner/paths/ToFar3FromMid.path +++ b/src/main/deploy/pathplanner/paths/ToFar3FromMid.path @@ -1,5 +1,5 @@ { - "version": 1.0, + "version": "2025.0", "waypoints": [ { "anchor": { @@ -47,28 +47,29 @@ "rotationTargets": [ { "waypointRelativePos": 0.9, - "rotationDegrees": 180.0, - "rotateFast": false + "rotationDegrees": 180.0 } ], "constraintZones": [], + "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { "maxVelocity": 4.5, "maxAcceleration": 2.5, "maxAngularVelocity": 216.0, - "maxAngularAcceleration": 2520.0 + "maxAngularAcceleration": 2520.0, + "nominalVoltage": 12.0, + "unlimited": false }, "goalEndState": { "velocity": 0, - "rotation": 180.0, - "rotateFast": false + "rotation": 180.0 }, "reversed": false, "folder": null, - "previewStartingState": { - "rotation": -179.22257128604332, - "velocity": 0 + "idealStartingState": { + "velocity": 0, + "rotation": 0.0 }, "useDefaultConstraints": true } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/ToFar5FromSource.path b/src/main/deploy/pathplanner/paths/ToFar5FromSource.path index f6e3437..8122e0a 100644 --- a/src/main/deploy/pathplanner/paths/ToFar5FromSource.path +++ b/src/main/deploy/pathplanner/paths/ToFar5FromSource.path @@ -1,5 +1,5 @@ { - "version": 1.0, + "version": "2025.0", "waypoints": [ { "anchor": { @@ -9,7 +9,7 @@ "prevControl": null, "nextControl": { "x": 4.517207410186798, - "y": 0.9788183638827492 + "y": 0.9788183638827488 }, "isLocked": false, "linkedName": "Source" @@ -21,7 +21,7 @@ }, "prevControl": { "x": 6.98755397510795, - "y": 0.8386901389187392 + "y": 0.8386901389187393 }, "nextControl": null, "isLocked": false, @@ -31,8 +31,7 @@ "rotationTargets": [ { "waypointRelativePos": 0.1, - "rotationDegrees": 180.0, - "rotateFast": false + "rotationDegrees": 180.0 } ], "constraintZones": [ @@ -44,27 +43,31 @@ "maxVelocity": 3.0, "maxAcceleration": 1.5, "maxAngularVelocity": 360.0, - "maxAngularAcceleration": 180.0 + "maxAngularAcceleration": 180.0, + "nominalVoltage": 12.0, + "unlimited": false } } ], + "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { "maxVelocity": 4.5, "maxAcceleration": 2.5, "maxAngularVelocity": 216.0, - "maxAngularAcceleration": 2520.0 + "maxAngularAcceleration": 2520.0, + "nominalVoltage": 12.0, + "unlimited": false }, "goalEndState": { "velocity": 0, - "rotation": 180.0, - "rotateFast": false + "rotation": 180.0 }, "reversed": false, "folder": null, - "previewStartingState": { - "rotation": 120.0, - "velocity": 0 + "idealStartingState": { + "velocity": 0, + "rotation": 0.0 }, "useDefaultConstraints": true } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/ToFar5FromSourceUnaligned.path b/src/main/deploy/pathplanner/paths/ToFar5FromSourceUnaligned.path index 7dd4d7e..a3cde70 100644 --- a/src/main/deploy/pathplanner/paths/ToFar5FromSourceUnaligned.path +++ b/src/main/deploy/pathplanner/paths/ToFar5FromSourceUnaligned.path @@ -1,70 +1,73 @@ -{ - "version": 1.0, - "waypoints": [ - { - "anchor": { - "x": 1.4311279977766793, - "y": 1.5809629336805058 - }, - "prevControl": null, - "nextControl": { - "x": 2.567139506250485, - "y": 1.5809629336805058 - }, - "isLocked": false, - "linkedName": null - }, - { - "anchor": { - "x": 8.0, - "y": 1.28 - }, - "prevControl": { - "x": 6.898620882227743, - "y": 1.28 - }, - "nextControl": null, - "isLocked": false, - "linkedName": null - } - ], - "rotationTargets": [ - { - "waypointRelativePos": 0.2, - "rotationDegrees": -25.0, - "rotateFast": true - } - ], - "constraintZones": [ - { - "name": "Accel", - "minWaypointRelativePos": 0.2, - "maxWaypointRelativePos": 1.0, - "constraints": { - "maxVelocity": 9.0, - "maxAcceleration": 3.0, - "maxAngularVelocity": 720.0, - "maxAngularAcceleration": 360.0 - } - } - ], - "eventMarkers": [], - "globalConstraints": { - "maxVelocity": 3.0, - "maxAcceleration": 2.0, - "maxAngularVelocity": 720.0, - "maxAngularAcceleration": 360.0 - }, - "goalEndState": { - "velocity": 0.0, - "rotation": -25.0, - "rotateFast": true - }, - "reversed": false, - "folder": "AmpNote", - "previewStartingState": { - "rotation": 0, - "velocity": 0 - }, - "useDefaultConstraints": false +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 1.4311279977766793, + "y": 1.5809629336805058 + }, + "prevControl": null, + "nextControl": { + "x": 2.567139506250485, + "y": 1.5809629336805058 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 8.0, + "y": 1.28 + }, + "prevControl": { + "x": 6.898620882227743, + "y": 1.2800000000000002 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [ + { + "waypointRelativePos": 0.2, + "rotationDegrees": -25.0 + } + ], + "constraintZones": [ + { + "name": "Accel", + "minWaypointRelativePos": 0.2, + "maxWaypointRelativePos": 1.0, + "constraints": { + "maxVelocity": 9.0, + "maxAcceleration": 3.0, + "maxAngularVelocity": 720.0, + "maxAngularAcceleration": 360.0, + "nominalVoltage": 12.0, + "unlimited": false + } + } + ], + "pointTowardsZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 3.0, + "maxAcceleration": 2.0, + "maxAngularVelocity": 720.0, + "maxAngularAcceleration": 360.0, + "nominalVoltage": 12.0, + "unlimited": false + }, + "goalEndState": { + "velocity": 0.0, + "rotation": -25.0 + }, + "reversed": false, + "folder": "AmpNote", + "idealStartingState": { + "velocity": 0, + "rotation": 0.0 + }, + "useDefaultConstraints": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/ToMidNoteFromAmpShort.path b/src/main/deploy/pathplanner/paths/ToMidNoteFromAmpShort.path index a71596b..4c52e7a 100644 --- a/src/main/deploy/pathplanner/paths/ToMidNoteFromAmpShort.path +++ b/src/main/deploy/pathplanner/paths/ToMidNoteFromAmpShort.path @@ -1,5 +1,5 @@ { - "version": 1.0, + "version": "2025.0", "waypoints": [ { "anchor": { @@ -30,23 +30,25 @@ ], "rotationTargets": [], "constraintZones": [], + "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { "maxVelocity": 4.5, "maxAcceleration": 2.5, "maxAngularVelocity": 216.0, - "maxAngularAcceleration": 2520.0 + "maxAngularAcceleration": 2520.0, + "nominalVoltage": 12.0, + "unlimited": false }, "goalEndState": { "velocity": 2.0, - "rotation": -56.31637020202837, - "rotateFast": false + "rotation": -56.31637020202837 }, "reversed": false, "folder": null, - "previewStartingState": { - "rotation": -120.0, - "velocity": 0 + "idealStartingState": { + "velocity": 0, + "rotation": 0.0 }, "useDefaultConstraints": true } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/ToMidNoteFromMid.path b/src/main/deploy/pathplanner/paths/ToMidNoteFromMid.path index d24c0cd..88a9e26 100644 --- a/src/main/deploy/pathplanner/paths/ToMidNoteFromMid.path +++ b/src/main/deploy/pathplanner/paths/ToMidNoteFromMid.path @@ -1,5 +1,5 @@ { - "version": 1.0, + "version": "2025.0", "waypoints": [ { "anchor": { @@ -30,23 +30,25 @@ ], "rotationTargets": [], "constraintZones": [], + "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { "maxVelocity": 4.5, "maxAcceleration": 2.5, "maxAngularVelocity": 216.0, - "maxAngularAcceleration": 2520.0 + "maxAngularAcceleration": 2520.0, + "nominalVoltage": 12.0, + "unlimited": false }, "goalEndState": { "velocity": 2.0, - "rotation": 180.0, - "rotateFast": false + "rotation": 180.0 }, "reversed": false, "folder": null, - "previewStartingState": { - "rotation": 180.0, - "velocity": 0 + "idealStartingState": { + "velocity": 0, + "rotation": 0.0 }, "useDefaultConstraints": true } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/ToMidNoteFromSource.path b/src/main/deploy/pathplanner/paths/ToMidNoteFromSource.path index d78ebe1..2fc8679 100644 --- a/src/main/deploy/pathplanner/paths/ToMidNoteFromSource.path +++ b/src/main/deploy/pathplanner/paths/ToMidNoteFromSource.path @@ -1,5 +1,5 @@ { - "version": 1.0, + "version": "2025.0", "waypoints": [ { "anchor": { @@ -20,7 +20,7 @@ "y": 5.340141464876368 }, "prevControl": { - "x": 1.7011111470080238, + "x": 1.701111147008024, "y": 4.9245156873002145 }, "nextControl": null, @@ -31,28 +31,29 @@ "rotationTargets": [ { "waypointRelativePos": 0.1, - "rotationDegrees": 120.37, - "rotateFast": false + "rotationDegrees": 120.37000000000002 } ], "constraintZones": [], + "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { "maxVelocity": 4.5, "maxAcceleration": 2.5, "maxAngularVelocity": 216.0, - "maxAngularAcceleration": 2520.0 + "maxAngularAcceleration": 2520.0, + "nominalVoltage": 12.0, + "unlimited": false }, "goalEndState": { "velocity": 0, - "rotation": -138.13, - "rotateFast": false + "rotation": -138.13 }, "reversed": false, "folder": null, - "previewStartingState": { - "rotation": 120.0, - "velocity": 0 + "idealStartingState": { + "velocity": 0, + "rotation": 0.0 }, "useDefaultConstraints": true } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/ToSourceNoteFromMid.path b/src/main/deploy/pathplanner/paths/ToSourceNoteFromMid.path index 9fe8512..1117166 100644 --- a/src/main/deploy/pathplanner/paths/ToSourceNoteFromMid.path +++ b/src/main/deploy/pathplanner/paths/ToSourceNoteFromMid.path @@ -1,5 +1,5 @@ { - "version": 1.0, + "version": "2025.0", "waypoints": [ { "anchor": { @@ -20,7 +20,7 @@ "y": 4.380922607999063 }, "prevControl": { - "x": 1.9519364869959832, + "x": 1.951936486995983, "y": 4.91962108910501 }, "nextControl": null, @@ -31,28 +31,29 @@ "rotationTargets": [ { "waypointRelativePos": 0.65, - "rotationDegrees": 147.91, - "rotateFast": true + "rotationDegrees": 147.91 } ], "constraintZones": [], + "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { "maxVelocity": 4.5, "maxAcceleration": 2.5, "maxAngularVelocity": 216.0, - "maxAngularAcceleration": 2520.0 + "maxAngularAcceleration": 2520.0, + "nominalVoltage": 12.0, + "unlimited": false }, "goalEndState": { "velocity": 0.5, - "rotation": 147.91, - "rotateFast": false + "rotation": 147.91 }, "reversed": false, "folder": null, - "previewStartingState": { - "rotation": -179.38303924933098, - "velocity": 0.0 + "idealStartingState": { + "velocity": 0, + "rotation": 0.0 }, "useDefaultConstraints": true } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/ToSourceNoteFromMidTrans.path b/src/main/deploy/pathplanner/paths/ToSourceNoteFromMidTrans.path index cb9ea3a..615738f 100644 --- a/src/main/deploy/pathplanner/paths/ToSourceNoteFromMidTrans.path +++ b/src/main/deploy/pathplanner/paths/ToSourceNoteFromMidTrans.path @@ -1,5 +1,5 @@ { - "version": 1.0, + "version": "2025.0", "waypoints": [ { "anchor": { @@ -30,23 +30,25 @@ ], "rotationTargets": [], "constraintZones": [], + "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { "maxVelocity": 4.5, "maxAcceleration": 2.5, "maxAngularVelocity": 216.0, - "maxAngularAcceleration": 2520.0 + "maxAngularAcceleration": 2520.0, + "nominalVoltage": 12.0, + "unlimited": false }, "goalEndState": { "velocity": 0, - "rotation": 180.0, - "rotateFast": false + "rotation": 180.0 }, "reversed": false, "folder": null, - "previewStartingState": { - "rotation": -179.38303924933098, - "velocity": 0.0 + "idealStartingState": { + "velocity": 0, + "rotation": 0.0 }, "useDefaultConstraints": true } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/ToSourceNoteFromSource.path b/src/main/deploy/pathplanner/paths/ToSourceNoteFromSource.path index 36be466..1b8d7a0 100644 --- a/src/main/deploy/pathplanner/paths/ToSourceNoteFromSource.path +++ b/src/main/deploy/pathplanner/paths/ToSourceNoteFromSource.path @@ -1,5 +1,5 @@ { - "version": 1.0, + "version": "2025.0", "waypoints": [ { "anchor": { @@ -20,7 +20,7 @@ "y": 4.0 }, "prevControl": { - "x": 1.738340399757724, + "x": 1.7383403997577238, "y": 3.690236611242454 }, "nextControl": null, @@ -38,27 +38,31 @@ "maxVelocity": 3.0, "maxAcceleration": 1.5, "maxAngularVelocity": 360.0, - "maxAngularAcceleration": 180.0 + "maxAngularAcceleration": 180.0, + "nominalVoltage": 12.0, + "unlimited": false } } ], + "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { "maxVelocity": 4.5, "maxAcceleration": 2.5, "maxAngularVelocity": 216.0, - "maxAngularAcceleration": 2520.0 + "maxAngularAcceleration": 2520.0, + "nominalVoltage": 12.0, + "unlimited": false }, "goalEndState": { "velocity": 0, - "rotation": 180.0, - "rotateFast": true + "rotation": 180.0 }, "reversed": false, "folder": null, - "previewStartingState": { - "rotation": 120.0, - "velocity": 0 + "idealStartingState": { + "velocity": 0, + "rotation": 0.0 }, "useDefaultConstraints": true } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/TurnTesting.path b/src/main/deploy/pathplanner/paths/TurnTesting.path index 127c89b..9fa6ba1 100644 --- a/src/main/deploy/pathplanner/paths/TurnTesting.path +++ b/src/main/deploy/pathplanner/paths/TurnTesting.path @@ -1,5 +1,5 @@ { - "version": 1.0, + "version": "2025.0", "waypoints": [ { "anchor": { @@ -8,7 +8,7 @@ }, "prevControl": null, "nextControl": { - "x": 2.1, + "x": 2.25, "y": 7.0 }, "isLocked": false, @@ -20,7 +20,7 @@ "y": 7.0 }, "prevControl": { - "x": 5.629005010078493, + "x": 5.479005010078493, "y": 7.0 }, "nextControl": null, @@ -31,28 +31,29 @@ "rotationTargets": [ { "waypointRelativePos": 0.75, - "rotationDegrees": 60.0, - "rotateFast": false + "rotationDegrees": 59.99999999999999 } ], "constraintZones": [], + "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { "maxVelocity": 4.5, "maxAcceleration": 2.5, "maxAngularVelocity": 216.0, - "maxAngularAcceleration": 2520.0 + "maxAngularAcceleration": 2520.0, + "nominalVoltage": 12.0, + "unlimited": false }, "goalEndState": { "velocity": 0, - "rotation": 60.0, - "rotateFast": true + "rotation": 59.99999999999999 }, "reversed": false, "folder": null, - "previewStartingState": { - "rotation": 0, - "velocity": 0 + "idealStartingState": { + "velocity": 0, + "rotation": 0.0 }, "useDefaultConstraints": true } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/TurnTesting2.path b/src/main/deploy/pathplanner/paths/TurnTesting2.path index b0c447c..d45f47f 100644 --- a/src/main/deploy/pathplanner/paths/TurnTesting2.path +++ b/src/main/deploy/pathplanner/paths/TurnTesting2.path @@ -1,5 +1,5 @@ { - "version": 1.0, + "version": "2025.0", "waypoints": [ { "anchor": { @@ -30,23 +30,25 @@ ], "rotationTargets": [], "constraintZones": [], + "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { "maxVelocity": 4.5, "maxAcceleration": 2.5, "maxAngularVelocity": 216.0, - "maxAngularAcceleration": 2520.0 + "maxAngularAcceleration": 2520.0, + "nominalVoltage": 12.0, + "unlimited": false }, "goalEndState": { "velocity": 0, - "rotation": 0.0, - "rotateFast": true + "rotation": 0.0 }, "reversed": false, "folder": null, - "previewStartingState": { - "rotation": 0, - "velocity": 0 + "idealStartingState": { + "velocity": 0, + "rotation": 0.0 }, "useDefaultConstraints": true } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/configrpath.path b/src/main/deploy/pathplanner/paths/configrpath.path index 3496841..fca49cc 100644 --- a/src/main/deploy/pathplanner/paths/configrpath.path +++ b/src/main/deploy/pathplanner/paths/configrpath.path @@ -1,5 +1,5 @@ { - "version": 1.0, + "version": "2025.0", "waypoints": [ { "anchor": { @@ -8,7 +8,7 @@ }, "prevControl": null, "nextControl": { - "x": 2.1, + "x": 2.25, "y": 7.0 }, "isLocked": false, @@ -20,7 +20,7 @@ "y": 7.0 }, "prevControl": { - "x": 3.696716980024544, + "x": 3.5467169800245437, "y": 7.0 }, "nextControl": null, @@ -30,23 +30,25 @@ ], "rotationTargets": [], "constraintZones": [], + "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { "maxVelocity": 4.5, "maxAcceleration": 2.5, "maxAngularVelocity": 216.0, - "maxAngularAcceleration": 2520.0 + "maxAngularAcceleration": 2520.0, + "nominalVoltage": 12.0, + "unlimited": false }, "goalEndState": { "velocity": 0, - "rotation": 90.0, - "rotateFast": false + "rotation": 90.0 }, "reversed": false, "folder": null, - "previewStartingState": { - "rotation": 0, - "velocity": 0 + "idealStartingState": { + "velocity": 0, + "rotation": 0.0 }, "useDefaultConstraints": true } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/configt2path.path b/src/main/deploy/pathplanner/paths/configt2path.path index b4cc48c..3ec114a 100644 --- a/src/main/deploy/pathplanner/paths/configt2path.path +++ b/src/main/deploy/pathplanner/paths/configt2path.path @@ -1,5 +1,5 @@ { - "version": 1.0, + "version": "2025.0", "waypoints": [ { "anchor": { @@ -31,28 +31,29 @@ "rotationTargets": [ { "waypointRelativePos": 0.4, - "rotationDegrees": 135.0, - "rotateFast": false + "rotationDegrees": 135.0 } ], "constraintZones": [], + "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { "maxVelocity": 4.5, "maxAcceleration": 2.5, "maxAngularVelocity": 216.0, - "maxAngularAcceleration": 