PHR 3/3

Team3128 · Mar 5, 2024 · 6fbde78 · 6fbde78
1 parent 302f8a3
commit 6fbde78
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Showing 43 changed files with 349 additions and 101 deletions.
diff --git a/.pathplanner/settings.json b/.pathplanner/settings.json
@@ -5,7 +5,7 @@
   "pathFolders": [],
   "autoFolders": [],
   "defaultMaxVel": 5.5,
-  "defaultMaxAccel": 3.0,
+  "defaultMaxAccel": 6.0,
   "defaultMaxAngVel": 540.0,
   "defaultMaxAngAccel": 720.0,
   "maxModuleSpeed": 5.5

diff --git a/simgui.json b/simgui.json
@@ -4,6 +4,7 @@
       "/FMSInfo": "FMSInfo",
       "/Shuffleboard/Climber/PID_Controller": "ProfiledPIDController",
       "/Shuffleboard/Commands/Climber": "Subsystem",
+      "/Shuffleboard/Commands/CommandScheduler": "Scheduler",
       "/Shuffleboard/Commands/IntakePivot": "Subsystem",
       "/Shuffleboard/Commands/IntakeRollers": "Subsystem",
       "/Shuffleboard/Commands/Shooter": "Subsystem",

diff --git a/src/main/deploy/pathplanner/autos/fu.auto b/src/main/deploy/pathplanner/autos/fu.auto
@@ -0,0 +1,61 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 1.43,
+      "y": 7.67
+    },
+    "rotation": 180.0
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "RushE"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "note2.1-wing"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Shoot"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "wing-note2.2"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "note2.2-wing"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Shoot"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "wing-note2.3"
+          }
+        }
+      ]
+    }
+  },
+  "folder": null,
+  "choreoAuto": false
+}
diff --git a/src/main/deploy/pathplanner/autos/su.auto b/src/main/deploy/pathplanner/autos/su.auto
@@ -0,0 +1,31 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 1.4311279977766789,
+      "y": 7.67
+    },
+    "rotation": 180.0
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "Shoot2"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "suicide"
+          }
+        }
+      ]
+    }
+  },
+  "folder": null,
+  "choreoAuto": false
+}
diff --git a/src/main/deploy/pathplanner/paths/RushE.path b/src/main/deploy/pathplanner/paths/RushE.path
@@ -0,0 +1,70 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 1.43,
+        "y": 7.67
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 2.4299999999999997,
+        "y": 7.67
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 8.3,
+        "y": 7.39
+      },
+      "prevControl": {
+        "x": 7.3876653736703775,
+        "y": 7.799445392696006
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "eventMarkers": [
+    {
+      "name": "Intake",
+      "waypointRelativePos": 0,
+      "command": {
+        "type": "parallel",
+        "data": {
+          "commands": [
+            {
+              "type": "named",
+              "data": {
+                "name": "Intake"
+              }
+            }
+          ]
+        }
+      }
+    }
+  ],
+  "globalConstraints": {
+    "maxVelocity": 5.5,
+    "maxAcceleration": 6.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 180.0,
+    "rotateFast": true
+  },
+  "reversed": false,
+  "folder": null,
+  "previewStartingState": {
+    "rotation": 0,
+    "velocity": 0
+  },
+  "useDefaultConstraints": false
+}
diff --git a/src/main/deploy/pathplanner/paths/bottom-note1.3.path b/src/main/deploy/pathplanner/paths/bottom-note1.3.path
@@ -51,7 +51,7 @@
   ],
   "globalConstraints": {
     "maxVelocity": 5.5,
-    "maxAcceleration": 3.0,
+    "maxAcceleration": 6.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0
   },

diff --git a/src/main/deploy/pathplanner/paths/bottom-note2.4.path b/src/main/deploy/pathplanner/paths/bottom-note2.4.path
@@ -51,7 +51,7 @@
   ],
   "globalConstraints": {
     "maxVelocity": 5.5,
-    "maxAcceleration": 3.0,
+    "maxAcceleration": 6.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0
   },

diff --git a/src/main/deploy/pathplanner/paths/bottom-note2.5.path b/src/main/deploy/pathplanner/paths/bottom-note2.5.path
@@ -51,7 +51,7 @@
   ],
   "globalConstraints": {
     "maxVelocity": 5.5,
-    "maxAcceleration": 3.0,
+    "maxAcceleration": 6.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0
   },

diff --git a/src/main/deploy/pathplanner/paths/leave.path b/src/main/deploy/pathplanner/paths/leave.path
@@ -39,7 +39,7 @@
   "eventMarkers": [],
   "globalConstraints": {
     "maxVelocity": 5.5,
-    "maxAcceleration": 3.0,
+    "maxAcceleration": 6.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0
   },

diff --git a/src/main/deploy/pathplanner/paths/midBottom-note1.3.path b/src/main/deploy/pathplanner/paths/midBottom-note1.3.path
@@ -51,7 +51,7 @@
   ],
   "globalConstraints": {
     "maxVelocity": 5.5,
-    "maxAcceleration": 3.0,
+    "maxAcceleration": 6.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0
   },

diff --git a/src/main/deploy/pathplanner/paths/midBottom-note2.3.path b/src/main/deploy/pathplanner/paths/midBottom-note2.3.path
@@ -17,11 +17,11 @@
     {
       "anchor": {
         "x": 7.8,
-        "y": 4.05
+        "y": 4.15
       },
       "prevControl": {
         "x": 6.3,
-        "y": 4.05
+        "y": 4.15
       },
       "nextControl": null,
       "isLocked": false,
@@ -51,7 +51,7 @@
   ],
   "globalConstraints": {
     "maxVelocity": 5.5,
-    "maxAcceleration": 3.0,
+    "maxAcceleration": 6.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0
   },

