From 4b8edd8f1ae82f886fb3a25cc93776e11ec4fae0 Mon Sep 17 00:00:00 2001 From: Dom Wenskay Date: Wed, 22 Apr 2026 09:48:35 -0400 Subject: [PATCH 1/8] Current limit changed when intake out --- .../ Right 1 mid cycle + Outpost + Climb.auto | 2 +- .../ SHOP Right 2 mid cycle + BUMP SHOOT.auto | 2 +- .../pathplanner/autos/Auto Climb LEFT.auto | 2 +- .../Carry Left 2 mid cycles + depot.auto | 2 +- .../Carry Right 2 mid cycles+ outpost.auto | 2 +- .../autos/Comp 2 mid cycles + climb.auto | 2 +- .../pathplanner/autos/Depot Douche Bag.auto | 2 +- ...IMENTAL Left 2 mid cycle + BUMP SHOOT.auto | 2 +- ...MENTAL Right 2 mid cycle + BUMP SHOOT.auto | 2 +- .../autos/Left 1 mid cycle + depot climb.auto | 2 +- .../autos/Left 2 mid cycle + BUMP SHOOT.auto | 2 +- .../autos/Left 2 mid cycles + climb.auto | 2 +- .../autos/Left 3 mid cycles w teamates.auto | 2 +- .../pathplanner/autos/Left Full Mid.auto | 2 +- .../Normal Left 2 mid cycles + depot.auto | 2 +- .../deploy/pathplanner/autos/RCH Special.auto | 2 +- src/main/deploy/pathplanner/autos/RCH.auto | 2 +- .../autos/Right 2 mid cycle + BUMP SHOOT.auto | 2 +- .../autos/Right 2 mid cycles+ Climb.auto | 2 +- .../autos/Right 2 mid cycles+ outpost.auto | 2 +- .../pathplanner/autos/Right 3 mid cycles.auto | 2 +- .../pathplanner/autos/VS Tall boy .auto | 19 +++ .../Left bump shoot to Left bump shoot.path | 2 +- .../paths/VS Tall boy first pass.path | 111 ++++++++++++++++++ src/main/deploy/pathplanner/settings.json | 5 +- src/main/java/frc/robot/RobotContainer.java | 8 +- .../java/frc/robot/states/HopperState.java | 1 + .../java/frc/robot/subsystems/Hopper.java | 38 ++++++ 28 files changed, 199 insertions(+), 27 deletions(-) create mode 100644 src/main/deploy/pathplanner/autos/VS Tall boy .auto create mode 100644 src/main/deploy/pathplanner/paths/VS Tall boy first pass.path diff --git a/src/main/deploy/pathplanner/autos/ Right 1 mid cycle + Outpost + Climb.auto b/src/main/deploy/pathplanner/autos/ Right 1 mid cycle + Outpost + Climb.auto index ddb8feb..5e81852 100644 --- a/src/main/deploy/pathplanner/autos/ Right 1 mid cycle + Outpost + Climb.auto +++ b/src/main/deploy/pathplanner/autos/ Right 1 mid cycle + Outpost + Climb.auto @@ -128,6 +128,6 @@ } }, "resetOdom": true, - "folder": null, + "folder": "Fun Autos", "choreoAuto": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/ SHOP Right 2 mid cycle + BUMP SHOOT.auto b/src/main/deploy/pathplanner/autos/ SHOP Right 2 mid cycle + BUMP SHOOT.auto index 86bd86d..995f7fd 100644 --- a/src/main/deploy/pathplanner/autos/ SHOP Right 2 mid cycle + BUMP SHOOT.auto +++ b/src/main/deploy/pathplanner/autos/ SHOP Right 2 mid cycle + BUMP SHOOT.auto @@ -92,6 +92,6 @@ } }, "resetOdom": true, - "folder": null, + "folder": "Fun Autos", "choreoAuto": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Auto Climb LEFT.auto b/src/main/deploy/pathplanner/autos/Auto Climb LEFT.auto index 4195d32..c67f25f 100644 --- a/src/main/deploy/pathplanner/autos/Auto Climb LEFT.auto +++ b/src/main/deploy/pathplanner/autos/Auto Climb LEFT.auto @@ -110,6 +110,6 @@ } }, "resetOdom": true, - "folder": null, + "folder": "Good Autos", "choreoAuto": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Carry Left 2 mid cycles + depot.auto b/src/main/deploy/pathplanner/autos/Carry Left 2 mid cycles + depot.auto index 0ae1cc1..be82763 100644 --- a/src/main/deploy/pathplanner/autos/Carry Left 2 mid cycles + depot.auto +++ b/src/main/deploy/pathplanner/autos/Carry Left 2 mid cycles + depot.auto @@ -122,6 +122,6 @@ } }, "resetOdom": true, - "folder": null, + "folder": "Fun Autos", "choreoAuto": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Carry Right 2 mid cycles+ outpost.auto b/src/main/deploy/pathplanner/autos/Carry Right 2 mid cycles+ outpost.auto index faa4e11..94d99c1 100644 --- a/src/main/deploy/pathplanner/autos/Carry Right 2 mid cycles+ outpost.auto +++ b/src/main/deploy/pathplanner/autos/Carry Right 2 mid cycles+ outpost.auto @@ -140,6 +140,6 @@ } }, "resetOdom": true, - "folder": null, + "folder": "Fun Autos", "choreoAuto": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Comp 2 mid cycles + climb.auto b/src/main/deploy/pathplanner/autos/Comp 2 mid cycles + climb.auto index 28568f3..921d891 100644 --- a/src/main/deploy/pathplanner/autos/Comp 2 mid cycles + climb.auto +++ b/src/main/deploy/pathplanner/autos/Comp 2 mid cycles + climb.auto @@ -122,6 +122,6 @@ } }, "resetOdom": true, - "folder": null, + "folder": "Fun Autos", "choreoAuto": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Depot Douche Bag.auto b/src/main/deploy/pathplanner/autos/Depot Douche Bag.auto index 279ecd3..6169de9 100644 --- a/src/main/deploy/pathplanner/autos/Depot Douche Bag.auto +++ b/src/main/deploy/pathplanner/autos/Depot Douche Bag.auto @@ -155,6 +155,6 @@ } }, "resetOdom": true, - "folder": null, + "folder": "Good Autos", "choreoAuto": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/EXPERIMENTAL Left 2 mid cycle + BUMP SHOOT.auto b/src/main/deploy/pathplanner/autos/EXPERIMENTAL Left 2 mid cycle + BUMP SHOOT.auto index e01e661..1824226 100644 --- a/src/main/deploy/pathplanner/autos/EXPERIMENTAL Left 2 mid cycle + BUMP SHOOT.auto +++ b/src/main/deploy/pathplanner/autos/EXPERIMENTAL Left 2 mid cycle + BUMP SHOOT.auto @@ -116,6 +116,6 @@ } }, "resetOdom": true, - "folder": null, + "folder": "Good Autos", "choreoAuto": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/EXPERIMENTAL Right 2 mid cycle + BUMP SHOOT.auto b/src/main/deploy/pathplanner/autos/EXPERIMENTAL Right 2 mid cycle + BUMP SHOOT.auto index c733a85..d8c8470 100644 --- a/src/main/deploy/pathplanner/autos/EXPERIMENTAL Right 2 mid cycle + BUMP SHOOT.auto +++ b/src/main/deploy/pathplanner/autos/EXPERIMENTAL Right 2 mid cycle + BUMP SHOOT.auto @@ -116,6 +116,6 @@ } }, "resetOdom": true, - "folder": null, + "folder": "Good Autos", "choreoAuto": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Left 1 mid cycle + depot climb.auto b/src/main/deploy/pathplanner/autos/Left 1 mid cycle + depot climb.auto index f160ed2..b42c7f1 100644 --- a/src/main/deploy/pathplanner/autos/Left 1 mid cycle + depot climb.auto +++ b/src/main/deploy/pathplanner/autos/Left 1 mid cycle + depot climb.auto @@ -128,6 +128,6 @@ } }, "resetOdom": true, - "folder": null, + "folder": "Fun Autos", "choreoAuto": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Left 2 mid cycle + BUMP SHOOT.auto b/src/main/deploy/pathplanner/autos/Left 2 mid cycle + BUMP SHOOT.auto index b042ca4..b01bb83 100644 --- a/src/main/deploy/pathplanner/autos/Left 2 mid cycle + BUMP SHOOT.auto +++ b/src/main/deploy/pathplanner/autos/Left 2 mid cycle + BUMP SHOOT.auto @@ -104,6 +104,6 @@ } }, "resetOdom": true, - "folder": null, + "folder": "Good Autos", "choreoAuto": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Left 2 mid cycles + climb.auto b/src/main/deploy/pathplanner/autos/Left 2 mid cycles + climb.auto index 36279e8..ce37971 100644 --- a/src/main/deploy/pathplanner/autos/Left 2 mid cycles + climb.auto +++ b/src/main/deploy/pathplanner/autos/Left 2 mid cycles + climb.auto @@ -128,6 +128,6 @@ } }, "resetOdom": true, - "folder": null, + "folder": "Fun Autos", "choreoAuto": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Left 3 mid cycles w teamates.auto b/src/main/deploy/pathplanner/autos/Left 3 mid cycles w teamates.auto index 5649a50..e9d1030 100644 --- a/src/main/deploy/pathplanner/autos/Left 3 mid cycles w teamates.auto +++ b/src/main/deploy/pathplanner/autos/Left 3 mid cycles w teamates.auto @@ -122,6 +122,6 @@ } }, "resetOdom": true, - "folder": null, + "folder": "Fun Autos", "choreoAuto": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Left Full Mid.auto b/src/main/deploy/pathplanner/autos/Left Full Mid.auto index 92b9303..242bbae 100644 --- a/src/main/deploy/pathplanner/autos/Left Full Mid.auto +++ b/src/main/deploy/pathplanner/autos/Left Full Mid.auto @@ -128,6 +128,6 @@ } }, "resetOdom": true, - "folder": null, + "folder": "Fun Autos", "choreoAuto": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Normal Left 2 mid cycles + depot.auto b/src/main/deploy/pathplanner/autos/Normal Left 2 mid cycles + depot.auto index 0e7dc19..9aeb8bd 100644 --- a/src/main/deploy/pathplanner/autos/Normal Left 2 mid cycles + depot.auto +++ b/src/main/deploy/pathplanner/autos/Normal Left 2 mid cycles + depot.auto @@ -122,6 +122,6 @@ } }, "resetOdom": true, - "folder": null, + "folder": "Fun Autos", "choreoAuto": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/RCH Special.auto b/src/main/deploy/pathplanner/autos/RCH Special.auto index 408a245..a38859d 100644 --- a/src/main/deploy/pathplanner/autos/RCH Special.auto +++ b/src/main/deploy/pathplanner/autos/RCH Special.auto @@ -140,6 +140,6 @@ } }, "resetOdom": true, - "folder": null, + "folder": "Fun Autos", "choreoAuto": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/RCH.auto b/src/main/deploy/pathplanner/autos/RCH.auto index ca2dc2a..f80cc22 100644 --- a/src/main/deploy/pathplanner/autos/RCH.auto +++ b/src/main/deploy/pathplanner/autos/RCH.auto @@ -74,6 +74,6 @@ } }, "resetOdom": true, - "folder": null, + "folder": "Fun Autos", "choreoAuto": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Right 2 mid cycle + BUMP SHOOT.auto b/src/main/deploy/pathplanner/autos/Right 2 mid cycle + BUMP SHOOT.auto index f68936e..9f24e2b 100644 --- a/src/main/deploy/pathplanner/autos/Right 2 mid cycle + BUMP SHOOT.auto +++ b/src/main/deploy/pathplanner/autos/Right 2 mid cycle + BUMP SHOOT.auto @@ -104,6 +104,6 @@ } }, "resetOdom": true, - "folder": null, + "folder": "Good Autos", "choreoAuto": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Right 2 mid cycles+ Climb.auto b/src/main/deploy/pathplanner/autos/Right 2 mid cycles+ Climb.auto index c93a39e..dc08af0 100644 --- a/src/main/deploy/pathplanner/autos/Right 2 mid cycles+ Climb.auto +++ b/src/main/deploy/pathplanner/autos/Right 2 mid cycles+ Climb.auto @@ -134,6 +134,6 @@ } }, "resetOdom": true, - "folder": null, + "folder": "Fun Autos", "choreoAuto": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Right 2 mid cycles+ outpost.auto b/src/main/deploy/pathplanner/autos/Right 2 mid cycles+ outpost.auto index 92fa99c..d663bf6 100644 --- a/src/main/deploy/pathplanner/autos/Right 2 mid cycles+ outpost.auto +++ b/src/main/deploy/pathplanner/autos/Right 2 mid cycles+ outpost.auto @@ -140,6 +140,6 @@ } }, "resetOdom": true, - "folder": null, + "folder": "Fun Autos", "choreoAuto": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Right 3 mid cycles.auto b/src/main/deploy/pathplanner/autos/Right 3 mid cycles.auto index 75261e4..1a2291a 100644 --- a/src/main/deploy/pathplanner/autos/Right 3 mid cycles.auto +++ b/src/main/deploy/pathplanner/autos/Right 3 mid cycles.auto @@ -134,6 +134,6 @@ } }, "resetOdom": true, - "folder": null, + "folder": "Fun Autos", "choreoAuto": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/VS Tall boy .auto b/src/main/deploy/pathplanner/autos/VS Tall boy .auto new file mode 100644 index 0000000..8ea9193 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/VS Tall boy .auto @@ -0,0 +1,19 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "VS Tall boy first pass" + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Left bump shoot to Left bump shoot.path b/src/main/deploy/pathplanner/paths/Left bump shoot to Left bump shoot.path index d053410..413f783 100644 --- a/src/main/deploy/pathplanner/paths/Left bump shoot to Left bump shoot.path +++ b/src/main/deploy/pathplanner/paths/Left bump shoot to Left bump shoot.path @@ -127,7 +127,7 @@ }, { "waypointRelativePos": 4.95, - "rotationDegrees": -39.00261365202498 + "rotationDegrees": -7.801930975892135 } ], "constraintZones": [ diff --git a/src/main/deploy/pathplanner/paths/VS Tall boy first pass.path b/src/main/deploy/pathplanner/paths/VS Tall boy first pass.path new file mode 100644 index 0000000..80d89ae --- /dev/null +++ b/src/main/deploy/pathplanner/paths/VS Tall boy first pass.path @@ -0,0 +1,111 @@ +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 4.480911965000542, + "y": 0.38826159762409707 + }, + "prevControl": null, + "nextControl": { + "x": 5.4499246428036825, + "y": 0.41310807654212456 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 8.704813381065511, + "y": 3.2704531521154867 + }, + "prevControl": { + "x": 8.853892254573687, + "y": 2.0157059667550103 + }, + "nextControl": { + "x": 8.623203518501922, + "y": 3.9573361620256926 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 5.7232359109020035, + "y": 2.5374820240336247 + }, + "prevControl": { + "x": 6.804057743836275, + "y": 2.6368679397057417 + }, + "nextControl": { + "x": 5.474286197809396, + "y": 2.514590096392925 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 3.1143556245089337, + "y": 2.5374820240336247 + }, + "prevControl": { + "x": 4.803916190934923, + "y": 2.698984137000815 + }, + "nextControl": null, + "isLocked": false, + "linkedName": "Right Bump Shoot" + } + ], + "rotationTargets": [ + { + "waypointRelativePos": 0.5, + "rotationDegrees": -131.3365026114735 + }, + { + "waypointRelativePos": 1.5195734670236054, + "rotationDegrees": 27.879266326209944 + }, + { + "waypointRelativePos": 1.9862685968323133, + "rotationDegrees": 0.0 + } + ], + "constraintZones": [], + "pointTowardsZones": [], + "eventMarkers": [ + { + "name": "IntakeOut", + "waypointRelativePos": 0.2991489950252099, + "endWaypointRelativePos": null, + "command": { + "type": "named", + "data": { + "name": "IntakeOut" + } + } + } + ], + "globalConstraints": { + "maxVelocity": 4.3, + "maxAcceleration": 4.5, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0, + "nominalVoltage": 12.0, + "unlimited": false + }, + "goalEndState": { + "velocity": 0, + "rotation": 52.765166018425376 + }, + "reversed": false, + "folder": null, + "idealStartingState": { + "velocity": 0, + "rotation": -90.0 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/settings.json b/src/main/deploy/pathplanner/settings.json index c4064dd..774a091 100644 --- a/src/main/deploy/pathplanner/settings.json +++ b/src/main/deploy/pathplanner/settings.json @@ -3,7 +3,10 @@ "robotLength": 0.816, "holonomicMode": true, "pathFolders": [], - "autoFolders": [], + "autoFolders": [ + "Good Autos", + "Fun Autos" + ], "defaultMaxVel": 4.3, "defaultMaxAccel": 4.5, "defaultMaxAngVel": 540.0, diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 8bfddbb..5e6f733 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -155,7 +155,7 @@ private void registerCompBindings() { // Intake out DRIVER_CONTROLLER.leftBumper().onTrue( Commands.runOnce(() -> { - HOPPER.setWantedState(HopperState.FLOOR_INTAKE); + HOPPER.setWantedState(HopperState.DEPLOY_INTAKE); SHOOTER.setWantedState(ShooterState.IDLE); })); @@ -183,7 +183,7 @@ private void registerCompBindings() { // Baby Bird DRIVER_CONTROLLER.y().onTrue( Commands.runOnce(() -> HOPPER.setWantedState(HopperState.EMERGENCY)) - ).onFalse(Commands.runOnce(() -> HOPPER.setWantedState(HopperState.FLOOR_INTAKE))); + ).onFalse(Commands.runOnce(() -> HOPPER.setWantedState(HopperState.DEPLOY_INTAKE))); // Reseed heading DRIVER_CONTROLLER.back().onTrue( @@ -235,7 +235,7 @@ private void registerCompBindings() { SHOOTER.setWantedState(ShooterState.REVERSE); }) ).onFalse(Commands.runOnce(() -> - {HOPPER.setWantedState(HopperState.FLOOR_INTAKE); + {HOPPER.setWantedState(HopperState.DEPLOY_INTAKE); SHOOTER.setWantedState(ShooterState.IDLE); }) ); @@ -309,7 +309,7 @@ private void registerKitbotNamedCommands() { private void registerCompNamedCommands() { NamedCommands.registerCommand("IntakeOut", - Commands.runOnce(() -> HOPPER.setWantedState(HopperState.FLOOR_INTAKE))); + Commands.runOnce(() -> HOPPER.setWantedState(HopperState.DEPLOY_INTAKE))); NamedCommands.registerCommand("IntakeIn", Commands.runOnce(() -> HOPPER.setWantedState(HopperState.STOW))); diff --git a/src/main/java/frc/robot/states/HopperState.java b/src/main/java/frc/robot/states/HopperState.java index 1a33861..a3f5954 100644 --- a/src/main/java/frc/robot/states/HopperState.java +++ b/src/main/java/frc/robot/states/HopperState.java @@ -3,6 +3,7 @@ public enum HopperState { IDLE, FLOOR_INTAKE, + DEPLOY_INTAKE, INJECTING, INJECTING_HOPPER_OUT, INJECTING_REVERSE, diff --git a/src/main/java/frc/robot/subsystems/Hopper.java b/src/main/java/frc/robot/subsystems/Hopper.java index d4d7a07..9e3581c 100644 --- a/src/main/java/frc/robot/subsystems/Hopper.java +++ b/src/main/java/frc/robot/subsystems/Hopper.java @@ -43,10 +43,30 @@ public class Hopper extends SubsystemBase { private final PositionDutyCycle INTAKE_IN = new PositionDutyCycle(.01); private final PositionDutyCycle INTAKE_OUT = new PositionDutyCycle(16);//.6 private final PositionDutyCycle INTAKE_SHOOT = new PositionDutyCycle(7.4); + private double _intakePosition = 0; + private CurrentLimitsConfigs _lowSlideLimits = new CurrentLimitsConfigs() + .withStatorCurrentLimit(5)//60 + .withSupplyCurrentLimit(30) + .withSupplyCurrentLowerTime(0) + .withSupplyCurrentLowerLimit(20); + private CurrentLimitsConfigs _highSlideLimits = new CurrentLimitsConfigs() + .withStatorCurrentLimit(60)//60 + .withSupplyCurrentLimit(30) + .withSupplyCurrentLowerTime(0) + .withSupplyCurrentLowerLimit(20); + public void setWantedState(HopperState wantedState) { if (wantedState != _currentState) { _currentState = wantedState; + switch (wantedState) { + case FLOOR_INTAKE: + _slide.getConfigurator().apply(_lowSlideLimits); + break; + default: + _slide.getConfigurator().apply(_highSlideLimits); + break; + } } } @@ -66,6 +86,7 @@ private void configHopper() { .withSupplyCurrentLimit(30) .withSupplyCurrentLowerTime(1) .withSupplyCurrentLowerLimit(20); + var slideSlot0Configs = new Slot0Configs() .withKP(0.25) .withKD(0.001); @@ -129,6 +150,7 @@ public void periodic() { if(_timer>60){//50 _timer = 0; } + _intakePosition = _slide.getPosition().getValueAsDouble(); } private void handleCurrentState() { @@ -139,6 +161,9 @@ private void handleCurrentState() { case FLOOR_INTAKE: handleFloorIntake(); break; + case DEPLOY_INTAKE: + handleDeployIntake(); + break; case INJECTING: handleInject(); break; @@ -162,6 +187,19 @@ private void handleFloorIntake() { _intake.setControl(INTAKE); _floor.setControl(HALT); _injector.setControl(HALT); + if(_intakePosition<13){ + setWantedState(HopperState.DEPLOY_INTAKE); + } + } + + private void handleDeployIntake() { + _slide.setControl(INTAKE_OUT); + _intake.setControl(INTAKE); + _floor.setControl(HALT); + _injector.setControl(HALT); + if(_intakePosition>7){ + setWantedState(HopperState.FLOOR_INTAKE); + } } private void handleIdle() { From ddc691238b82a616bffa2ce80ca8aa6f2eabf2d1 Mon Sep 17 00:00:00 2001 From: Dom Wenskay Date: Fri, 24 Apr 2026 09:19:51 -0400 Subject: [PATCH 2/8] some auto changes --- .../autos/{RCH.auto => DO NOT RUN.auto} | 0 ...s might be the worst auto of all time.auto | 115 +++++++++ .../pathplanner/autos/VS Tall boy .auto | 19 -- .../paths/Depot Shoot to mid circle.path | 30 +-- .../Left Far Mid to Left Bump Shoot.path | 2 +- .../deploy/pathplanner/paths/Right End.path | 60 +++-- .../pathplanner/paths/Right quick loop.path | 151 +++++++++++ .../pathplanner/paths/Rush Loop Left.path | 237 ++++++++++++++++++ .../pathplanner/paths/Rush Loop Right.path | 237 ++++++++++++++++++ .../paths/VS Tall boy first pass.path | 30 +-- 10 files changed, 815 insertions(+), 66 deletions(-) rename src/main/deploy/pathplanner/autos/{RCH.auto => DO NOT RUN.auto} (100%) create mode 100644 src/main/deploy/pathplanner/autos/This might be the worst auto of all time.auto delete mode 100644 src/main/deploy/pathplanner/autos/VS Tall boy .auto create mode 100644 src/main/deploy/pathplanner/paths/Right quick loop.path create mode 100644 src/main/deploy/pathplanner/paths/Rush Loop Left.path create mode 100644 src/main/deploy/pathplanner/paths/Rush Loop Right.path diff --git a/src/main/deploy/pathplanner/autos/RCH.auto b/src/main/deploy/pathplanner/autos/DO NOT RUN.auto similarity index 100% rename from src/main/deploy/pathplanner/autos/RCH.auto rename to src/main/deploy/pathplanner/autos/DO NOT RUN.auto diff --git a/src/main/deploy/pathplanner/autos/This might be the worst auto of all time.auto b/src/main/deploy/pathplanner/autos/This might be the worst auto of all time.auto new file mode 100644 index 0000000..4aed0fa --- /dev/null +++ b/src/main/deploy/pathplanner/autos/This might be the worst auto of all time.auto @@ -0,0 +1,115 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "VS Tall boy first pass" + } + }, + { + "type": "named", + "data": { + "name": "PrepShooter" + } + }, + { + "type": "wait", + "data": { + "waitTime": 0.05 + } + }, + { + "type": "named", + "data": { + "name": "Start Shooting" + } + }, + { + "type": "wait", + "data": { + "waitTime": 1.0 + } + }, + { + "type": "named", + "data": { + "name": "Injecting" + } + }, + { + "type": "wait", + "data": { + "waitTime": 2.5 + } + }, + { + "type": "named", + "data": { + "name": "Idle" + } + }, + { + "type": "path", + "data": { + "pathName": "Rush Loop Right" + } + }, + { + "type": "named", + "data": { + "name": "PrepShooter" + } + }, + { + "type": "wait", + "data": { + "waitTime": 0.05 + } + }, + { + "type": "named", + "data": { + "name": "Start Shooting" + } + }, + { + "type": "wait", + "data": { + "waitTime": 1.0 + } + }, + { + "type": "named", + "data": { + "name": "Injecting" + } + }, + { + "type": "wait", + "data": { + "waitTime": 2.5 + } + }, + { + "type": "named", + "data": { + "name": "Idle" + } + }, + { + "type": "path", + "data": { + "pathName": "Right End" + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/VS Tall boy .auto b/src/main/deploy/pathplanner/autos/VS Tall boy .auto deleted file mode 100644 index 8ea9193..0000000 --- a/src/main/deploy/pathplanner/autos/VS Tall boy .auto +++ /dev/null @@ -1,19 +0,0 @@ -{ - "version": "2025.0", - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "VS Tall boy first pass" - } - } - ] - } - }, - "resetOdom": true, - "folder": null, - "choreoAuto": false -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Depot Shoot to mid circle.path b/src/main/deploy/pathplanner/paths/Depot Shoot to mid circle.path index fd078e6..afb6a35 100644 --- a/src/main/deploy/pathplanner/paths/Depot Shoot to mid circle.path +++ b/src/main/deploy/pathplanner/paths/Depot Shoot to mid circle.path @@ -48,15 +48,15 @@ }, { "anchor": { - "x": 8.13334436595084, + "x": 8.021535210819708, "y": 7.37012217359031 }, "prevControl": { - "x": 7.676701605468184, + 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+ }, + { + "waypointRelativePos": 1.9706607158009661, + "rotationDegrees": -179.0038001509341 + }, + { + "waypointRelativePos": 3, + "rotationDegrees": -85.42607874009953 + }, + { + "waypointRelativePos": 3.2602130481671234, + "rotationDegrees": -84.53236699462275 + }, + { + "waypointRelativePos": 3.7391896287602746, + "rotationDegrees": -89.52552157028668 + }, + { + "waypointRelativePos": 3.803581889528303, + "rotationDegrees": -175.80949092003019 + }, + { + "waypointRelativePos": 4.7, + "rotationDegrees": 83.91914813778824 + }, + { + "waypointRelativePos": 5.336716329119123, + "rotationDegrees": 0.0 + }, + { + "waypointRelativePos": 5.924179058308326, + "rotationDegrees": 0.0 + } + ], + "constraintZones": [ + { + "name": "Constraints Zone", + "minWaypointRelativePos": 