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Patribots4738 · Oct 30, 2024 · 47f4cde · 47f4cde
1 parent 881c5a8
commit 47f4cde
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Showing 9 changed files with 56 additions and 20 deletions.
diff --git a/src/main/deploy/pathplanner/paths/C2 L.path b/src/main/deploy/pathplanner/paths/C2 L.path
@@ -28,7 +28,13 @@
       "linkedName": "L"
     }
   ],
-  "rotationTargets": [],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 0.7,
+      "rotationDegrees": -169.07393297298722,
+      "rotateFast": false
+    }
+  ],
   "constraintZones": [
     {
       "name": "GrabVision",

diff --git a/src/main/deploy/pathplanner/paths/C3 M.path b/src/main/deploy/pathplanner/paths/C3 M.path
@@ -67,7 +67,7 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": 175.60129464500451,
+    "rotation": 177.65775021147127,
     "rotateFast": false
   },
   "reversed": false,

diff --git a/src/main/deploy/pathplanner/paths/C4 R.path b/src/main/deploy/pathplanner/paths/C4 R.path
@@ -28,8 +28,26 @@
       "linkedName": null
     }
   ],
-  "rotationTargets": [],
-  "constraintZones": [],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 0.75,
+      "rotationDegrees": 144.2413348418667,
+      "rotateFast": false
+    }
+  ],
+  "constraintZones": [
+    {
+      "name": "GrabVision",
+      "minWaypointRelativePos": 0.75,
+      "maxWaypointRelativePos": 1.0,
+      "constraints": {
+        "maxVelocity": 2.5,
+        "maxAcceleration": 3.5,
+        "maxAngularVelocity": 1137.21,
+        "maxAngularAcceleration": 1492.9
+      }
+    }
+  ],
   "eventMarkers": [],
   "globalConstraints": {
     "maxVelocity": 5.0,
@@ -39,7 +57,7 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": 147.46082990008907,
+    "rotation": 143.91328920967564,
     "rotateFast": false
   },
   "reversed": false,

diff --git a/src/main/deploy/pathplanner/paths/C5 R.path b/src/main/deploy/pathplanner/paths/C5 R.path
@@ -28,7 +28,13 @@
       "linkedName": "R"
     }
   ],
-  "rotationTargets": [],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 0.7,
+      "rotationDegrees": 142.93487488555044,
+      "rotateFast": false
+    }
+  ],
   "constraintZones": [
     {
       "name": "GrabVision",
@@ -51,7 +57,7 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": 149.52396142150144,
+    "rotation": 144.48210042252708,
     "rotateFast": false
   },
   "reversed": false,

diff --git a/src/main/deploy/pathplanner/paths/P R.path b/src/main/deploy/pathplanner/paths/P R.path
@@ -39,7 +39,7 @@
   },
   "goalEndState": {
     "velocity": 0.0,
-    "rotation": 141.88331200332212,
+    "rotation": 146.31288471198457,
     "rotateFast": false
   },
   "reversed": false,

diff --git a/src/main/deploy/pathplanner/paths/R C3.path b/src/main/deploy/pathplanner/paths/R C3.path
@@ -44,7 +44,13 @@
       "linkedName": "C3"
     }
   ],
-  "rotationTargets": [],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 1.0,
+      "rotationDegrees": -179.8337009350905,
+      "rotateFast": false
+    }
+  ],
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {

diff --git a/src/main/deploy/pathplanner/paths/R C5.path b/src/main/deploy/pathplanner/paths/R C5.path
@@ -8,8 +8,8 @@
       },
       "prevControl": null,
       "nextControl": {
-        "x": 5.571637869135895,
-        "y": 1.0939443854470392
+        "x": 5.250408215102145,
+        "y": 1.7151565731702902
       },
       "isLocked": false,
       "linkedName": "R"
@@ -20,8 +20,8 @@
         "y": 0.7612043754757987
       },
       "prevControl": {
-        "x": 6.122376373498586,
-        "y": 1.424387488064655
+        "x": 6.159294604303494,
+        "y": 1.3046917522406485
       },
       "nextControl": null,
       "isLocked": false,
@@ -39,13 +39,13 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": 164.66924611277807,
-    "rotateFast": true
+    "rotation": 170.62702561571825,
+    "rotateFast": false
   },
   "reversed": false,
   "folder": "Stage",
   "previewStartingState": {
-    "rotation": 140.2190475453689,
+    "rotation": 145.31792694138463,
     "velocity": 0
   },
   "useDefaultConstraints": true

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -840,15 +840,15 @@ private void prepareNamedCommands() {
                         pieceControl.noteToShootUsingSensorWhenReady(swerve::getPose, swerve::getRobotRelativeVelocity),
                         Commands.waitUntil(() -> !operator.getYButton()), 
                         () -> !FieldConstants.IS_SIMULATION
-                    ).withTimeout(2.0)
+                    ).withTimeout(1.5)
                 )
             );
         NamedCommands.registerCommand("ShootInstantlyWhenReady2",
             Commands.either(
                 pieceControl.noteToShootUsingSensorWhenReady(swerve::getPose, swerve::getRobotRelativeVelocity),
                 Commands.waitUntil(() -> !operator.getYButton()), 
                 () -> !FieldConstants.IS_SIMULATION
-            )
+            ).withTimeout(1.5)
         );
         NamedCommands.registerCommand("ShootWhenReady", pieceControl.shootPreload());
         NamedCommands.registerCommand("RaiseElevator", elevator.toTopCommand());

diff --git a/src/main/java/frc/robot/util/auto/PathPlannerStorage.java b/src/main/java/frc/robot/util/auto/PathPlannerStorage.java
@@ -335,7 +335,7 @@ private Command generateCenterDefaultCommand(int i, int endingNote, boolean goin
                                 .onlyIf(() -> !shooterSensor.getAsBoolean())),
                         NamedCommands.getCommand("PrepareSWD")
                     ),
-                    NamedCommands.getCommand("ShootInstantlyWhenReady")
+                    NamedCommands.getCommand("ShootInstantlyWhenReady2")
                 ),
                 commandGroup.getRequirements());
         }
@@ -351,7 +351,7 @@ private Command generateCenterDefaultCommand(int i, int endingNote, boolean goin
                             .unless(shooterSensor)),
                     NamedCommands.getCommand("PrepareSWD")
                 ),
-                NamedCommands.getCommand("ShootInstantlyWhenReady"),
+                NamedCommands.getCommand("ShootInstantlyWhenReady2"),
                 Commands.deadline(
                     AutoBuilder.followPath(getNoteAfterShot),
                     Commands.sequence(