diff --git a/src/main/deploy/pathplanner/paths/midTop-note1.1.path b/src/main/deploy/pathplanner/paths/midTop-note1.1.path
@@ -16,12 +16,12 @@
     },
     {
       "anchor": {
-        "x": 7.75,
-        "y": 7.45
+        "x": 8.3,
+        "y": 7.39
       },
       "prevControl": {
-        "x": 4.75,
-        "y": 7.45
+        "x": 5.300000000000001,
+        "y": 7.39
       },
       "nextControl": null,
       "isLocked": false,
@@ -51,7 +51,7 @@
   ],
   "globalConstraints": {
     "maxVelocity": 5.5,
-    "maxAcceleration": 3.0,
+    "maxAcceleration": 6.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0
   },

diff --git a/src/main/deploy/pathplanner/paths/middle-note1.2.path b/src/main/deploy/pathplanner/paths/middle-note1.2.path
@@ -51,7 +51,7 @@
   ],
   "globalConstraints": {
     "maxVelocity": 5.5,
-    "maxAcceleration": 3.0,
+    "maxAcceleration": 6.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0
   },

diff --git a/src/main/deploy/pathplanner/paths/middle-note1.3.path b/src/main/deploy/pathplanner/paths/middle-note1.3.path
@@ -51,7 +51,7 @@
   ],
   "globalConstraints": {
     "maxVelocity": 5.5,
-    "maxAcceleration": 3.0,
+    "maxAcceleration": 6.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0
   },

diff --git a/src/main/deploy/pathplanner/paths/note1.1-leave.path b/src/main/deploy/pathplanner/paths/note1.1-leave.path
@@ -33,7 +33,7 @@
   "eventMarkers": [],
   "globalConstraints": {
     "maxVelocity": 5.5,
-    "maxAcceleration": 3.0,
+    "maxAcceleration": 6.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0
   },

diff --git a/src/main/deploy/pathplanner/paths/note1.1-note1.2.path b/src/main/deploy/pathplanner/paths/note1.1-note1.2.path
@@ -51,7 +51,7 @@
   ],
   "globalConstraints": {
     "maxVelocity": 5.5,
-    "maxAcceleration": 3.0,
+    "maxAcceleration": 6.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0
   },

diff --git a/src/main/deploy/pathplanner/paths/note1.1-note2.1.path b/src/main/deploy/pathplanner/paths/note1.1-note2.1.path
@@ -16,12 +16,12 @@
     },
     {
       "anchor": {
-        "x": 7.75,
-        "y": 7.45
+        "x": 8.3,
+        "y": 7.39
       },
       "prevControl": {
-        "x": 7.652000140544798,
-        "y": 7.430099559131505
+        "x": 8.202000140544799,
+        "y": 7.370099559131504
       },
       "nextControl": null,
       "isLocked": false,
@@ -51,7 +51,7 @@
   ],
   "globalConstraints": {
     "maxVelocity": 5.5,
-    "maxAcceleration": 3.0,
+    "maxAcceleration": 6.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0
   },

diff --git a/src/main/deploy/pathplanner/paths/note1.2-note1.1.path b/src/main/deploy/pathplanner/paths/note1.2-note1.1.path
@@ -51,7 +51,7 @@
   ],
   "globalConstraints": {
     "maxVelocity": 5.5,
-    "maxAcceleration": 3.0,
+    "maxAcceleration": 6.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0
   },

diff --git a/src/main/deploy/pathplanner/paths/note1.2-note1.3.path b/src/main/deploy/pathplanner/paths/note1.2-note1.3.path
@@ -57,7 +57,7 @@
   ],
   "globalConstraints": {
     "maxVelocity": 5.5,
-    "maxAcceleration": 3.0,
+    "maxAcceleration": 6.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0
   },

diff --git a/src/main/deploy/pathplanner/paths/note1.2-note2.3.path b/src/main/deploy/pathplanner/paths/note1.2-note2.3.path
@@ -33,11 +33,11 @@
     {
       "anchor": {
         "x": 7.8,
-        "y": 4.05
+        "y": 4.15
       },
       "prevControl": {
         "x": 6.8,
-        "y": 4.05
+        "y": 4.15
       },
       "nextControl": null,
       "isLocked": false,
@@ -67,7 +67,7 @@
   ],
   "globalConstraints": {
     "maxVelocity": 5.5,
-    "maxAcceleration": 3.0,
+    "maxAcceleration": 6.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0
   },

diff --git a/src/main/deploy/pathplanner/paths/note1.3-leave.path b/src/main/deploy/pathplanner/paths/note1.3-leave.path
@@ -33,7 +33,7 @@
   "eventMarkers": [],
   "globalConstraints": {
     "maxVelocity": 5.5,
-    "maxAcceleration": 3.0,
+    "maxAcceleration": 6.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0
   },

diff --git a/src/main/deploy/pathplanner/paths/note1.3-midLine.path b/src/main/deploy/pathplanner/paths/note1.3-midLine.path
@@ -51,7 +51,7 @@
   ],
   "globalConstraints": {
     "maxVelocity": 5.5,
-    "maxAcceleration": 3.0,
+    "maxAcceleration": 6.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0
   },