5.7, + "maxWaypointRelativePos": 6.809912285909688, + "constraints": { + "maxVelocity": 3.3, + "maxAcceleration": 3.0, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0, + "nominalVoltage": 12.0, + "unlimited": false + } + }, + { + "name": "Constraints Zone", + "minWaypointRelativePos": 0.6171170875859151, + "maxWaypointRelativePos": 3.246364995291837, + "constraints": { + "maxVelocity": 4.5, + "maxAcceleration": 6.0, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0, + "nominalVoltage": 12.0, + "unlimited": false + } + } + ], + "pointTowardsZones": [], + "eventMarkers": [ + { + "name": "IntakeOut", + "waypointRelativePos": 0.7227544508470626, + "endWaypointRelativePos": null, + "command": { + "type": "named", + "data": { + "name": "IntakeOut" + } + } + }, + { + "name": "Idle Shooter", + "waypointRelativePos": 2.3496552702142104, + "endWaypointRelativePos": null, + "command": { + "type": "named", + "data": { + "name": "Idle Shooter" + } + } + } + ], + "globalConstraints": { + "maxVelocity": 4.3, + "maxAcceleration": 4.5, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0, + "nominalVoltage": 12.0, + "unlimited": false + }, + "goalEndState": { + "velocity": 0, + "rotation": 52.765166018425376 + }, + "reversed": false, + "folder": null, + "idealStartingState": { + "velocity": 0, + "rotation": 52.765166018425376 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/VS Tall boy first pass.path b/src/main/deploy/pathplanner/paths/VS Tall boy first pass.path index 80d89ae..dff1090 100644 --- a/src/main/deploy/pathplanner/paths/VS Tall boy first pass.path +++ b/src/main/deploy/pathplanner/paths/VS Tall boy first pass.path @@ -8,24 +8,24 @@ }, "prevControl": null, "nextControl": { - "x": 5.4499246428036825, - "y": 0.41310807654212456 + "x": 4.97814451344103, + "y": 0.2865289391827095 }, "isLocked": false, "linkedName": null }, { "anchor": { - "x": 8.704813381065511, - "y": 3.2704531521154867 + "x": 8.630273944311423, + "y": 3.2207601942794293 }, "prevControl": { - "x": 8.853892254573687, - "y": 2.0157059667550103 + "x": 9.306628639430317, + "y": 1.8977124350727614 }, "nextControl": { - "x": 8.623203518501922, - "y": 3.9573361620256926 + "x": 8.161700074271193, + "y": 4.137358560866571 }, "isLocked": false, "linkedName": null @@ -36,12 +36,12 @@ "y": 2.5374820240336247 }, "prevControl": { - "x": 6.804057743836275, - "y": 2.6368679397057417 + "x": 6.790218714845086, + "y": 2.5736509326418657 }, "nextControl": { - "x": 5.474286197809396, - "y": 2.514590096392925 + "x": 4.990264782820141, + "y": 2.512635545115595 }, "isLocked": false, "linkedName": null @@ -52,8 +52,8 @@ "y": 2.5374820240336247 }, "prevControl": { - "x": 4.803916190934923, - "y": 2.698984137000815 + "x": 4.543028162295616, + "y": 2.5995982213286983 }, "nextControl": null, "isLocked": false, @@ -79,7 +79,7 @@ "eventMarkers": [ { "name": "IntakeOut", - "waypointRelativePos": 0.2991489950252099, + "waypointRelativePos": 0.2058066494277258, "endWaypointRelativePos": null, "command": { "type": "named", From c0a15eb61dabdc7bd4a0f57929c9d5a25d7c3112 Mon Sep 17 00:00:00 2001 From: Dom Wenskay Date: Sat, 25 Apr 2026 15:26:22 -0400 Subject: [PATCH 3/8] worlds auto changes --- .../autos/2 swipe Auto Climb LEFT.auto | 127 ++++++++++++++++++ .../pathplanner/autos/Auto Climb LEFT.auto | 6 + ...IMENTAL Left 2 mid cycle + BUMP SHOOT.auto | 121 +++++++++++++++++ ...MENTAL Right 2 mid cycle + BUMP SHOOT.auto | 121 +++++++++++++++++ ...IMENTAL Left 2 mid cycle + BUMP SHOOT.auto | 6 + ...MENTAL Right 2 mid cycle + BUMP SHOOT.auto | 6 + .../pathplanner/autos/Left Silly auto .auto | 115 ++++++++++++++++ ...of all time.auto => Right Silly Auto.auto} | 0 .../paths/Bump Start to depot.path | 2 +- .../Carry Left Mid to Left Trench Shoot.path | 2 +- .../paths/Close Left Mid to Depot.path | 2 +- .../paths/Close Left Mid to Left Trench.path | 2 +- .../paths/Close Left Mid to Prep Climb.path | 2 +- .../paths/Close Right to Outpost.path | 2 +- ...omp Left Far Mid to Left Trench Shoot.path | 2 +- ...omp Left Trench Start to Left Far Mid.path | 10 +- ...of Left bump shoot to Left bump shoot.path | 2 +- ...Copy of Right Bump Shoot to Right Mid.path | 8 +- .../paths/Depot Shoot to mid circle.path | 2 +- .../Depot prep shoot to left prep climb.path | 2 +- .../paths/Depot to Prep Shoot.path | 4 +- .../Far Right Mid Prep to Right mid.path | 2 +- .../paths/Kitbot Depot to Hub.path | 2 +- .../paths/Kitbot Hub to Prep Climb.path | 4 +- .../paths/Left Depot Shoot to Side Climb.path | 6 +- .../deploy/pathplanner/paths/Left End.path | 46 ++++--- .../Left Far Mid to Left Bump Shoot.path | 4 +- .../paths/Left Mid to Left Trench.path | 2 +- .../paths/Left Trench Start to Carry Mid.path | 10 +- .../paths/Left Trench to Close Mid.path | 2 +- .../paths/Left Trench to Left Mid.path | 2 +- .../paths/Left Trench to Prep Climb.path | 4 +- .../paths/Left bump Shoot to depot.path | 4 +- .../Left bump shoot to Left bump shoot.path | 6 +- .../paths/Left bump shoot to prep climb.path | 54 ++++++++ ...omp Left Far Mid to Left Trench Shoot.path | 2 +- ...omp Left Trench Start to Left Far Mid.path | 10 +- .../pathplanner/paths/Outpost to Depot.path | 2 +- .../pathplanner/paths/Outpost to Shoot.path | 2 +- .../paths/Right Bump Shoot to Right Mid.path | 2 +- ...ight Center Mid to Right Trench Shoot.path | 2 +- ...Right Close Mid to Right Trench Shoot.path | 2 +- .../deploy/pathplanner/paths/Right End.path | 2 +- .../paths/Right Far Mid to Bump Shoot.path | 6 +- .../paths/Right Start to Outpost.path | 2 +- ...Right Trench Shoot to Close Right Mid.path | 2 +- .../Right Trench Shoot to Prep Climb.path | 2 +- ...ht Trench Start to Far Right Mid Prep.path | 24 ++-- .../pathplanner/paths/Rush Loop Left.path | 28 ++-- .../pathplanner/paths/Rush Loop Right.path | 2 +- .../SHOP Right Bump Shoot to Right Mid.path | 2 +- ...ht Trench Start to Far Right Mid Prep.path | 2 +- ...ight Center Mid to Right Trench Shoot.path | 2 +- ...ht Trench Start to Far Right Mid Prep.path | 2 +- .../paths/VS Tall boy first pass Left.path | 111 +++++++++++++++ .../paths/VS Tall boy first pass.path | 4 +- .../paths/left trench shoot to depot.path | 2 +- .../paths/outpost shoot to climb prep.path | 2 +- .../paths/right shoot to outpost.path | 2 +- src/main/deploy/pathplanner/settings.json | 2 +- .../java/frc/robot/subsystems/Drivetrain.java | 8 +- 61 files changed, 800 insertions(+), 121 deletions(-) create mode 100644 src/main/deploy/pathplanner/autos/2 swipe Auto Climb LEFT.auto create mode 100644 src/main/deploy/pathplanner/autos/Copy of EXPERIMENTAL Left 2 mid cycle + BUMP SHOOT.auto create mode 100644 src/main/deploy/pathplanner/autos/Copy of EXPERIMENTAL Right 2 mid cycle + BUMP SHOOT.auto create mode 100644 src/main/deploy/pathplanner/autos/Left Silly auto .auto rename src/main/deploy/pathplanner/autos/{This might be the worst auto of all time.auto => Right Silly Auto.auto} (100%) create mode 100644 src/main/deploy/pathplanner/paths/Left bump shoot to prep climb.path create mode 100644 src/main/deploy/pathplanner/paths/VS Tall boy first pass Left.path diff --git a/src/main/deploy/pathplanner/autos/2 swipe Auto Climb LEFT.auto b/src/main/deploy/pathplanner/autos/2 swipe Auto Climb LEFT.auto new file mode 100644 index 0000000..155349a --- /dev/null +++ b/src/main/deploy/pathplanner/autos/2 swipe Auto Climb LEFT.auto @@ -0,0 +1,127 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "VS Tall boy first pass Left" + } + }, + { + "type": "named", + "data": { + "name": "PrepShooter" + } + }, + { + "type": "wait", + "data": { + "waitTime": 0.05 + } + }, + { + "type": "named", + "data": { + "name": "Start Shooting" + } + }, + { + "type": "wait", + "data": { + "waitTime": 0.75 + } + }, + { + "type": "named", + "data": { + "name": "Injecting" + } + }, + { + "type": "wait", + "data": { + "waitTime": 2.0 + } + }, + { + "type": "named", + "data": { + "name": "Idle" + } + }, + { + "type": "path", + "data": { + "pathName": "Left bump shoot to Left bump shoot" + } + }, + { + "type": "named", + "data": { + "name": "PrepShooter" + } + }, + { + "type": "wait", + "data": { + "waitTime": 0.05 + } + }, + { + "type": "named", + "data": { + "name": "Start Shooting" + } + }, + { + "type": "wait", + "data": { + "waitTime": 0.5 + } + }, + { + "type": "named", + "data": { + "name": "Injecting" + } + }, + { + "type": "wait", + "data": { + "waitTime": 2.0 + } + }, + { + "type": "named", + "data": { + "name": "Idle" + } + }, + { + "type": "path", + "data": { + "pathName": "Left bump shoot to prep climb" + } + }, + { + "type": "named", + "data": { + "name": "IntakeIn" + } + }, + { + "type": "named", + "data": { + "name": "Auto Climb" + } + } + ] + } + }, + "resetOdom": true, + "folder": "Good Autos", + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Auto Climb LEFT.auto b/src/main/deploy/pathplanner/autos/Auto Climb LEFT.auto index c67f25f..5e6bf58 100644 --- a/src/main/deploy/pathplanner/autos/Auto Climb LEFT.auto +++ b/src/main/deploy/pathplanner/autos/Auto Climb LEFT.auto @@ -46,6 +46,12 @@ "waitTime": 3.75 } }, + { + "type": "named", + "data": { + "name": "Idle" + } + }, { "type": "path", "data": { diff --git a/src/main/deploy/pathplanner/autos/Copy of EXPERIMENTAL Left 2 mid cycle + BUMP SHOOT.auto b/src/main/deploy/pathplanner/autos/Copy of EXPERIMENTAL Left 2 mid cycle + BUMP SHOOT.auto new file mode 100644 index 0000000..6c88a96 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/Copy of EXPERIMENTAL Left 2 mid cycle + BUMP SHOOT.auto @@ -0,0 +1,121 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "VS Tall boy first pass Left" + } + }, + { + "type": "named", + "data": { + "name": "PrepShooter" + } + }, + { + "type": "wait", + "data": { + "waitTime": 0.05 + } + }, + { + "type": "named", + "data": { + "name": "Start Shooting" + } + }, + { + "type": "wait", + "data": { + "waitTime": 1.2 + } + }, + { + "type": "named", + "data": { + "name": "Injecting" + } + }, + { + "type": "wait", + "data": { + "waitTime": 2.5 + } + }, + { + "type": "named", + "data": { + "name": "Idle" + } + }, + { + "type": "named", + "data": { + "name": "Stop Shooter" + } + }, + { + "type": "path", + "data": { + "pathName": "Copy of Left bump shoot to Left bump shoot" + } + }, + { + "type": "named", + "data": { + "name": "PrepShooter" + } + }, + { + "type": "wait", + "data": { + "waitTime": 0.05 + } + }, + { + "type": "named", + "data": { + "name": "Start Shooting" + } + }, + { + "type": "wait", + "data": { + "waitTime": 1.0 + } + }, + { + "type": "named", + "data": { + "name": "Injecting" + } + }, + { + "type": "wait", + "data": { + "waitTime": 2.0 + } + }, + { + "type": "named", + "data": { + "name": "Idle" + } + }, + { + "type": "path", + "data": { + "pathName": "Left End" + } + } + ] + } + }, + "resetOdom": true, + "folder": "Good Autos", + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Copy of EXPERIMENTAL Right 2 mid cycle + BUMP SHOOT.auto b/src/main/deploy/pathplanner/autos/Copy of EXPERIMENTAL Right 2 mid cycle + BUMP SHOOT.auto new file mode 100644 index 0000000..23db625 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/Copy of EXPERIMENTAL Right 2 mid cycle + BUMP SHOOT.auto @@ -0,0 +1,121 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "VS Tall boy first pass" + } + }, + { + "type": "named", + "data": { + "name": "PrepShooter" + } + }, + { + "type": "wait", + "data": { + "waitTime": 0.05 + } + }, + { + "type": "named", + "data": { + "name": "Start Shooting" + } + }, + { + "type": "wait", + "data": { + "waitTime": 1.5 + } + }, + { + "type": "named", + "data": { + "name": "Injecting" + } + }, + { + "type": "wait", + "data": { + "waitTime": 2.2 + } + }, + { + "type": "named", + "data": { + "name": "Idle" + } + }, + { + "type": "named", + "data": { + "name": "Stop Shooter" + } + }, + { + "type": "path", + "data": { + "pathName": "Copy of Right Bump Shoot to Right Mid" + } + }, + { + "type": "named", + "data": { + "name": "PrepShooter" + } + }, + { + "type": "wait", + "data": { + "waitTime": 0.05 + } + }, + { + "type": "named", + "data": { + "name": "Start Shooting" + } + }, + { + "type": "wait", + "data": { + "waitTime": 2.0 + } + }, + { + "type": "named", + "data": { + "name": "Injecting" + } + }, + { + "type": "wait", + "data": { + "waitTime": 1.0 + } + }, + { + "type": "named", + "data": { + "name": "Idle" + } + }, + { + "type": "path", + "data": { + "pathName": "Right End" + } + } + ] + } + }, + "resetOdom": true, + "folder": "Good Autos", + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/EXPERIMENTAL Left 2 mid cycle + BUMP SHOOT.auto b/src/main/deploy/pathplanner/autos/EXPERIMENTAL Left 2 mid cycle + BUMP SHOOT.auto index 1824226..62bc4de 100644 --- a/src/main/deploy/pathplanner/autos/EXPERIMENTAL Left 2 mid cycle + BUMP SHOOT.auto +++ b/src/main/deploy/pathplanner/autos/EXPERIMENTAL Left 2 mid cycle + BUMP SHOOT.auto @@ -52,6 +52,12 @@ "waitTime": 2.5 } }, + { + "type": "named", + "data": { + "name": "Idle" + } + }, { "type": "named", "data": { diff --git a/src/main/deploy/pathplanner/autos/EXPERIMENTAL Right 2 mid cycle + BUMP SHOOT.auto b/src/main/deploy/pathplanner/autos/EXPERIMENTAL Right 2 mid cycle + BUMP SHOOT.auto index d8c8470..32b6ee7 100644 --- a/src/main/deploy/pathplanner/autos/EXPERIMENTAL Right 2 mid cycle + BUMP SHOOT.auto +++ b/src/main/deploy/pathplanner/autos/EXPERIMENTAL Right 2 mid cycle + BUMP SHOOT.auto @@ -52,6 +52,12 @@ "waitTime": 2.2 } }, + { + "type": "named", + "data": { + "name": "Idle" + } + }, { "type": "named", "data": { diff --git a/src/main/deploy/pathplanner/autos/Left Silly auto .auto b/src/main/deploy/pathplanner/autos/Left Silly auto .auto new file mode 100644 index 0000000..909137e --- /dev/null +++ b/src/main/deploy/pathplanner/autos/Left Silly auto .auto @@ -0,0 +1,115 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "VS Tall boy first pass Left" + } + }, + { + "type": "named", + "data": { + "name": "PrepShooter" + } + }, + { + "type": "wait", + "data": { + "waitTime": 0.05 + } + }, + { + "type": "named", + "data": { + "name": "Start Shooting" + } + }, + { + "type": "wait", + "data": { + "waitTime": 1.0 + } + }, + { + "type": "named", + "data": { + "name": "Injecting" + } + }, + { + "type": "wait", + "data": { + "waitTime": 2.5 + } + }, + { + "type": "named", + "data": { + "name": "Idle" + } + }, + { + "type": "path", + "data": { + "pathName": "Rush Loop Left" + } + }, + { + "type": "named", + "data": { + "name": "PrepShooter" + } + }, + { + "type": "wait", + "data": { + "waitTime": 0.05 + } + }, + { + "type": "named", + "data": { + "name": "Start Shooting" + } + }, + { + "type": "wait", + "data": { + "waitTime": 1.0 + } + }, + { + "type": "named", + "data": { + "name": "Injecting" + } + }, + { + "type": "wait", + "data": { + "waitTime": 2.5 + } + }, + { + "type": "named", + "data": { + "name": "Idle" + } + }, + { + "type": "path", + "data": { + "pathName": "Left End" + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/This might be the worst auto of all time.auto b/src/main/deploy/pathplanner/autos/Right Silly Auto.auto similarity index 100% rename from src/main/deploy/pathplanner/autos/This might be the worst auto of all time.auto rename to src/main/deploy/pathplanner/autos/Right Silly Auto.auto diff --git a/src/main/deploy/pathplanner/paths/Bump Start to depot.path b/src/main/deploy/pathplanner/paths/Bump Start to depot.path index 9858d24..59efb3a 100644 --- a/src/main/deploy/pathplanner/paths/Bump Start to depot.path +++ b/src/main/deploy/pathplanner/paths/Bump Start to depot.path @@ -61,7 +61,7 @@ "globalConstraints": { "maxVelocity": 4.3, "maxAcceleration": 4.5, - "maxAngularVelocity": 540.0, + "maxAngularVelocity": 520.0, "maxAngularAcceleration": 720.0, "nominalVoltage": 12.0, "unlimited": false diff --git a/src/main/deploy/pathplanner/paths/Carry Left Mid to Left Trench Shoot.path b/src/main/deploy/pathplanner/paths/Carry Left Mid to Left Trench Shoot.path index 56fb96d..38c189b 100644 --- a/src/main/deploy/pathplanner/paths/Carry Left Mid to Left Trench Shoot.path +++ b/src/main/deploy/pathplanner/paths/Carry Left Mid to Left Trench Shoot.path @@ -79,7 +79,7 @@ "globalConstraints": { "maxVelocity": 4.3, "maxAcceleration": 4.5, - "maxAngularVelocity": 540.0, + "maxAngularVelocity": 520.0, "maxAngularAcceleration": 720.0, "nominalVoltage": 12.0, "unlimited": false diff --git a/src/main/deploy/pathplanner/paths/Close Left Mid to Depot.path b/src/main/deploy/pathplanner/paths/Close Left Mid to Depot.path index 5f69809..1d3632c 100644 --- a/src/main/deploy/pathplanner/paths/Close Left Mid to Depot.path +++ b/src/main/deploy/pathplanner/paths/Close Left Mid to Depot.path @@ -88,7 +88,7 @@ "globalConstraints": { "maxVelocity": 4.3, "maxAcceleration": 4.5, - "maxAngularVelocity": 540.0, + "maxAngularVelocity": 520.0, "maxAngularAcceleration": 720.0, "nominalVoltage": 12.0, "unlimited": false diff --git a/src/main/deploy/pathplanner/paths/Close Left Mid to Left Trench.path b/src/main/deploy/pathplanner/paths/Close Left Mid to Left Trench.path index b686d06..1d13651 100644 --- a/src/main/deploy/pathplanner/paths/Close Left Mid to Left Trench.path +++ b/src/main/deploy/pathplanner/paths/Close Left Mid to Left Trench.path @@ -68,7 +68,7 @@ "globalConstraints": { "maxVelocity": 4.3, "maxAcceleration": 4.5, - "maxAngularVelocity": 540.0, + "maxAngularVelocity": 520.0, "maxAngularAcceleration": 720.0, "nominalVoltage": 12.0, "unlimited": false diff --git a/src/main/deploy/pathplanner/paths/Close Left Mid to Prep Climb.path b/src/main/deploy/pathplanner/paths/Close Left Mid to Prep Climb.path index eb74e03..2a426dc 100644 --- a/src/main/deploy/pathplanner/paths/Close Left Mid to Prep Climb.path +++ b/src/main/deploy/pathplanner/paths/Close Left Mid to Prep Climb.path @@ -67,7 +67,7 @@ "globalConstraints": { "maxVelocity": 4.3, "maxAcceleration": 4.5, - "maxAngularVelocity": 540.0, + "maxAngularVelocity": 520.0, "maxAngularAcceleration": 720.0, "nominalVoltage": 12.0, "unlimited": false diff --git a/src/main/deploy/pathplanner/paths/Close Right to Outpost.path b/src/main/deploy/pathplanner/paths/Close Right to Outpost.path index eec9860..f199351 100644 --- a/src/main/deploy/pathplanner/paths/Close Right to Outpost.path +++ b/src/main/deploy/pathplanner/paths/Close Right to Outpost.path @@ -88,7 +88,7 @@ "globalConstraints": { "maxVelocity": 4.3, "maxAcceleration": 4.5, - "maxAngularVelocity": 540.0, + "maxAngularVelocity": 520.0, "maxAngularAcceleration": 720.0, "nominalVoltage": 12.0, "unlimited": false diff --git a/src/main/deploy/pathplanner/paths/Comp Left Far Mid to Left Trench Shoot.path b/src/main/deploy/pathplanner/paths/Comp Left Far Mid to Left Trench Shoot.path index 6b3e208..a212e32 100644 --- a/src/main/deploy/pathplanner/paths/Comp Left Far Mid to Left Trench Shoot.path +++ b/src/main/deploy/pathplanner/paths/Comp Left Far Mid to Left Trench Shoot.path @@ -91,7 +91,7 @@ "globalConstraints": { "maxVelocity": 4.3, "maxAcceleration": 4.5, - "maxAngularVelocity": 540.0, + "maxAngularVelocity": 520.0, "maxAngularAcceleration": 720.0, "nominalVoltage": 12.0, "unlimited": false diff --git a/src/main/deploy/pathplanner/paths/Comp Left Trench Start to Left Far Mid.path b/src/main/deploy/pathplanner/paths/Comp Left Trench Start to Left Far Mid.path index 885a292..809271f 100644 --- a/src/main/deploy/pathplanner/paths/Comp Left Trench Start to Left Far Mid.path +++ b/src/main/deploy/pathplanner/paths/Comp Left Trench Start to Left Far Mid.path @@ -3,13 +3,13 @@ "waypoints": [ { "anchor": { - "x": 4.458998246603213, - "y": 7.20485134992855 + "x": 4.443642246623498, + "y": 7.655856681147647 }, "prevControl": null, "nextControl": { - "x": 5.505581898860599, - "y": 7.20485134992855 + "x": 5.490225898880884, + "y": 7.655856681147647 }, "isLocked": false, "linkedName": "Left Start" @@ -99,7 +99,7 @@ "globalConstraints": { "maxVelocity": 4.3, "maxAcceleration": 4.5, - "maxAngularVelocity": 540.0, + "maxAngularVelocity": 520.0, "maxAngularAcceleration": 720.0, "nominalVoltage": 12.0, "unlimited": false diff --git a/src/main/deploy/pathplanner/paths/Copy of Left bump shoot to Left bump shoot.path b/src/main/deploy/pathplanner/paths/Copy of Left bump shoot to Left bump shoot.path index 768e93a..e662bd5 100644 --- a/src/main/deploy/pathplanner/paths/Copy of Left bump shoot to Left bump shoot.path +++ b/src/main/deploy/pathplanner/paths/Copy of Left bump shoot to Left bump shoot.path @@ -214,7 +214,7 @@ "globalConstraints": { "maxVelocity": 4.3, "maxAcceleration": 4.5, - "maxAngularVelocity": 540.0, + "maxAngularVelocity": 520.0, "maxAngularAcceleration": 720.0, "nominalVoltage": 12.0, "unlimited": false diff --git a/src/main/deploy/pathplanner/paths/Copy of Right Bump Shoot to Right Mid.path b/src/main/deploy/pathplanner/paths/Copy of Right Bump Shoot to Right Mid.path index 02cb30e..09530a8 100644 --- a/src/main/deploy/pathplanner/paths/Copy of Right Bump Shoot to Right Mid.path +++ b/src/main/deploy/pathplanner/paths/Copy of Right Bump Shoot to Right Mid.path @@ -174,8 +174,8 @@ }, { "name": "Constraints Zone", - "minWaypointRelativePos": 0.6171170875859151, - "maxWaypointRelativePos": 3.246364995291837, + "minWaypointRelativePos": 1.115462033980876, + "maxWaypointRelativePos": 3.275300197389232, "constraints": { "maxVelocity": 4.5, "maxAcceleration": 6.0, @@ -190,7 +190,7 @@ "eventMarkers": [ { "name": "IntakeOut", - "waypointRelativePos": 0.7227544508470626, + "waypointRelativePos": 0.09906760414168062, "endWaypointRelativePos": null, "command": { "type": "named", @@ -214,7 +214,7 @@ "globalConstraints": { "maxVelocity": 4.3, "maxAcceleration": 4.5, - "maxAngularVelocity": 540.0, + "maxAngularVelocity": 520.0, "maxAngularAcceleration": 720.0, "nominalVoltage": 12.0, "unlimited": false diff --git a/src/main/deploy/pathplanner/paths/Depot Shoot to mid circle.path b/src/main/deploy/pathplanner/paths/Depot Shoot to mid circle.path index afb6a35..674b681 100644 --- a/src/main/deploy/pathplanner/paths/Depot Shoot to mid circle.path +++ b/src/main/deploy/pathplanner/paths/Depot Shoot to mid circle.path @@ -168,7 +168,7 @@ "globalConstraints": { "maxVelocity": 4.3, "maxAcceleration": 4.5, - "maxAngularVelocity": 540.0, + "maxAngularVelocity": 520.0, "maxAngularAcceleration": 720.0, "nominalVoltage": 12.0, "unlimited": false diff --git a/src/main/deploy/pathplanner/paths/Depot prep shoot to left prep climb.path b/src/main/deploy/pathplanner/paths/Depot prep shoot to left prep climb.path index 653a76f..f9b9b57 100644 --- a/src/main/deploy/pathplanner/paths/Depot prep shoot to left prep climb.path +++ b/src/main/deploy/pathplanner/paths/Depot prep shoot to left prep climb.path @@ -35,7 +35,7 @@ "globalConstraints": { "maxVelocity": 4.3, "maxAcceleration": 4.5, - "maxAngularVelocity": 540.0, + "maxAngularVelocity": 520.0, "maxAngularAcceleration": 720.0, "nominalVoltage": 12.0, "unlimited": false diff --git a/src/main/deploy/pathplanner/paths/Depot to Prep Shoot.path b/src/main/deploy/pathplanner/paths/Depot to Prep Shoot.path index 72327c8..ce9eac7 100644 --- a/src/main/deploy/pathplanner/paths/Depot to Prep Shoot.path +++ b/src/main/deploy/pathplanner/paths/Depot to Prep Shoot.path @@ -20,7 +20,7 @@ "y": 6.5998813271314045 }, "prevControl": { - "x": 1.5400966903367241, + "x": 1.5400966903367244, "y": 6.165517500465021 }, "nextControl": null, @@ -35,7 +35,7 @@ "globalConstraints": { "maxVelocity": 4.3, "maxAcceleration": 4.5, - "maxAngularVelocity": 540.0, + "maxAngularVelocity": 520.0, "maxAngularAcceleration": 720.0, "nominalVoltage": 12.0, "unlimited": false diff --git a/src/main/deploy/pathplanner/paths/Far Right Mid Prep to Right mid.path b/src/main/deploy/pathplanner/paths/Far Right Mid Prep to Right mid.path index dc40eb9..29eccf2 100644 --- a/src/main/deploy/pathplanner/paths/Far Right Mid Prep to Right mid.path +++ b/src/main/deploy/pathplanner/paths/Far Right Mid Prep to Right mid.path @@ -35,7 +35,7 @@ "globalConstraints": { "maxVelocity": 4.3, "maxAcceleration": 4.5, - "maxAngularVelocity": 540.0, + "maxAngularVelocity": 520.0, "maxAngularAcceleration": 720.0, "nominalVoltage": 12.0, "unlimited": false diff --git a/src/main/deploy/pathplanner/paths/Kitbot Depot to Hub.path b/src/main/deploy/pathplanner/paths/Kitbot Depot to Hub.path index 10e07af..6428abe 100644 --- a/src/main/deploy/pathplanner/paths/Kitbot Depot to Hub.path +++ b/src/main/deploy/pathplanner/paths/Kitbot Depot to Hub.path @@ -58,7 +58,7 @@ "globalConstraints": { "maxVelocity": 4.3, "maxAcceleration": 4.5, - "maxAngularVelocity": 540.0, + "maxAngularVelocity": 520.0, "maxAngularAcceleration": 720.0, "nominalVoltage": 12.0, "unlimited": false diff --git a/src/main/deploy/pathplanner/paths/Kitbot Hub to Prep Climb.path b/src/main/deploy/pathplanner/paths/Kitbot Hub to Prep Climb.path index 36ce7b5..27d308c 100644 --- a/src/main/deploy/pathplanner/paths/Kitbot Hub to Prep Climb.path +++ b/src/main/deploy/pathplanner/paths/Kitbot Hub to Prep Climb.path @@ -40,14 +40,14 @@ "globalConstraints": { "maxVelocity": 4.3, "maxAcceleration": 4.5, - "maxAngularVelocity": 540.0, + "maxAngularVelocity": 520.0, "maxAngularAcceleration": 720.0, "nominalVoltage": 12.0, "unlimited": false }, "goalEndState": { "velocity": 0, - "rotation": -33.465379346355256 + "rotation": -53.61564818416418 }, "reversed": false, "folder": null, diff --git a/src/main/deploy/pathplanner/paths/Left Depot Shoot to Side Climb.path b/src/main/deploy/pathplanner/paths/Left Depot Shoot to Side Climb.path index 49dd974..5281514 100644 --- a/src/main/deploy/pathplanner/paths/Left Depot Shoot to Side Climb.path +++ b/src/main/deploy/pathplanner/paths/Left Depot Shoot to Side Climb.path @@ -20,7 +20,7 @@ "y": 4.9972834369185195 }, "prevControl": { - "x": 1.1114045853824204, + "x": 1.1114045853824206, "y": 5.6108930780432305 }, "nextControl": null, @@ -35,14 +35,14 @@ "globalConstraints": { "maxVelocity": 4.3, "maxAcceleration": 4.5, - "maxAngularVelocity": 540.0, + "maxAngularVelocity": 520.0, "maxAngularAcceleration": 720.0, "nominalVoltage": 12.0, "unlimited": false }, "goalEndState": { "velocity": 0, - "rotation": -33.465379346355256 + "rotation": -53.61564818416418 }, "reversed": false, "folder": null, diff --git a/src/main/deploy/pathplanner/paths/Left End.path b/src/main/deploy/pathplanner/paths/Left End.path index 01a05eb..73db084 100644 --- a/src/main/deploy/pathplanner/paths/Left End.path +++ b/src/main/deploy/pathplanner/paths/Left End.path @@ -8,8 +8,8 @@ }, "prevControl": null, "nextControl": { - "x": 2.0931270061982516, - "y": 6.368112830072963 + "x": 2.4028584645209863, + "y": 6.254746501641302 }, "isLocked": false, "linkedName": "Left Bump Shoot" @@ -20,12 +20,12 @@ "y": 7.260083259398069 }, "prevControl": { - "x": 2.9528150484453173, - "y": 7.314306260485213 + "x": 2.942323935625773, + "y": 7.11748749007473 }, "nextControl": { - "x": 4.381526049328426, - "y": 7.2086200606231206 + "x": 4.208793920026086, + "y": 7.360383375417438 }, "isLocked": false, "linkedName": null @@ -36,24 +36,24 @@ "y": 7.260083259398069 }, "prevControl": { - "x": 5.114497177410288, - "y": 7.245889779000164 + "x": 5.235949795140252, + "y": 7.595508011878094 }, "nextControl": { - "x": 7.054855235248193, - "y": 7.277559036730172 + "x": 7.332893411347346, + "y": 6.655396944562472 }, "isLocked": false, "linkedName": "Prep Left Trench" }, { "anchor": { - "x": 7.673684505967298, - "y": 7.260083259398069 + "x": 8.096074647573795, + "y": 4.599739774230051 }, "prevControl": { - "x": 6.673684505967298, - "y": 7.260083259398069 + "x": 7.710962918105108, + "y": 4.913186880810874 }, "nextControl": null, "isLocked": false, @@ -72,18 +72,30 @@ ], "constraintZones": [], "pointTowardsZones": [], - "eventMarkers": [], + "eventMarkers": [ + { + "name": "IntakeOut", + "waypointRelativePos": 0.8592030686100649, + "endWaypointRelativePos": null, + "command": { + "type": "named", + "data": { + "name": "IntakeOut" + } + } + } + ], "globalConstraints": { "maxVelocity": 4.3, "maxAcceleration": 4.5, - "maxAngularVelocity": 540.0, + "maxAngularVelocity": 520.0, "maxAngularAcceleration": 720.0, "nominalVoltage": 12.0, "unlimited": false }, "goalEndState": { "velocity": 0, - "rotation": 133.09536730666434 + "rotation": 93.20515094254891 }, "reversed": false, "folder": null, diff --git a/src/main/deploy/pathplanner/paths/Left Far Mid to Left Bump Shoot.path b/src/main/deploy/pathplanner/paths/Left Far Mid to Left Bump Shoot.path index ec12b26..99625f8 100644 --- a/src/main/deploy/pathplanner/paths/Left Far Mid to Left Bump Shoot.path +++ b/src/main/deploy/pathplanner/paths/Left Far Mid to Left Bump Shoot.path @@ -71,7 +71,7 @@ }, { "waypointRelativePos": 1.95, - "rotationDegrees": -19.958887887713054 + "rotationDegrees": -19.958887887713058 } ], "constraintZones": [ @@ -119,7 +119,7 @@ "globalConstraints": { "maxVelocity": 4.3, "maxAcceleration": 4.5, - "maxAngularVelocity": 540.0, + "maxAngularVelocity": 520.0, "maxAngularAcceleration": 720.0, "nominalVoltage": 12.0, "unlimited": false diff --git a/src/main/deploy/pathplanner/paths/Left Mid to Left Trench.path b/src/main/deploy/pathplanner/paths/Left Mid to Left Trench.path index 5893271..82352f3 100644 --- a/src/main/deploy/pathplanner/paths/Left Mid to Left Trench.path +++ b/src/main/deploy/pathplanner/paths/Left Mid to Left Trench.path @@ -68,7 +68,7 @@ "globalConstraints": { "maxVelocity": 4.3, "maxAcceleration": 4.5, - "maxAngularVelocity": 540.0, + "maxAngularVelocity": 520.0, "maxAngularAcceleration": 720.0, "nominalVoltage": 12.0, "unlimited": false diff --git a/src/main/deploy/pathplanner/paths/Left Trench Start to Carry Mid.path b/src/main/deploy/pathplanner/paths/Left Trench Start to Carry Mid.path index b237319..c6c8290 100644 --- a/src/main/deploy/pathplanner/paths/Left Trench Start to Carry Mid.path +++ b/src/main/deploy/pathplanner/paths/Left Trench Start to Carry Mid.path @@ -3,13 +3,13 @@ "waypoints": [ { "anchor": { - "x": 4.458998246603213, - "y": 7.20485134992855 + "x": 4.443642246623498, + "y": 7.655856681147647 }, "prevControl": null, "nextControl": { - "x": 5.505581898860599, - "y": 7.20485134992855 + "x": 5.490225898880884, + "y": 7.655856681147647 }, "isLocked": false, "linkedName": "Left Start" @@ -72,7 +72,7 @@ "globalConstraints": { "maxVelocity": 4.3, "maxAcceleration": 4.5, - "maxAngularVelocity": 540.0, + "maxAngularVelocity": 520.0, "maxAngularAcceleration": 720.0, "nominalVoltage": 12.0, "unlimited": false diff --git a/src/main/deploy/pathplanner/paths/Left Trench to Close Mid.path b/src/main/deploy/pathplanner/paths/Left Trench to Close Mid.path index 71feb93..93169f5 100644 --- a/src/main/deploy/pathplanner/paths/Left Trench to Close Mid.path +++ b/src/main/deploy/pathplanner/paths/Left Trench to Close Mid.path @@ -72,7 +72,7 @@ "globalConstraints": { "maxVelocity": 4.3, "maxAcceleration": 4.5, - "maxAngularVelocity": 540.0, + "maxAngularVelocity": 520.0, "maxAngularAcceleration": 720.0, "nominalVoltage": 12.0, "unlimited": false diff --git a/src/main/deploy/pathplanner/paths/Left Trench to Left Mid.path b/src/main/deploy/pathplanner/paths/Left Trench to Left Mid.path index 9487aae..49d26d9 100644 --- a/src/main/deploy/pathplanner/paths/Left Trench to Left Mid.path +++ b/src/main/deploy/pathplanner/paths/Left Trench to Left Mid.path @@ -72,7 +72,7 @@ "globalConstraints": { "maxVelocity": 4.3, "maxAcceleration": 4.5, - "maxAngularVelocity": 540.0, + "maxAngularVelocity": 520.0, "maxAngularAcceleration": 720.0, "nominalVoltage": 12.0, "unlimited": false diff --git a/src/main/deploy/pathplanner/paths/Left Trench to Prep Climb.path b/src/main/deploy/pathplanner/paths/Left Trench to Prep Climb.path index 814c251..defd9d8 100644 --- a/src/main/deploy/pathplanner/paths/Left Trench to Prep Climb.path +++ b/src/main/deploy/pathplanner/paths/Left Trench to Prep Climb.path @@ -8,7 +8,7 @@ }, "prevControl": null, "nextControl": { - "x": 2.1697485728047647, + "x": 2.1697485728047643, "y": 7.158393642328211 }, "isLocked": false, @@ -35,7 +35,7 @@ "globalConstraints": { "maxVelocity": 4.3, "maxAcceleration": 4.5, - "maxAngularVelocity": 540.0, + "maxAngularVelocity": 520.0, "maxAngularAcceleration": 720.0, "nominalVoltage": 12.0, "unlimited": false diff --git a/src/main/deploy/pathplanner/paths/Left bump Shoot to depot.path b/src/main/deploy/pathplanner/paths/Left bump Shoot to depot.path index acd8ef9..9c0f2b0 100644 --- a/src/main/deploy/pathplanner/paths/Left bump Shoot to depot.path +++ b/src/main/deploy/pathplanner/paths/Left bump Shoot to depot.path @@ -20,7 +20,7 @@ "y": 5.94144963580363 }, "prevControl": { - "x": 0.3123491342190157, + "x": 0.3123491342190158, "y": 5.999526047220083 }, "nextControl": null, @@ -47,7 +47,7 @@ "globalConstraints": { "maxVelocity": 4.3, "maxAcceleration": 4.5, - "maxAngularVelocity": 540.0, + "maxAngularVelocity": 520.0, "maxAngularAcceleration": 720.0, "nominalVoltage": 12.0, "unlimited": false diff --git a/src/main/deploy/pathplanner/paths/Left bump shoot to Left bump shoot.path b/src/main/deploy/pathplanner/paths/Left bump shoot to Left bump shoot.path index 413f783..04cf20c 100644 --- a/src/main/deploy/pathplanner/paths/Left bump shoot to Left bump shoot.path +++ b/src/main/deploy/pathplanner/paths/Left bump shoot to Left bump shoot.path @@ -136,8 +136,8 @@ "minWaypointRelativePos": 4.81426059953658, "maxWaypointRelativePos": 5.794355228310116, "constraints": { - "maxVelocity": 3.3, - "maxAcceleration": 3.0, + "maxVelocity": 3.5, + "maxAcceleration": 4.0, "maxAngularVelocity": 540.0, "maxAngularAcceleration": 720.0, "nominalVoltage": 12.0, @@ -162,7 +162,7 @@ "globalConstraints": { "maxVelocity": 4.3, "maxAcceleration": 4.5, - "maxAngularVelocity": 540.0, + "maxAngularVelocity": 520.0, "maxAngularAcceleration": 720.0, "nominalVoltage": 12.0, "unlimited": false diff --git a/src/main/deploy/pathplanner/paths/Left bump shoot to prep climb.path b/src/main/deploy/pathplanner/paths/Left bump shoot to prep climb.path new file mode 100644 index 0000000..b5ef723 --- /dev/null +++ b/src/main/deploy/pathplanner/paths/Left bump shoot to prep climb.path @@ -0,0 +1,54 @@ +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 2.977699990459773, + "y": 5.481789775820089 + }, + "prevControl": null, + "nextControl": { + "x": 3.3416541567351925, + "y": 5.699861324142704 + }, + "isLocked": false, + "linkedName": "Left Bump Shoot" + }, + { + "anchor": { + "x": 2.10807322832875, + "y": 4.9972834369185195 + }, + "prevControl": { + "x": 1.8948569205468875, + "y": 4.866750659058436 + }, + "nextControl": null, + "isLocked": false, + "linkedName": "Prep climb" + } + ], + "rotationTargets": [], + "constraintZones": [], + "pointTowardsZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 4.3, + "maxAcceleration": 4.5, + "maxAngularVelocity": 520.0, + "maxAngularAcceleration": 720.0, + "nominalVoltage": 12.0, + "unlimited": false + }, + "goalEndState": { + "velocity": 0, + "rotation": -53.61564818416418 + }, + "reversed": false, + "folder": null, + "idealStartingState": { + "velocity": 