2520.0 + "maxAngularAcceleration": 2520.0, + "nominalVoltage": 12.0, + "unlimited": false }, "goalEndState": { "velocity": 0, - "rotation": 180.0, - "rotateFast": true + "rotation": 180.0 }, "reversed": false, "folder": null, - "previewStartingState": { - "rotation": 90.0, - "velocity": 2.0 + "idealStartingState": { + "velocity": 0, + "rotation": 0.0 }, "useDefaultConstraints": true } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/configtpath.path b/src/main/deploy/pathplanner/paths/configtpath.path index d7489f9..20bced9 100644 --- a/src/main/deploy/pathplanner/paths/configtpath.path +++ b/src/main/deploy/pathplanner/paths/configtpath.path @@ -1,15 +1,15 @@ { - "version": 1.0, + "version": "2025.0", "waypoints": [ { "anchor": { - "x": 2.0, - "y": 2.0 + "x": 1.82, + "y": 7.64 }, "prevControl": null, "nextControl": { - "x": 3.0, - "y": 2.0 + "x": 2.8200000000000003, + "y": 7.64 }, "isLocked": false, "linkedName": null @@ -31,33 +31,33 @@ "rotationTargets": [ { "waypointRelativePos": 0.2, - "rotationDegrees": 45.0, - "rotateFast": true + "rotationDegrees": 45.0 }, { "waypointRelativePos": 0.55, - "rotationDegrees": 75.0, - "rotateFast": true + "rotationDegrees": 75.0 } ], "constraintZones": [], + "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { "maxVelocity": 4.5, "maxAcceleration": 2.5, "maxAngularVelocity": 216.0, - "maxAngularAcceleration": 2520.0 + "maxAngularAcceleration": 2520.0, + "nominalVoltage": 12.0, + "unlimited": false }, "goalEndState": { "velocity": 1.0, - "rotation": 90.0, - "rotateFast": true + "rotation": 90.0 }, "reversed": false, "folder": null, - "previewStartingState": { - "rotation": 90.0, - "velocity": 0 + "idealStartingState": { + "velocity": 0, + "rotation": 0.0 }, "useDefaultConstraints": true } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/theFuckMeMovement.path b/src/main/deploy/pathplanner/paths/theFuckMeMovement.path index 3f822c6..641457a 100644 --- a/src/main/deploy/pathplanner/paths/theFuckMeMovement.path +++ b/src/main/deploy/pathplanner/paths/theFuckMeMovement.path @@ -1,5 +1,5 @@ { - "version": 1.0, + "version": "2025.0", "waypoints": [ { "anchor": { @@ -8,8 +8,8 @@ }, "prevControl": null, "nextControl": { - "x": 7.765312713702351, - "y": 7.51144604443055 + "x": 7.75408194615527, + "y": 7.532906326624024 }, "isLocked": false, "linkedName": null @@ -47,28 +47,29 @@ "rotationTargets": [ { "waypointRelativePos": 0.35, - "rotationDegrees": 50.0, - "rotateFast": true + "rotationDegrees": 50.0 } ], "constraintZones": [], + "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { "maxVelocity": 4.5, "maxAcceleration": 2.5, "maxAngularVelocity": 216.0, - "maxAngularAcceleration": 2520.0 + "maxAngularAcceleration": 2520.0, + "nominalVoltage": 12.0, + "unlimited": false }, "goalEndState": { "velocity": 0.0, - "rotation": 50.0, - "rotateFast": false + "rotation": 50.0 }, "reversed": false, "folder": null, - "previewStartingState": { - "rotation": 0.0, - "velocity": 0 + "idealStartingState": { + "velocity": 0, + "rotation": 0.0 }, "useDefaultConstraints": true } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/theFuckYouMovement.path b/src/main/deploy/pathplanner/paths/theFuckYouMovement.path index 20e0a15..ee477ad 100644 --- a/src/main/deploy/pathplanner/paths/theFuckYouMovement.path +++ b/src/main/deploy/pathplanner/paths/theFuckYouMovement.path @@ -1,5 +1,5 @@ { - "version": 1.0, + "version": "2025.0", "waypoints": [ { "anchor": { @@ -8,8 +8,8 @@ }, "prevControl": null, "nextControl": { - "x": 7.895312713702351, - "y": 1.4800414216213047 + "x": 7.88408194615527, + "y": 1.5015017038147793 }, "isLocked": false, "linkedName": null @@ -78,23 +78,25 @@ ], "rotationTargets": [], "constraintZones": [], + "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { "maxVelocity": 4.5, "maxAcceleration": 2.5, "maxAngularVelocity": 216.0, - "maxAngularAcceleration": 2520.0 + "maxAngularAcceleration": 2520.0, + "nominalVoltage": 12.0, + "unlimited": false }, "goalEndState": { "velocity": 0, - "rotation": -50.0, - "rotateFast": false + "rotation": -50.0 }, "reversed": false, "folder": null, - "previewStartingState": { - "rotation": -25.0, - "velocity": 0 + "idealStartingState": { + "velocity": 0, + "rotation": 0.0 }, "useDefaultConstraints": true } \ No newline at end of file diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index 584b39e..536c238 100644 --- a/src/main/java/frc/robot/Constants.java +++ b/src/main/java/frc/robot/Constants.java @@ -8,7 +8,9 @@ import com.pathplanner.lib.util.PIDConstants; import com.pathplanner.lib.util.ReplanningConfig; +import edu.wpi.first.math.geometry.Pose2d; import edu.wpi.first.math.geometry.Pose3d; +import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.geometry.Rotation3d; import edu.wpi.first.math.geometry.Translation2d; import edu.wpi.first.math.geometry.Translation3d; @@ -22,7 +24,7 @@ * constants are needed, to reduce verbosity. */ public final class Constants { - public static final Mode currentMode = Mode.REAL; // TODO: change this if sim + public static final Mode currentMode = Mode.SIM; // TODO: change this if sim // public static final boolean isSYSID = true; // TODO: change this if sysid public static enum Mode { /** Running on a real robot. */ @@ -37,6 +39,7 @@ public static enum Mode { REPLAY_SIM, } + public static class OperatorConstants { public static final int kDRIVER_CONTROLLER_PORT = 0; @@ -51,9 +54,9 @@ public static class OperatorConstants { public static final class Auton { - + public static final double MAX_ALIGN_DIST_METERS = 3; public static final PIDConstants TRANSLATION_PID_CONFIG = new PIDConstants(3.8, 0, 0); - public static final PIDConstants ANGLE_PID_CONFIG = new PIDConstants(5, 0, 0.03, Math.PI * 2 * .12); + public static final PIDConstants ANGLE_PID_CONFIG = new PIDConstants(3, 0, 0.2); public static final double MAX_MODULE_SPEED = 4.5; public static final double MAX_ACCELERATION = 3.5; @@ -118,8 +121,9 @@ public static class FieldConstants { new Translation3d(2.89, 5.54, 0), new Translation3d(2.89, 4.10, 0), }; - + public static final double kNOTE_DIAMETER_METERS = 0.36; + public static final Pose2d AMP_ALIGN_POSE_BLUE = new Pose2d(1.82, 7.64, new Rotation2d(Math.toRadians(-90))); } public static class VisionConstants { diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 276ac3b..2e68576 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -6,6 +6,8 @@ import edu.wpi.first.math.geometry.Pose2d; import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.geometry.Translation2d; +import edu.wpi.first.math.geometry.Translation3d; +import edu.wpi.first.wpilibj.Timer; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.InstantCommand; import edu.wpi.first.wpilibj2.command.ParallelCommandGroup; @@ -57,6 +59,8 @@ import frc.robot.subsystems.intakeComp.IntakeIO; import frc.robot.subsystems.intakeComp.IntakeIONeo; import frc.robot.subsystems.intakeComp.IntakeIOSim; +import frc.robot.subsystems.noteVisulaizer.NoteVisualizer; +import frc.robot.subsystems.noteVisulaizer.NoteVisualizer.Note; import frc.robot.subsystems.pivotComp.Pivot; import frc.robot.subsystems.pivotComp.PivotIO; import frc.robot.subsystems.pivotComp.PivotIONeo; @@ -92,7 +96,9 @@ public class RobotContainer { private final Shooter shooter; - private final PoseLimelight poseLimelight; + // private final PoseLimelight poseLimelight; + + public final NoteVisualizer noteVisualizer; // private final Climber climberSubsystem; public RobotContainer() { @@ -100,8 +106,8 @@ public RobotContainer() { this.xboxOperator = new XboxController(2); this.xboxDriver = new XboxController(3); - poseLimelight = new PoseLimelight(); - swerveDrive = new SwerveDrive(poseLimelight); //TODO: change null later :( + // poseLimelight = new PoseLimelight(); + swerveDrive = new SwerveDrive(/*poseLimelight*/); //TODO: change null later :( // flywheelSubsystem = new Flywheel(); noteDetector = new NoteDetector(swerveDrive); indexer = new Indexer(swerveDrive, noteDetector); @@ -138,7 +144,7 @@ public RobotContainer() { // intake = new Intake(indexer); indexer.setSubsystem(intake, pivot); - + noteVisualizer = new NoteVisualizer(); autoRunner = new AutoRunner(swerveDrive); @@ -179,7 +185,27 @@ public RobotContainer() { // this.xboxOperator.getRightBumper().onTrue(new ShooterAmp()); this.xboxOperator.getXButton().onTrue(new MoveElevatorToggle()); this.xboxOperator.getYButton().onTrue(new ScoreAMP()); // changed - this.xboxOperator.getAButton().onTrue(new ShootNoteTele()); // change back to shootNoteTele + + this.xboxOperator.getAButton().onTrue( + //co author as daniel :3 + new ParallelCommandGroup( + new ShootNoteTele(), + new InstantCommand(() -> noteVisualizer.addNote( + new Note( + Timer.getFPGATimestamp(), + new Translation3d( + swerveDrive.getPose().getTranslation().getX(), + swerveDrive.getPose().getTranslation().getY(), + .7 + ), + swerveDrive.getPose().getRotation().getRadians(), + .5, + 10, + swerveDrive.getMeasuredFeildRelativeSpeeds().vxMetersPerSecond, + swerveDrive.getMeasuredFeildRelativeSpeeds().vyMetersPerSecond) + )) + )); // change back to shootNoteTele + this.xboxOperator.getBButton().onTrue(feedHold = new FeedAndHoldNote()); this.xboxOperator.getLeftBumper().onTrue(new ShooterStop(feedHold)); // this.xboxOperator.getRightMiddleButton().onTrue(new ParallelCommandGroup(new MoveElevatorAMP(), new IntakeNote())); @@ -188,12 +214,18 @@ public RobotContainer() { // driver controlls this.xboxDriver.getXButton().onTrue(new InstantCommand(() -> swerveDrive.zeroGyro())); - this.xboxDriver.getAButton().onTrue(intakeG = new IntakeNote(swerveDrive, intake, noteDetector)); + this.xboxDriver.getLeftBumper().onTrue(intakeG = new IntakeNote(swerveDrive, intake, noteDetector)); + this.xboxDriver.getAButton().whileTrue( + // swerveDrive.getPose().getTranslation().getDistance(Constants.FieldConstants.AMP_ALIGN_POSE_BLUE.getTranslation()) <= + // Constants.Auton.MAX_ALIGN_DIST_METERS ? + DriveToPose.getCommand(Constants.FieldConstants.AMP_ALIGN_POSE_BLUE)/* : + new Command() {}*/); + // this.xboxDriver.getBButton().onTrue(new MoveClimberUp()); // this.xboxDriver.getAButton().onTrue(new MoveClimberDown()); - this.xboxDriver.getLeftBumper().onTrue(intakeG = new IntakeNoteManual()); //TODO: CHECK W KUSH + // this.xboxDriver.getLeftBumper().onTrue(intakeG = new IntakeNoteManual()); //TODO: CHECK W KUSH this.xboxDriver.getRightMiddleButton().onTrue(new RollIntakeEject()); this.xboxDriver.getRightBumper().onTrue(new CancelIntakeNote(intakeG, feedHold, swerveDrive)); @@ -214,6 +246,8 @@ public static RobotContainer getInstance() { if (instance == null) { instance = new RobotContainer(); } + + return instance; } diff --git a/src/main/java/frc/robot/commands/AutoRunner.java b/src/main/java/frc/robot/commands/AutoRunner.java index ea99975..03a10aa 100644 --- a/src/main/java/frc/robot/commands/AutoRunner.java +++ b/src/main/java/frc/robot/commands/AutoRunner.java @@ -63,7 +63,12 @@ public AutoRunner (SwerveDrive