0, + "rotation": -51.842773412630976 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Non Comp Left Far Mid to Left Trench Shoot.path b/src/main/deploy/pathplanner/paths/Non Comp Left Far Mid to Left Trench Shoot.path index f383d11..792a81a 100644 --- a/src/main/deploy/pathplanner/paths/Non Comp Left Far Mid to Left Trench Shoot.path +++ b/src/main/deploy/pathplanner/paths/Non Comp Left Far Mid to Left Trench Shoot.path @@ -83,7 +83,7 @@ "globalConstraints": { "maxVelocity": 4.3, "maxAcceleration": 4.5, - "maxAngularVelocity": 540.0, + "maxAngularVelocity": 520.0, "maxAngularAcceleration": 720.0, "nominalVoltage": 12.0, "unlimited": false diff --git a/src/main/deploy/pathplanner/paths/Non Comp Left Trench Start to Left Far Mid.path b/src/main/deploy/pathplanner/paths/Non Comp Left Trench Start to Left Far Mid.path index 59527bd..849dc4d 100644 --- a/src/main/deploy/pathplanner/paths/Non Comp Left Trench Start to Left Far Mid.path +++ b/src/main/deploy/pathplanner/paths/Non Comp Left Trench Start to Left Far Mid.path @@ -3,13 +3,13 @@ "waypoints": [ { "anchor": { - "x": 4.458998246603213, - "y": 7.20485134992855 + "x": 4.443642246623498, + "y": 7.655856681147647 }, "prevControl": null, "nextControl": { - "x": 5.505581898860599, - "y": 7.20485134992855 + "x": 5.490225898880884, + "y": 7.655856681147647 }, "isLocked": false, "linkedName": "Left Start" @@ -72,7 +72,7 @@ "globalConstraints": { "maxVelocity": 4.3, "maxAcceleration": 4.5, - "maxAngularVelocity": 540.0, + "maxAngularVelocity": 520.0, "maxAngularAcceleration": 720.0, "nominalVoltage": 12.0, "unlimited": false diff --git a/src/main/deploy/pathplanner/paths/Outpost to Depot.path b/src/main/deploy/pathplanner/paths/Outpost to Depot.path index c34186f..ab3cc92 100644 --- a/src/main/deploy/pathplanner/paths/Outpost to Depot.path +++ b/src/main/deploy/pathplanner/paths/Outpost to Depot.path @@ -51,7 +51,7 @@ "globalConstraints": { "maxVelocity": 4.3, "maxAcceleration": 4.5, - "maxAngularVelocity": 540.0, + "maxAngularVelocity": 520.0, "maxAngularAcceleration": 720.0, "nominalVoltage": 12.0, "unlimited": false diff --git a/src/main/deploy/pathplanner/paths/Outpost to Shoot.path b/src/main/deploy/pathplanner/paths/Outpost to Shoot.path index db601bc..04bbb18 100644 --- a/src/main/deploy/pathplanner/paths/Outpost to Shoot.path +++ b/src/main/deploy/pathplanner/paths/Outpost to Shoot.path @@ -35,7 +35,7 @@ "globalConstraints": { "maxVelocity": 4.3, "maxAcceleration": 4.5, - "maxAngularVelocity": 540.0, + "maxAngularVelocity": 520.0, "maxAngularAcceleration": 720.0, "nominalVoltage": 12.0, "unlimited": false diff --git a/src/main/deploy/pathplanner/paths/Right Bump Shoot to Right Mid.path b/src/main/deploy/pathplanner/paths/Right Bump Shoot to Right Mid.path index 4863503..9b1d2d7 100644 --- a/src/main/deploy/pathplanner/paths/Right Bump Shoot to Right Mid.path +++ b/src/main/deploy/pathplanner/paths/Right Bump Shoot to Right Mid.path @@ -196,7 +196,7 @@ "globalConstraints": { "maxVelocity": 4.3, "maxAcceleration": 4.5, - "maxAngularVelocity": 540.0, + "maxAngularVelocity": 520.0, "maxAngularAcceleration": 720.0, "nominalVoltage": 12.0, "unlimited": false diff --git a/src/main/deploy/pathplanner/paths/Right Center Mid to Right Trench Shoot.path b/src/main/deploy/pathplanner/paths/Right Center Mid to Right Trench Shoot.path index 2ec4a8b..75ee4d3 100644 --- a/src/main/deploy/pathplanner/paths/Right Center Mid to Right Trench Shoot.path +++ b/src/main/deploy/pathplanner/paths/Right Center Mid to Right Trench Shoot.path @@ -76,7 +76,7 @@ "globalConstraints": { "maxVelocity": 4.3, "maxAcceleration": 4.5, - "maxAngularVelocity": 540.0, + "maxAngularVelocity": 520.0, "maxAngularAcceleration": 720.0, "nominalVoltage": 12.0, "unlimited": false diff --git a/src/main/deploy/pathplanner/paths/Right Close Mid to Right Trench Shoot.path b/src/main/deploy/pathplanner/paths/Right Close Mid to Right Trench Shoot.path index 02dd02d..e9e5b96 100644 --- a/src/main/deploy/pathplanner/paths/Right Close Mid to Right Trench Shoot.path +++ b/src/main/deploy/pathplanner/paths/Right Close Mid to Right Trench Shoot.path @@ -72,7 +72,7 @@ "globalConstraints": { "maxVelocity": 4.3, "maxAcceleration": 4.5, - "maxAngularVelocity": 540.0, + "maxAngularVelocity": 520.0, "maxAngularAcceleration": 720.0, "nominalVoltage": 12.0, "unlimited": false diff --git a/src/main/deploy/pathplanner/paths/Right End.path b/src/main/deploy/pathplanner/paths/Right End.path index 68a3693..36a0910 100644 --- a/src/main/deploy/pathplanner/paths/Right End.path +++ b/src/main/deploy/pathplanner/paths/Right End.path @@ -104,7 +104,7 @@ "globalConstraints": { "maxVelocity": 4.3, "maxAcceleration": 4.5, - "maxAngularVelocity": 540.0, + "maxAngularVelocity": 520.0, "maxAngularAcceleration": 720.0, "nominalVoltage": 12.0, "unlimited": false diff --git a/src/main/deploy/pathplanner/paths/Right Far Mid to Bump Shoot.path b/src/main/deploy/pathplanner/paths/Right Far Mid to Bump Shoot.path index 69c81fa..6805f5c 100644 --- a/src/main/deploy/pathplanner/paths/Right Far Mid to Bump Shoot.path +++ b/src/main/deploy/pathplanner/paths/Right Far Mid to Bump Shoot.path @@ -78,9 +78,9 @@ "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { - "maxVelocity": 3.0, - "maxAcceleration": 3.0, - "maxAngularVelocity": 540.0, + "maxVelocity": 3.5, + "maxAcceleration": 4.0, + "maxAngularVelocity": 720.0, "maxAngularAcceleration": 720.0, "nominalVoltage": 12.0, "unlimited": false diff --git a/src/main/deploy/pathplanner/paths/Right Start to Outpost.path b/src/main/deploy/pathplanner/paths/Right Start to Outpost.path index d4891ff..aac6754 100644 --- a/src/main/deploy/pathplanner/paths/Right Start to Outpost.path +++ b/src/main/deploy/pathplanner/paths/Right Start to Outpost.path @@ -47,7 +47,7 @@ "globalConstraints": { "maxVelocity": 4.3, "maxAcceleration": 4.5, - "maxAngularVelocity": 540.0, + "maxAngularVelocity": 520.0, "maxAngularAcceleration": 720.0, "nominalVoltage": 12.0, "unlimited": false diff --git a/src/main/deploy/pathplanner/paths/Right Trench Shoot to Close Right Mid.path b/src/main/deploy/pathplanner/paths/Right Trench Shoot to Close Right Mid.path index b1620a7..ea8f8bd 100644 --- a/src/main/deploy/pathplanner/paths/Right Trench Shoot to Close Right Mid.path +++ b/src/main/deploy/pathplanner/paths/Right Trench Shoot to Close Right Mid.path @@ -72,7 +72,7 @@ "globalConstraints": { "maxVelocity": 4.3, "maxAcceleration": 4.5, - "maxAngularVelocity": 540.0, + "maxAngularVelocity": 520.0, "maxAngularAcceleration": 720.0, "nominalVoltage": 12.0, "unlimited": false diff --git a/src/main/deploy/pathplanner/paths/Right Trench Shoot to Prep Climb.path b/src/main/deploy/pathplanner/paths/Right Trench Shoot to Prep Climb.path index c77e0b1..2f33175 100644 --- a/src/main/deploy/pathplanner/paths/Right Trench Shoot to Prep Climb.path +++ b/src/main/deploy/pathplanner/paths/Right Trench Shoot to Prep Climb.path @@ -35,7 +35,7 @@ "globalConstraints": { "maxVelocity": 4.3, "maxAcceleration": 4.5, - "maxAngularVelocity": 540.0, + "maxAngularVelocity": 520.0, "maxAngularAcceleration": 720.0, "nominalVoltage": 12.0, "unlimited": false diff --git a/src/main/deploy/pathplanner/paths/Right Trench Start to Far Right Mid Prep.path b/src/main/deploy/pathplanner/paths/Right Trench Start to Far Right Mid Prep.path index 1097b4c..2689fc3 100644 --- a/src/main/deploy/pathplanner/paths/Right Trench Start to Far Right Mid Prep.path +++ b/src/main/deploy/pathplanner/paths/Right Trench Start to Far Right Mid Prep.path @@ -3,29 +3,29 @@ "waypoints": [ { "anchor": { - "x": 4.481091010391021, - "y": 0.864228142827808 + "x": 4.468488725541527, + "y": 0.4255313160011406 }, "prevControl": null, "nextControl": { - "x": 5.006850116347506, - "y": 0.8645067911350011 + "x": 4.994247831498012, + "y": 0.4258099643083336 }, "isLocked": false, - "linkedName": "Right Start" + "linkedName": "Right Far Trench Start" }, { "anchor": { - "x": 5.895027892810698, - "y": 0.864228142827808 + "x": 5.959277460623281, + "y": 0.4255313160011406 }, "prevControl": { - "x": 5.311135638237011, - "y": 0.8769300305940161 + "x": 5.375385206049594, + "y": 0.43823320376734864 }, "nextControl": { - "x": 6.4172849671217245, - "y": 0.8528670557590128 + "x": 6.481534534934307, + "y": 0.41417022893234534 }, "isLocked": false, "linkedName": null @@ -115,7 +115,7 @@ "globalConstraints": { "maxVelocity": 4.3, "maxAcceleration": 4.5, - "maxAngularVelocity": 540.0, + "maxAngularVelocity": 520.0, "maxAngularAcceleration": 720.0, "nominalVoltage": 12.0, "unlimited": false diff --git a/src/main/deploy/pathplanner/paths/Rush Loop Left.path b/src/main/deploy/pathplanner/paths/Rush Loop Left.path index d3d656f..fdd6471 100644 --- a/src/main/deploy/pathplanner/paths/Rush Loop Left.path +++ b/src/main/deploy/pathplanner/paths/Rush Loop Left.path @@ -64,16 +64,16 @@ }, { "anchor": { - "x": 5.984123939541311, - "y": 4.500353858557935 + "x": 6.095933094672443, + "y": 4.5252003374759635 }, "prevControl": { - "x": 5.783807786431018, - "y": 4.650799884516709 + "x": 5.8956169415621495, + "y": 4.675646363434738 }, "nextControl": { - "x": 6.597860188726198, - "y": 4.039411601815058 + "x": 6.70966934385733, + "y": 4.064258080733087 }, "isLocked": false, "linkedName": null @@ -96,16 +96,16 @@ }, { "anchor": { - "x": 5.6983894319839745, - "y": 5.469366536361074 + "x": 5.710812671442989, + "y": 5.481789775820089 }, "prevControl": { - "x": 6.130188809257551, - "y": 5.5748583662820055 + "x": 6.142612048716566, + "y": 5.587281605741021 }, "nextControl": { - "x": 5.132647196708735, - "y": 5.331151460555323 + "x": 5.1450704361677495, + "y": 5.343574700014338 }, "isLocked": false, "linkedName": null @@ -150,7 +150,7 @@ "rotationDegrees": 87.61518500606564 }, { - "waypointRelativePos": 4, + "waypointRelativePos": 4.0, "rotationDegrees": 178.56790381583542 }, { @@ -218,7 +218,7 @@ "globalConstraints": { "maxVelocity": 4.3, "maxAcceleration": 4.5, - "maxAngularVelocity": 540.0, + "maxAngularVelocity": 520.0, "maxAngularAcceleration": 720.0, "nominalVoltage": 12.0, "unlimited": false diff --git a/src/main/deploy/pathplanner/paths/Rush Loop Right.path b/src/main/deploy/pathplanner/paths/Rush Loop Right.path index 11f51d5..707a684 100644 --- a/src/main/deploy/pathplanner/paths/Rush Loop Right.path +++ b/src/main/deploy/pathplanner/paths/Rush Loop Right.path @@ -218,7 +218,7 @@ "globalConstraints": { "maxVelocity": 4.3, "maxAcceleration": 4.5, - "maxAngularVelocity": 540.0, + "maxAngularVelocity": 520.0, "maxAngularAcceleration": 720.0, "nominalVoltage": 12.0, "unlimited": false diff --git a/src/main/deploy/pathplanner/paths/SHOP Right Bump Shoot to Right Mid.path b/src/main/deploy/pathplanner/paths/SHOP Right Bump Shoot to Right Mid.path index b349fb3..ab0f91d 100644 --- a/src/main/deploy/pathplanner/paths/SHOP Right Bump Shoot to Right Mid.path +++ b/src/main/deploy/pathplanner/paths/SHOP Right Bump Shoot to Right Mid.path @@ -187,7 +187,7 @@ "globalConstraints": { "maxVelocity": 4.3, "maxAcceleration": 4.5, - "maxAngularVelocity": 540.0, + "maxAngularVelocity": 520.0, "maxAngularAcceleration": 720.0, "nominalVoltage": 12.0, "unlimited": false diff --git a/src/main/deploy/pathplanner/paths/SHOP Right Trench Start to Far Right Mid Prep.path b/src/main/deploy/pathplanner/paths/SHOP Right Trench Start to Far Right Mid Prep.path index aa307df..5eb7124 100644 --- a/src/main/deploy/pathplanner/paths/SHOP Right Trench Start to Far Right Mid Prep.path +++ b/src/main/deploy/pathplanner/paths/SHOP Right Trench Start to Far Right Mid Prep.path @@ -115,7 +115,7 @@ "globalConstraints": { "maxVelocity": 