swerveSubsystem) { Constants.Auton.ANGLE_PID_CONFIG, // Rotation PID constants Constants.Auton.MAX_MODULE_SPEED, // Max module speed, in m/s 0.5384061785684372, // Drive base radius in meters. Distance from robot center to furthest module. - new ReplanningConfig() // Default path replanning config. See the API for the options here + new ReplanningConfig( + true, + true, + .5, + .4 + ) // Default path replanning config. See the API for the options here ), () -> { // Boolean supplier that controls when the path will be mirrored for the red alliance diff --git a/src/main/java/frc/robot/commands/Autos.java b/src/main/java/frc/robot/commands/Autos.java index e20b3ee..3451e1d 100644 --- a/src/main/java/frc/robot/commands/Autos.java +++ b/src/main/java/frc/robot/commands/Autos.java @@ -18,6 +18,7 @@ import frc.robot.commands.intake.StopIntake; import frc.robot.commands.pivot.PivotToTorus; import frc.robot.commands.pivot.PivotTurtle; +import frc.robot.commands.shooterComp.AutoCommand; import frc.robot.subsystems.ExampleSubsystem; import frc.robot.subsystems.drivetrain.swerve.SwerveDrive; import frc.robot.subsystems.drivetrain.vision.NoteDetector; diff --git a/src/main/java/frc/robot/commands/autoAligment/DriveToPose.java b/src/main/java/frc/robot/commands/autoAligment/DriveToPose.java index abc2512..9943656 100644 --- a/src/main/java/frc/robot/commands/autoAligment/DriveToPose.java +++ b/src/main/java/frc/robot/commands/autoAligment/DriveToPose.java @@ -1,5 +1,7 @@ package frc.robot.commands.autoAligment; +import org.littletonrobotics.junction.Logger; + import com.pathplanner.lib.auto.AutoBuilder; import com.pathplanner.lib.path.PathConstraints; @@ -18,10 +20,10 @@ public static Command getCommand(Pose2d endGoal) { var alliance = DriverStation.getAlliance(); if (alliance.isPresent() && alliance.get() == DriverStation.Alliance.Red) { endGoal = GeometryUtil.flipFieldPose(endGoal); - } - + } + return AutoBuilder.pathfindToPose(endGoal, new PathConstraints(Constants.Auton.MAX_MODULE_SPEED, Constants.Auton.MAX_ACCELERATION, - Constants.Auton.MAX_ANGULAR_VELO_RPS, Constants.Auton.MAX_ANGULAR_ACCEL_RPS_SQUARED), 0, 0); + Constants.Auton.MAX_ANGULAR_VELO_RPS * Math.PI * 2, Constants.Auton.MAX_ANGULAR_ACCEL_RPS_SQUARED * Math.PI * 2), 0, 0); } } diff --git a/src/main/java/frc/robot/commands/compositions/ShootNoteTele.java b/src/main/java/frc/robot/commands/compositions/ShootNoteTele.java index ea5661a..3d38828 100644 --- a/src/main/java/frc/robot/commands/compositions/ShootNoteTele.java +++ b/src/main/java/frc/robot/commands/compositions/ShootNoteTele.java @@ -5,6 +5,7 @@ import frc.robot.commands.intake.RollIntakeIn; import frc.robot.commands.intake.StopIntake; import frc.robot.commands.shooterComp.ShooterStop; +import frc.robot.subsystems.noteVisulaizer.NoteVisualizer; public class ShootNoteTele extends SequentialCommandGroup { public ShootNoteTele() { diff --git a/src/main/java/frc/robot/commands/AutoCommand.java b/src/main/java/frc/robot/commands/shooterComp/AutoCommand.java similarity index 96% rename from src/main/java/frc/robot/commands/AutoCommand.java rename to src/main/java/frc/robot/commands/shooterComp/AutoCommand.java index 39ef318..491e074 100644 --- a/src/main/java/frc/robot/commands/AutoCommand.java +++ b/src/main/java/frc/robot/commands/shooterComp/AutoCommand.java @@ -1,4 +1,4 @@ -package frc.robot.commands; +package frc.robot.commands.shooterComp; import org.littletonrobotics.junction.Logger; diff --git a/src/main/java/frc/robot/subsystems/Flywheel.java b/src/main/java/frc/robot/subsystems/Flywheel.java new file mode 100644 index 0000000..49f270d --- /dev/null +++ b/src/main/java/frc/robot/subsystems/Flywheel.java @@ -0,0 +1,10 @@ +package frc.robot.subsystems; + +public class Flywheel { + public static void main(String[] args){ + int deeznutz=69; + double deeznutz2=6.9; + boolean nutz=false;//funni + } + +} diff --git a/src/main/java/frc/robot/subsystems/drivetrain/swerve/DriveFFController.java b/src/main/java/frc/robot/subsystems/drivetrain/swerve/DriveFFController.java index c3e9ef7..5f26a5c 100644 --- a/src/main/java/frc/robot/subsystems/drivetrain/swerve/DriveFFController.java +++ b/src/main/java/frc/robot/subsystems/drivetrain/swerve/DriveFFController.java @@ -85,8 +85,6 @@ public double calculate(double imps, double irps) { temp.remove(index); } } - - double[] tr, tl, br, bl; tr = new double[] {-Integer.MAX_VALUE, -Integer.MAX_VALUE, 0}; diff --git a/src/main/java/frc/robot/subsystems/drivetrain/swerve/GyroIO.java b/src/main/java/frc/robot/subsystems/drivetrain/swerve/GyroIO.java index 939a6c2..e3db7ec 100644 --- a/src/main/java/frc/robot/subsystems/drivetrain/swerve/GyroIO.java +++ b/src/main/java/frc/robot/subsystems/drivetrain/swerve/GyroIO.java @@ -10,11 +10,11 @@ public interface GyroIO { public static class GyroIOInputs { public Rotation2d yaw = new Rotation2d(); public boolean isConnected = false; + public double yawRadSec = 0; } public default void updateInputs(GyroIOInputs inputs) {}; public default void setOffset(Rotation3d offset) {}; public default void zero() {}; public default void reset(Rotation3d inital) {}; - } diff --git a/src/main/java/frc/robot/subsystems/drivetrain/swerve/GyroIONavX.java b/src/main/java/frc/robot/subsystems/drivetrain/swerve/GyroIONavX.java index 47b1b51..b5a8019 100644 --- a/src/main/java/frc/robot/subsystems/drivetrain/swerve/GyroIONavX.java +++ b/src/main/java/frc/robot/subsystems/drivetrain/swerve/GyroIONavX.java @@ -29,6 +29,7 @@ public void updateInputs(GyroIOInputs