4.3, "maxAcceleration": 4.5, - "maxAngularVelocity": 540.0, + "maxAngularVelocity": 520.0, "maxAngularAcceleration": 720.0, "nominalVoltage": 12.0, "unlimited": false diff --git a/src/main/deploy/pathplanner/paths/Selfish Right Center Mid to Right Trench Shoot.path b/src/main/deploy/pathplanner/paths/Selfish Right Center Mid to Right Trench Shoot.path index f85e2ec..e722b26 100644 --- a/src/main/deploy/pathplanner/paths/Selfish Right Center Mid to Right Trench Shoot.path +++ b/src/main/deploy/pathplanner/paths/Selfish Right Center Mid to Right Trench Shoot.path @@ -76,7 +76,7 @@ "globalConstraints": { "maxVelocity": 4.3, "maxAcceleration": 4.5, - "maxAngularVelocity": 540.0, + "maxAngularVelocity": 520.0, "maxAngularAcceleration": 720.0, "nominalVoltage": 12.0, "unlimited": false diff --git a/src/main/deploy/pathplanner/paths/Selfish Right Trench Start to Far Right Mid Prep.path b/src/main/deploy/pathplanner/paths/Selfish Right Trench Start to Far Right Mid Prep.path index d8fb69f..246feb6 100644 --- a/src/main/deploy/pathplanner/paths/Selfish Right Trench Start to Far Right Mid Prep.path +++ b/src/main/deploy/pathplanner/paths/Selfish Right Trench Start to Far Right Mid Prep.path @@ -88,7 +88,7 @@ "globalConstraints": { "maxVelocity": 4.3, "maxAcceleration": 4.5, - "maxAngularVelocity": 540.0, + "maxAngularVelocity": 520.0, "maxAngularAcceleration": 720.0, "nominalVoltage": 12.0, "unlimited": false diff --git a/src/main/deploy/pathplanner/paths/VS Tall boy first pass Left.path b/src/main/deploy/pathplanner/paths/VS Tall boy first pass Left.path new file mode 100644 index 0000000..1ed6016 --- /dev/null +++ b/src/main/deploy/pathplanner/paths/VS Tall boy first pass Left.path @@ -0,0 +1,111 @@ +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 4.4560654860825135, + "y": 7.643433441688632 + }, + "prevControl": null, + "nextControl": { + "x": 5.289052239790887, + "y": 7.305440818725194 + }, + "isLocked": false, + "linkedName": "Left Far Trench Start" + }, + { + "anchor": { + "x": 8.43150211296719, + "y": 5.121515831508666 + }, + "prevControl": { + "x": 8.869943319316262, + "y": 6.573803289351307 + }, + "nextControl": { + "x": 8.147739774336651, + "y": 4.18158482266749 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 5.673542953065945, + "y": 5.481789775820089 + }, + "prevControl": { + "x": 6.337016548298345, + "y": 5.279875854947543 + }, + "nextControl": { + "x": 4.716139300320952, + "y": 5.773154988803021 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 2.977699990459773, + "y": 5.481789775820089 + }, + "prevControl": { + "x": 4.741389840038271, + "y": 5.368252860047942 + }, + "nextControl": null, + "isLocked": false, + "linkedName": "Left Bump Shoot" + } + ], + "rotationTargets": [ + { + "waypointRelativePos": 0.5, + "rotationDegrees": 136.9253019204552 + }, + { + "waypointRelativePos": 1.5195734670236054, + "rotationDegrees": 27.879266326209944 + }, + { + "waypointRelativePos": 1.9862685968323133, + "rotationDegrees": 0.0 + } + ], + "constraintZones": [], + "pointTowardsZones": [], + "eventMarkers": [ + { + "name": "IntakeOut", + "waypointRelativePos": 0.22136370702730837, + "endWaypointRelativePos": null, + "command": { + "type": "named", + "data": { + "name": "IntakeOut" + } + } + } + ], + "globalConstraints": { + "maxVelocity": 4.3, + "maxAcceleration": 4.5, + "maxAngularVelocity": 520.0, + "maxAngularAcceleration": 720.0, + "nominalVoltage": 12.0, + "unlimited": false + }, + "goalEndState": { + "velocity": 0, + "rotation": -51.842773412630976 + }, + "reversed": false, + "folder": null, + "idealStartingState": { + "velocity": 0, + "rotation": 90.0 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/VS Tall boy first pass.path b/src/main/deploy/pathplanner/paths/VS Tall boy first pass.path index dff1090..df5ed86 100644 --- a/src/main/deploy/pathplanner/paths/VS Tall boy first pass.path +++ b/src/main/deploy/pathplanner/paths/VS Tall boy first pass.path @@ -79,7 +79,7 @@ "eventMarkers": [ { "name": "IntakeOut", - "waypointRelativePos": 0.2058066494277258, + "waypointRelativePos": 0.2446992934266794, "endWaypointRelativePos": null, "command": { "type": "named", @@ -92,7 +92,7 @@ "globalConstraints": { "maxVelocity": 4.3, "maxAcceleration": 4.5, - "maxAngularVelocity": 540.0, + "maxAngularVelocity": 520.0, "maxAngularAcceleration": 720.0, "nominalVoltage": 12.0, "unlimited": false diff --git a/src/main/deploy/pathplanner/paths/left trench shoot to depot.path b/src/main/deploy/pathplanner/paths/left trench shoot to depot.path index 13471eb..f9fd69d 100644 --- a/src/main/deploy/pathplanner/paths/left trench shoot to depot.path +++ b/src/main/deploy/pathplanner/paths/left trench shoot to depot.path @@ -61,7 +61,7 @@ "globalConstraints": { "maxVelocity": 4.3, "maxAcceleration": 4.5, - "maxAngularVelocity": 540.0, + "maxAngularVelocity": 520.0, "maxAngularAcceleration": 720.0, "nominalVoltage": 12.0, "unlimited": false diff --git a/src/main/deploy/pathplanner/paths/outpost shoot to climb prep.path b/src/main/deploy/pathplanner/paths/outpost shoot to climb prep.path index 9e54ec1..89f7faa 100644 --- a/src/main/deploy/pathplanner/paths/outpost shoot to climb prep.path +++ b/src/main/deploy/pathplanner/paths/outpost shoot to climb prep.path @@ -35,7 +35,7 @@ "globalConstraints": { "maxVelocity": 4.3, "maxAcceleration": 4.5, - "maxAngularVelocity": 540.0, + "maxAngularVelocity": 520.0, "maxAngularAcceleration": 720.0, "nominalVoltage": 12.0, "unlimited": false diff --git a/src/main/deploy/pathplanner/paths/right shoot to outpost.path b/src/main/deploy/pathplanner/paths/right shoot to outpost.path index 1585818..0c37f84 100644 --- a/src/main/deploy/pathplanner/paths/right shoot to outpost.path +++ b/src/main/deploy/pathplanner/paths/right shoot to outpost.path @@ -47,7 +47,7 @@ "globalConstraints": { "maxVelocity": 4.3, "maxAcceleration": 4.5, - "maxAngularVelocity": 540.0, + "maxAngularVelocity": 520.0, "maxAngularAcceleration": 720.0, "nominalVoltage": 12.0, "unlimited": false diff --git a/src/main/deploy/pathplanner/settings.json b/src/main/deploy/pathplanner/settings.json index 774a091..627f923 100644 --- a/src/main/deploy/pathplanner/settings.json +++ b/src/main/deploy/pathplanner/settings.json @@ -9,7 +9,7 @@ ], "defaultMaxVel": 4.3, "defaultMaxAccel": 4.5, - "defaultMaxAngVel": 540.0, + "defaultMaxAngVel": 520.0, "defaultMaxAngAccel": 720.0, "defaultNominalVoltage": 12.0, "robotMass": 49.895, diff --git a/src/main/java/frc/robot/subsystems/Drivetrain.java b/src/main/java/frc/robot/subsystems/Drivetrain.java index 7e73c41..8ada4fa 100644 --- a/src/main/java/frc/robot/subsystems/Drivetrain.java +++ b/src/main/java/frc/robot/subsystems/Drivetrain.java @@ -311,10 +311,10 @@ private void updateOdometry() { m_field.getObject("visionTarget").setPose(visionMeasurement.pose); } publisher.set(getPose()); - m_field.setRobotPose(getPose()); - m_field.getObject("targetPose").setPose(_target); - m_field.getObject("climbStagePose").setPose(_climbTargetStage); - m_field.getObject("climbEngagePose").setPose(_climbTargetEngage); + // m_field.setRobotPose(getPose()); + // m_field.getObject("targetPose").setPose(_target); + // m_field.getObject("climbStagePose").setPose(_climbTargetStage); + // m_field.getObject("climbEngagePose").setPose(_climbTargetEngage); SmartDashboard.putString("climbType", _currentClimb.name()); } From 37deec588d3ff20ea586e5a6854561012817b08b Mon Sep 17 00:00:00 2001 From: Dom Wenskay Date: Thu, 30 Apr 2026 08:27:04 -0400 Subject: [PATCH 4/8] Worlds deploy 1, added robot pose back into driverstation and fixed rush loop auto --- .../pathplanner/autos/Left Silly auto .auto | 8 +++---- .../pathplanner/autos/Right Silly Auto.auto | 8 +++---- .../pathplanner/paths/Rush Loop Right.path | 24 +++++++++---------- .../java/frc/robot/subsystems/Drivetrain.java | 8 +++---- 4 files changed, 24 insertions(+), 24 deletions(-) diff --git a/src/main/deploy/pathplanner/autos/Left Silly auto .auto b/src/main/deploy/pathplanner/autos/Left Silly auto .auto index 909137e..f413b72 100644 --- a/src/main/deploy/pathplanner/autos/Left Silly auto .auto +++ b/src/main/deploy/pathplanner/autos/Left Silly auto .auto @@ -31,7 +31,7 @@ { "type": "wait", "data": { - "waitTime": 1.0 + "waitTime": 0.8 } }, { @@ -43,7 +43,7 @@ { "type": "wait", "data": { - "waitTime": 2.5 + "waitTime": 2.7 } }, { @@ -79,7 +79,7 @@ { "type": "wait", "data": { - "waitTime": 1.0 + "waitTime": 0.8 } }, { @@ -91,7 +91,7 @@ { "type": "wait", "data": { - "waitTime": 2.5 + "waitTime": 2.7 } }, { diff --git a/src/main/deploy/pathplanner/autos/Right Silly Auto.auto b/src/main/deploy/pathplanner/autos/Right Silly Auto.auto index 4aed0fa..7cb8061 100644 --- a/src/main/deploy/pathplanner/autos/Right Silly Auto.auto +++ b/src/main/deploy/pathplanner/autos/Right Silly Auto.auto @@ -31,7 +31,7 @@ { "type": "wait", "data": { - "waitTime": 1.0 + "waitTime": 0.8 } }, { @@ -43,7 +43,7 @@ { "type": "wait", "data": { - "waitTime": 2.5 + "waitTime": 2.7 } }, { @@ -79,7 +79,7 @@ { "type": "wait", "data": { - "waitTime": 1.0 + "waitTime": 0.8 } }, { @@ -91,7 +91,7 @@ { "type": "wait", "data": { - "waitTime": 2.5 + "waitTime": 2.7 } }, { diff --git a/src/main/deploy/pathplanner/paths/Rush Loop Right.path b/src/main/deploy/pathplanner/paths/Rush Loop Right.path index 707a684..5d734fc 100644 --- a/src/main/deploy/pathplanner/paths/Rush Loop Right.path +++ b/src/main/deploy/pathplanner/paths/Rush Loop Right.path @@ -8,8 +8,8 @@ }, "prevControl": null, "nextControl": { - "x": 2.565850967649067, - "y": 1.0688040151689777 + "x": 2.120496467787765, + "y": 1.0715397678698995 }, "isLocked": false, "linkedName": "Right Bump Shoot" @@ -20,12 +20,12 @@ "y": 0.636726386804388 }, "prevControl": { - "x": 3.0722931581608943, - "y": 0.7348494596619713 + "x": 2.704388722361452, + "y": 0.6118799078863606 }, "nextControl": { - "x": 3.8950076689104214, - "y": 0.5947616019373806 + "x": 3.898468401084774, + "y": 0.6433030573264457 }, "isLocked": false, "linkedName": null @@ -64,16 +64,16 @@ }, { "anchor": { - "x": 6.232588728721603, - "y": 3.84192216723016 + "x": 6.369244362770763, + "y": 3.7549594910170576 }, "prevControl": { - "x": 5.696075768006611, - "y": 3.616620751959415 + "x": 5.832731402055771, + "y": 3.5296580757463127 }, "nextControl": { - "x": 7.054551753062824, - "y": 4.18709450460949 + "x": 7.191207387111984, + "y": 4.100131828396388 }, "isLocked": false, "linkedName": null diff --git a/src/main/java/frc/robot/subsystems/Drivetrain.java b/src/main/java/frc/robot/subsystems/Drivetrain.java index 8ada4fa..2a6bd79 100644 --- a/src/main/java/frc/robot/subsystems/Drivetrain.java +++ b/src/main/java/frc/robot/subsystems/Drivetrain.java @@ -311,10 +311,10 @@ private void updateOdometry() { m_field.getObject("visionTarget").setPose(visionMeasurement.pose); } publisher.set(getPose()); - // m_field.setRobotPose(getPose()); - // m_field.getObject("targetPose").setPose(_target); - // m_field.getObject("climbStagePose").setPose(_climbTargetStage); - // m_field.getObject("climbEngagePose").setPose(_climbTargetEngage); + m_field.setRobotPose(getPose()); + m_field.getObject("targetPose").setPose(_target); + m_field.getObject("climbStagePose").setPose(_climbTargetStage); + m_field.getObject("climbEngagePose").setPose(_climbTargetEngage); SmartDashboard.putString("climbType", _currentClimb.name()); } From d0a2cf374995a3d8904c6e0b8bfebd873c74098d Mon Sep 17 00:00:00 2001 From: Dom Wenskay Date: Thu, 30 Apr 2026 08:30:30 -0400 Subject: [PATCH 5/8] Worlds Deploy 2, fixed delay on hopper in auto --- .../Copy of EXPERIMENTAL Right 2 mid cycle + BUMP SHOOT.auto | 4 ++-- .../autos/EXPERIMENTAL Right 2 