inputs) { inputs.isConnected = gyro.isConnected(); if (inputs.isConnected) { inputs.yaw = new Rotation2d(-(Math.toRadians(gyro.getYaw()) - offset.getZ())); + inputs.yawRadSec = -gyro.getRate(); } } diff --git a/src/main/java/frc/robot/subsystems/drivetrain/swerve/SwerveDrive.java b/src/main/java/frc/robot/subsystems/drivetrain/swerve/SwerveDrive.java index 081886b..5a73401 100644 --- a/src/main/java/frc/robot/subsystems/drivetrain/swerve/SwerveDrive.java +++ b/src/main/java/frc/robot/subsystems/drivetrain/swerve/SwerveDrive.java @@ -11,7 +11,6 @@ import edu.wpi.first.math.Pair; import edu.wpi.first.math.VecBuilder; import edu.wpi.first.math.controller.PIDController; -import edu.wpi.first.math.estimator.PoseEstimator; import edu.wpi.first.math.estimator.SwerveDrivePoseEstimator; import edu.wpi.first.math.filter.SlewRateLimiter; import edu.wpi.first.math.geometry.Pose2d; @@ -72,9 +71,8 @@ public class SwerveDrive extends SubsystemBase { private ChassisSpeeds measuredRobotRelativeSpeeds = new ChassisSpeeds(0,0,0); private ChassisSpeeds measuredFieldRelativeSpeeds = new ChassisSpeeds(0,0,0); - private PIDController m_angleFeedbackController = new PIDController(1, 0, 0);; private DriveFFController driveFFController = new DriveFFController(); - + private PIDController m_angleFeedbackController = new PIDController(1, 0, 0);; private PIDController m_translationalFeedbackController = new PIDController(1, 0, 0); private SwerveModuleState[] measuredModuleStates = { @@ -84,13 +82,6 @@ public class SwerveDrive extends SubsystemBase { new SwerveModuleState() }; - private SwerveModuleState[] previousDesiredStates = { - new SwerveModuleState(), - new SwerveModuleState(), - new SwerveModuleState(), - new SwerveModuleState() - }; - private double prevTime = Timer.getFPGATimestamp(); private final Config m_sysDriveConfig; @@ -116,12 +107,10 @@ public class SwerveDrive extends SubsystemBase { private final SlewRateLimiter[] moduleDriveSlewRateLimiters = new SlewRateLimiter[4]; private double prevDiscretizationTime = 0; - private double prevGyroTime = 0; - private double prevGyroYawDeg = 0; - private final PoseLimelight poseLimelight; - public SwerveDrive(PoseLimelight poseLimelight) { - this.poseLimelight = poseLimelight; + // private final PoseLimelight poseLimelight; + public SwerveDrive(/*PoseLimelight poseLimelight*/) { + // this.poseLimelight = poseLimelight; switch (Constants.currentMode) { case SIM: @@ -173,7 +162,8 @@ public SwerveDrive(PoseLimelight poseLimelight) { new SwerveModulePosition(0, new Rotation2d()), new SwerveModulePosition(0, new Rotation2d()) }, - new Pose2d()); + new Pose2d() + ); odometryThread = new Notifier(this::updateOdometry); odometryThread.startPeriodic(0.02); @@ -185,7 +175,6 @@ public SwerveDrive(PoseLimelight poseLimelight) { -Constants.DrivetrainConstants.kMAX_MODULE_DRIVE_DECELERATION_METERS_PER_SECOND, 0); } - } private void updateInputs() { @@ -242,17 +231,15 @@ public void periodic() { //TODO: THIS SHOULD BE BEFORE THE NT CALL INSIDE OF THE LIMELIGHT SUBSYSTEM. MOST LIKELY NO DIFFRENCE AS THIS IS THE RATE THAT POSE ESTIM UPDATES A // TODO: CHECK UNITS FOR THE REST OF THIS MEATHOD?!!?!?!?! 0,0,00,0,00, idk whhat units aojsnd awijfevkb c'wekfadszx - LimelightHelpers.SetRobotOrientation("limelight-tag", m_poseEstimator.getEstimatedPosition().getRotation().getDegrees(), 0, 0, 0, 0, 0); + // LimelightHelpers.SetRobotOrientation("limelight-tag", m_poseEstimator.getEstimatedPosition().getRotation().getDegrees(), 0, 0, 0, 0, 0); - // // TODO: add a queue for the gyro velocities to sync w the target delay - this is like a minor optimization - if (poseLimelight.hasValidTargets() /*&& Math.abs((yaw.getDegrees() - prevGyroYawDeg)/(Timer.getFPGATimestamp() - prevGyroTime)) <= 180*/) { - m_poseEstimator.setVisionMeasurementStdDevs(VecBuilder.fill(.7,.7,9999999)); + // // // TODO: add a queue for the gyro velocities to sync w the target delay - this is like a minor optimization - m_poseEstimator.addVisionMeasurement(poseLimelight.getEstimatedRobotPose(), poseLimelight.getTimestampSeconds()); - } + // if (poseLimelight.hasValidTargets() && Math.toDegrees(Math.abs(gyroInputs.yawRadSec)) <= 15) { + // m_poseEstimator.setVisionMeasurementStdDevs(VecBuilder.fill(0.7 + Math.abs(gyroInputs.yawRadSec) * 0.1, 0.7 + Math.abs(gyroInputs.yawRadSec) * 0.1,9999999)); - prevGyroYawDeg = yaw.getDegrees(); - prevGyroTime = Timer.getFPGATimestamp(); + // m_poseEstimator.addVisionMeasurement(poseLimelight.getEstimatedRobotPose(), poseLimelight.getTimestampSeconds()); + // } measuredRobotRelativeSpeeds = m_kinematics.toChassisSpeeds( measuredModuleStates[0], @@ -364,7 +351,7 @@ public void resetPose(Pose2d pose) { yaw = pose.getRotation(); Logger.recordOutput("IntialYAW", yaw.getDegrees()); - m_poseEstimator.resetPosition(gyroInputs.yaw, positions, pose); // TODO change this from gyroIO to yaw + m_poseEstimator.resetPosition(yaw, positions, pose); // TODO change this from gyroIO to yaw odometryLock.unlock(); } diff --git a/src/main/java/frc/robot/subsystems/noteVisulaizer/NoteVisualizer.java b/src/main/java/frc/robot/subsystems/noteVisulaizer/NoteVisualizer.java new file mode 100644 index 0000000..bb5f5be --- /dev/null +++ b/src/main/java/frc/robot/subsystems/noteVisulaizer/NoteVisualizer.java @@ -0,0 +1,68 @@ +package frc.robot.subsystems.noteVisulaizer; + +import java.util.ArrayList; + +import org.littletonrobotics.junction.Logger; + +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.math.geometry.Translation2d; +import