mid cycle + BUMP SHOOT.auto | 4 ++-- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/src/main/deploy/pathplanner/autos/Copy of EXPERIMENTAL Right 2 mid cycle + BUMP SHOOT.auto b/src/main/deploy/pathplanner/autos/Copy of EXPERIMENTAL Right 2 mid cycle + BUMP SHOOT.auto index 23db625..86fe23f 100644 --- a/src/main/deploy/pathplanner/autos/Copy of EXPERIMENTAL Right 2 mid cycle + BUMP SHOOT.auto +++ b/src/main/deploy/pathplanner/autos/Copy of EXPERIMENTAL Right 2 mid cycle + BUMP SHOOT.auto @@ -85,7 +85,7 @@ { "type": "wait", "data": { - "waitTime": 2.0 + "waitTime": 1.0 } }, { @@ -97,7 +97,7 @@ { "type": "wait", "data": { - "waitTime": 1.0 + "waitTime": 2.0 } }, { diff --git a/src/main/deploy/pathplanner/autos/EXPERIMENTAL Right 2 mid cycle + BUMP SHOOT.auto b/src/main/deploy/pathplanner/autos/EXPERIMENTAL Right 2 mid cycle + BUMP SHOOT.auto index 32b6ee7..3f26a74 100644 --- a/src/main/deploy/pathplanner/autos/EXPERIMENTAL Right 2 mid cycle + BUMP SHOOT.auto +++ b/src/main/deploy/pathplanner/autos/EXPERIMENTAL Right 2 mid cycle + BUMP SHOOT.auto @@ -91,7 +91,7 @@ { "type": "wait", "data": { - "waitTime": 2.0 + "waitTime": 1.0 } }, { @@ -103,7 +103,7 @@ { "type": "wait", "data": { - "waitTime": 1.0 + "waitTime": 2.0 } }, { From 95561f5b02fa15376cfa6d2614e98c8d869a2620 Mon Sep 17 00:00:00 2001 From: Dom Wenskay Date: Thu, 30 Apr 2026 08:36:22 -0400 Subject: [PATCH 6/8] Worlds Deploy 3, this time the auto is gonna work I swear --- .../Copy of EXPERIMENTAL Left 2 mid cycle + BUMP SHOOT.auto | 4 ++-- .../Copy of EXPERIMENTAL Right 2 mid cycle + BUMP SHOOT.auto | 4 ++-- .../autos/EXPERIMENTAL Left 2 mid cycle + BUMP SHOOT.auto | 4 ++-- .../autos/EXPERIMENTAL Right 2 mid cycle + BUMP SHOOT.auto | 4 ++-- 4 files changed, 8 insertions(+), 8 deletions(-) diff --git a/src/main/deploy/pathplanner/autos/Copy of EXPERIMENTAL Left 2 mid cycle + BUMP SHOOT.auto b/src/main/deploy/pathplanner/autos/Copy of EXPERIMENTAL Left 2 mid cycle + BUMP SHOOT.auto index 6c88a96..ef64ed1 100644 --- a/src/main/deploy/pathplanner/autos/Copy of EXPERIMENTAL Left 2 mid cycle + BUMP SHOOT.auto +++ b/src/main/deploy/pathplanner/autos/Copy of EXPERIMENTAL Left 2 mid cycle + BUMP SHOOT.auto @@ -31,7 +31,7 @@ { "type": "wait", "data": { - "waitTime": 1.2 + "waitTime": 1.0 } }, { @@ -43,7 +43,7 @@ { "type": "wait", "data": { - "waitTime": 2.5 + "waitTime": 2.7 } }, { diff --git a/src/main/deploy/pathplanner/autos/Copy of EXPERIMENTAL Right 2 mid cycle + BUMP SHOOT.auto b/src/main/deploy/pathplanner/autos/Copy of EXPERIMENTAL Right 2 mid cycle + BUMP SHOOT.auto index 86fe23f..efb3d90 100644 --- a/src/main/deploy/pathplanner/autos/Copy of EXPERIMENTAL Right 2 mid cycle + BUMP SHOOT.auto +++ b/src/main/deploy/pathplanner/autos/Copy of EXPERIMENTAL Right 2 mid cycle + BUMP SHOOT.auto @@ -31,7 +31,7 @@ { "type": "wait", "data": { - "waitTime": 1.5 + "waitTime": 1.0 } }, { @@ -43,7 +43,7 @@ { "type": "wait", "data": { - "waitTime": 2.2 + "waitTime": 2.7 } }, { diff --git a/src/main/deploy/pathplanner/autos/EXPERIMENTAL Left 2 mid cycle + BUMP SHOOT.auto b/src/main/deploy/pathplanner/autos/EXPERIMENTAL Left 2 mid cycle + BUMP SHOOT.auto index 62bc4de..bb94974 100644 --- a/src/main/deploy/pathplanner/autos/EXPERIMENTAL Left 2 mid cycle + BUMP SHOOT.auto +++ b/src/main/deploy/pathplanner/autos/EXPERIMENTAL Left 2 mid cycle + BUMP SHOOT.auto @@ -37,7 +37,7 @@ { "type": "wait", "data": { - "waitTime": 1.2 + "waitTime": 1.0 } }, { @@ -49,7 +49,7 @@ { "type": "wait", "data": { - "waitTime": 2.5 + "waitTime": 2.7 } }, { diff --git a/src/main/deploy/pathplanner/autos/EXPERIMENTAL Right 2 mid cycle + BUMP SHOOT.auto b/src/main/deploy/pathplanner/autos/EXPERIMENTAL Right 2 mid cycle + BUMP SHOOT.auto index 3f26a74..f50f3a1 100644 --- a/src/main/deploy/pathplanner/autos/EXPERIMENTAL Right 2 mid cycle + BUMP SHOOT.auto +++ b/src/main/deploy/pathplanner/autos/EXPERIMENTAL Right 2 mid cycle + BUMP SHOOT.auto @@ -37,7 +37,7 @@ { "type": "wait", "data": { - "waitTime": 1.5 + "waitTime": 1.0 } }, { @@ -49,7 +49,7 @@ { "type": "wait", "data": { - "waitTime": 2.2 + "waitTime": 2.7 } }, { From b1823b39823e319e68539aa852315d02df391d19 Mon Sep 17 00:00:00 2001 From: Dom Wenskay Date: Fri, 1 May 2026 13:28:04 -0400 Subject: [PATCH 7/8] Pre 90 --- .../paths/Left Far Mid to Left Bump Shoot.path | 8 ++++---- src/main/java/frc/robot/subsystems/Hopper.java | 2 +- 2 files changed, 5 insertions(+), 5 deletions(-) diff --git a/src/main/deploy/pathplanner/paths/Left Far Mid to Left Bump Shoot.path b/src/main/deploy/pathplanner/paths/Left Far Mid to Left Bump Shoot.path index 99625f8..1a0dbbd 100644 --- a/src/main/deploy/pathplanner/paths/Left Far Mid to Left Bump Shoot.path +++ b/src/main/deploy/pathplanner/paths/Left Far Mid to Left Bump Shoot.path @@ -36,12 +36,12 @@ "y": 5.481789775820089 }, "prevControl": { - "x": 7.593996347667768, - "y": 5.102367385958261 + "x": 7.624636489549833, + "y": 5.354506599456931 }, "nextControl": { - "x": 5.242736765444711, - "y": 5.533440891609528 + "x": 5.114497177410288, + "y": 5.506636254738119 }, "isLocked": false, "linkedName": null diff --git a/src/main/java/frc/robot/subsystems/Hopper.java b/src/main/java/frc/robot/subsystems/Hopper.java index 9e3581c..b8c0ed0 100644 --- a/src/main/java/frc/robot/subsystems/Hopper.java +++ b/src/main/java/frc/robot/subsystems/Hopper.java @@ -50,7 +50,7 @@ public class Hopper extends SubsystemBase { .withSupplyCurrentLowerTime(0) .withSupplyCurrentLowerLimit(20); private CurrentLimitsConfigs _highSlideLimits = new CurrentLimitsConfigs() - .withStatorCurrentLimit(60)//60 + .withStatorCurrentLimit(50)//60 .withSupplyCurrentLimit(30) .withSupplyCurrentLowerTime(0) .withSupplyCurrentLowerLimit(20); From 9f1381f085afc5dc2b756afac23efcddde5c852e Mon Sep 17 00:00:00 2001 From: Dom Wenskay Date: Sat, 2 May 2026 10:45:27 -0400 Subject: [PATCH 8/8] Worlds deploy 4, pulled right loop back and made left loop go farther --- .../paths/Fast VS Tall boy first pass.path | 111 ++++++++++++++++++ .../deploy/pathplanner/paths/Left End.path | 8 +- .../pathplanner/paths/Rush Loop Left.path | 4 + .../pathplanner/paths/Rush Loop Right.path | 12 +- .../paths/VS Tall boy first pass Left.path | 14 +-- src/main/java/frc/robot/Robot.java | 1 + 6 files changed, 133 insertions(+), 17 deletions(-) create mode 100644 src/main/deploy/pathplanner/paths/Fast VS Tall boy first pass.path diff --git a/src/main/deploy/pathplanner/paths/Fast VS Tall boy first pass.path b/src/main/deploy/pathplanner/paths/Fast VS Tall boy first pass.path new file mode 100644 index 0000000..8b6f608 --- /dev/null +++ b/src/main/deploy/pathplanner/paths/Fast VS Tall boy first pass.path @@ -0,0 +1,111 @@ +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 4.480911965000542, + "y": 0.38826159762409707 + }, + "prevControl": null, + "nextControl": { + "x": 4.97814451344103, + "y": 0.2865289391827095 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 8.630273944311423, + "y": 3.2207601942794293 + }, + "prevControl": { + "x": 9.306628639430317, + "y": 1.8977124350727614 + }, + "nextControl": { + "x": 8.161700074271193, + "y": 4.137358560866571 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 5.7232359109020035, + "y": 2.5374820240336247 + }, + "prevControl": { + "x": 6.790218714845086, + "y": 2.5736509326418657 + }, + "nextControl": { + "x": 4.990264782820141, + "y": 2.512635545115595 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 3.1143556245089337, + "y": 2.5374820240336247 + }, + "prevControl": { + "x": 4.543028162295616, + "y": 2.5995982213286983 + }, + "nextControl": null, + "isLocked": false, + "linkedName": "Right Bump Shoot" + } + ], + "rotationTargets": [ + { + "waypointRelativePos": 0.5, + "rotationDegrees": -131.3365026114735 + }, + { + "waypointRelativePos": 1.5195734670236054, + "rotationDegrees": 27.879266326209944 + }, + { + "waypointRelativePos": 1.9862685968323133, + "rotationDegrees": 0.0 + } + ], + "constraintZones": [], + "pointTowardsZones": [], + "eventMarkers": [ + { + "name": "IntakeOut", + "waypointRelativePos": 0.2446992934266794, + "endWaypointRelativePos": null, + "command": { + "type": "named", + "data": { + "name": "IntakeOut" + } + } + } + ], + "globalConstraints": { + "maxVelocity": 4.3, + "maxAcceleration": 6.0, + "maxAngularVelocity": 7200.0, + "maxAngularAcceleration": 720.0, + "nominalVoltage": 12.0, + "unlimited": false + }, + "goalEndState": { + "velocity": 0, + "rotation": 52.765166018425376 + }, + "reversed": false, + "folder": null, + "idealStartingState": { + "velocity": 0, + "rotation": -90.0 + }, + "useDefaultConstraints": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Left End.path b/src/main/deploy/pathplanner/paths/Left End.path index 73db084..ec11004 100644 --- a/src/main/deploy/pathplanner/paths/Left End.path +++ b/src/main/deploy/pathplanner/paths/Left End.path @@ -48,12 +48,12 @@ }, { "anchor": { - "x": 8.096074647573795, - "y": 4.599739774230051 + "x": 8.29484647891803, + "y": 4.686702450443153 }, "prevControl": { - "x": 7.710962918105108, - "y": 4.913186880810874 + "x": 7.909734749449343, + "y": 5.000149557023976 }, "nextControl": null, "isLocked": false, diff --git a/src/main/deploy/pathplanner/paths/Rush Loop Left.path b/src/main/deploy/pathplanner/paths/Rush Loop Left.path index fdd6471..2879114 100644 --- a/src/main/deploy/pathplanner/paths/Rush Loop Left.path +++ b/src/main/deploy/pathplanner/paths/Rush Loop Left.path @@ -157,6 +157,10 @@ "waypointRelativePos": 5, "rotationDegrees": -84.55966796899438 }, + { + "waypointRelativePos": 5.508656640101402, + "rotationDegrees": 0.0 + }, { "waypointRelativePos": 5.9, "rotationDegrees": -5.103442452857278 diff --git a/src/main/deploy/pathplanner/paths/Rush Loop Right.path b/src/main/deploy/pathplanner/paths/Rush Loop Right.path index 5d734fc..5f94d43 100644 --- a/src/main/deploy/pathplanner/paths/Rush Loop Right.path +++ b/src/main/deploy/pathplanner/paths/Rush Loop Right.path @@ -64,16 +64,16 @@ }, { "anchor": { - "x": 6.369244362770763, - "y": 3.7549594910170576 + "x": 6.1, + "y": 3.74 }, "prevControl": { - "x": 5.832731402055771, - "y": 3.5296580757463127 + "x": 5.6983894319839745, + "y": 3.4666887319016784 }, "nextControl": { - "x": 7.191207387111984, - "y": 4.100131828396388 + "x": 6.837018175542355, + "y": 4.2415689033386075 }, "isLocked": false, "linkedName": null diff --git a/src/main/deploy/pathplanner/paths/VS Tall boy first pass Left.path b/src/main/deploy/pathplanner/paths/VS Tall boy first pass Left.path index 1ed6016..2035495 100644 --- a/src/main/deploy/pathplanner/paths/VS Tall boy first pass Left.path +++ b/src/main/deploy/pathplanner/paths/VS Tall boy first pass Left.path @@ -16,16 +16,16 @@ }, { "anchor": { - "x": 8.43150211296719, - "y": 5.121515831508666 + "x": 8.630273944311423, + "y": 5.0221299158365476 }, "prevControl": { - "x": 8.869943319316262, - "y": 6.573803289351307 + "x": 9.068715150660495, + "y": 6.474417373679189 }, "nextControl": { - "x": 8.147739774336651, - "y": 4.18158482266749 + "x": 8.346511605680885, + "y": 4.082198906995371 }, "isLocked": false, "linkedName": null @@ -67,7 +67,7 @@ }, { "waypointRelativePos": 1.5195734670236054, - "rotationDegrees": 27.879266326209944 + "rotationDegrees": -33.80865716315887 }, { "waypointRelativePos": 1.9862685968323133, diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 50168da..0723b3d 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -7,6 +7,7 @@ import edu.wpi.first.wpilibj.DriverStation; import edu.wpi.first.wpilibj.TimedRobot; +import com.ctre.phoenix6.SignalLogger; import com.pathplanner.lib.commands.FollowPathCommand; import edu.wpi.first.wpilibj.DataLogManager;