edu.wpi.first.math.geometry.Translation3d; +import edu.wpi.first.wpilibj.Timer; +import edu.wpi.first.wpilibj2.command.SubsystemBase; + +public class NoteVisualizer extends SubsystemBase{ + public ArrayList notes = new ArrayList(); + + @Override + public void periodic() { + for (int i = 0; i < notes.size(); i++) { + Translation3d noteTrans = notes.get(i).getNoteTranslation(Timer.getFPGATimestamp()); + if (noteTrans.getZ() < 0) { + notes.remove(i); + i--; + continue; + } + Logger.recordOutput("NoteLogger/note" + i, noteTrans); + } + } + + public void addNote(Note note) { + notes.add(note); + } + + public static class Note { + private final double initialvxMps; + private final double initialvyMps; + private final Translation3d translation; + private final double initialLaunchTime; + private final double robotAngle; + private final double launchAngle; + private final double launchVeloMps; + public Note(double initialLaunchTime, + Translation3d translation, + double robotAngle, + double launchAngle, + double launchVeloMps, + double initialvxMps, + double initialvyMps + ) { + this.translation = translation; + this.initialLaunchTime = initialLaunchTime; + this.robotAngle = robotAngle; + this.launchAngle = launchAngle; + this.launchVeloMps = launchVeloMps; + this.initialvxMps = initialvxMps; + this.initialvyMps = initialvyMps; + } + + public Translation3d getNoteTranslation(double time) { + double dt = time - initialLaunchTime; + double xMeters = launchVeloMps * Math.cos(launchAngle) * dt; + double vzMeters = launchVeloMps * Math.sin(launchAngle) * dt - .5 * 9.8 * dt * dt; + Translation2d vxTrans = new Translation2d(xMeters, 0); + vxTrans = vxTrans.rotateBy(new Rotation2d(robotAngle)).plus(translation.toTranslation2d()); + return new Translation3d(vxTrans.getX() + initialvxMps * dt, vxTrans.getY() + initialvyMps * dt, vzMeters + translation.getZ()); + } + + } +} diff --git a/src/main/java/frc/robot/subsystems/poseLimelight/PoseLimelight.java b/src/main/java/frc/robot/subsystems/poseLimelight/PoseLimelight.java index 50ae50f..4ddfa37 100644 --- a/src/main/java/frc/robot/subsystems/poseLimelight/PoseLimelight.java +++ b/src/main/java/frc/robot/subsystems/poseLimelight/PoseLimelight.java @@ -63,18 +63,18 @@ public void periodic() { // Logger.recordOutput("PoseLimelight/estRobotPose", getEstimatedRobotPose()); } - public double getPrimaryIDMovment() { - Queue queue = tagQueue[inputs.primaryTagId]; - List list = new ArrayList(queue); - double lastTime = 0; + // public double getPrimaryIDMovment() { + // Queue queue = tagQueue[inputs.primaryTagId]; + // List list = new ArrayList(queue); + // double lastTime = 0; - for (int i = list.size() - 1; i >= 0; i--) { - double dt = list.get(list.size() - 1)[3].doubleValue() - list.get(i)[3].doubleValue(); - if (list.get(i)[2].doubleValue() == 1 && dt <= 0.2) { - return Math.hypot(, i) / list.get(i) - } - } - } + // for (int i = list.size() - 1; i >= 0; i--) { + // double dt = list.get(list.size() - 1)[3].doubleValue() - list.get(i)[3].doubleValue(); + // if (list.get(i)[2].doubleValue() == 1 && dt <= 0.2) { + // return Math.hypot(, i) / list.get(i) + // } + // } + // } public boolean hasValidTargets() { return inputs.hasValidTargets; diff --git a/src/main/java/frc/robot/subsystems/poseLimelight/PoseLimelightIOReal.java b/src/main/java/frc/robot/subsystems/poseLimelight/PoseLimelightIOReal.java index cc52f47..4f8cfe2 100644 --- a/src/main/java/frc/robot/subsystems/poseLimelight/PoseLimelightIOReal.java +++ b/src/main/java/frc/robot/subsystems/poseLimelight/PoseLimelightIOReal.java @@ -8,13 +8,13 @@ public PoseLimelightIOReal() { } public void updateInputs(PoseLimelightIOInputs inputs) { - LimelightHelpers.PoseEstimate mt2 = LimelightHelpers.getBotPoseEstimate_wpiBlue_MegaTag2("limelight-tag"); - inputs.estimatedPose = mt2.pose; - inputs.timestampSeconds = mt2.timestampSeconds; - inputs.hasValidTargets = mt2.tagCount > 0; - inputs.primaryTagId = (int) NetworkTableInstance.getDefault().getTable("limelight-tag").getEntry("tid").getDouble(0); - inputs.tx = NetworkTableInstance.getDefault().getTable("limelight-tag").getEntry("tx").getDouble(0); - inputs.ty = NetworkTableInstance.getDefault().getTable("limelight-tag").getEntry("ty").getDouble(0); + // LimelightHelpers.PoseEstimate mt2 = LimelightHelpers.getBotPoseEstimate_wpiBlue_MegaTag2("limelight-tag"); + // inputs.estimatedPose = mt2.pose; + // inputs.timestampSeconds = mt2.timestampSeconds; + // inputs.hasValidTargets = mt2.tagCount > 0; + // inputs.primaryTagId = (int) NetworkTableInstance.getDefault().getTable("limelight-tag").getEntry("tid").getDouble(0); + // inputs.tx = NetworkTableInstance.getDefault().getTable("limelight-tag").getEntry("tx").getDouble(0); + // inputs.ty = NetworkTableInstance.getDefault().getTable("limelight-tag").getEntry("ty").getDouble(0); } diff --git a/src/main/java/frc/robot/subsystems/poseLimelight/PoseLimelightIOSim.java b/src/main/java/frc/robot/subsystems/poseLimelight/PoseLimelightIOSim.java index 459383a..bc5f067 100644 --- a/src/main/java/frc/robot/subsystems/poseLimelight/PoseLimelightIOSim.java +++ b/src/main/java/frc/robot/subsystems/poseLimelight/PoseLimelightIOSim.java @@ -1,7 +1,8 @@ package frc.robot.subsystems.poseLimelight; -public class PoseLimelightIOSim implements PoseLimelightIO{ +public class PoseLimelightIOSim implements PoseLimelightIO { public void updateInputs(PoseLimelightIOInputs inputs) { + } } \ No newline at end of file