autos

Patribots4738 · Oct 24, 2024 · 5c9133a · 5c9133a
1 parent d72945c
commit 5c9133a
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Showing 6 changed files with 161 additions and 21 deletions.
diff --git a/src/main/deploy/pathplanner/autos/S W2 S C3-5 S DEF.auto b/src/main/deploy/pathplanner/autos/S W2 S C3-5 S DEF.auto
@@ -0,0 +1,139 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 1.36,
+      "y": 5.572415049000463
+    },
+    "rotation": -179.42706130231647
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "deadline",
+          "data": {
+            "commands": [
+              {
+                "type": "sequential",
+                "data": {
+                  "commands": [
+                    {
+                      "type": "path",
+                      "data": {
+                        "pathName": "P CA2"
+                      }
+                    },
+                    {
+                      "type": "named",
+                      "data": {
+                        "name": "ShootInstantlyWhenReady2"
+                      }
+                    },
+                    {
+                      "type": "path",
+                      "data": {
+                        "pathName": "CA2 W2"
+                      }
+                    },
+                    {
+                      "type": "named",
+                      "data": {
+                        "name": "ShootInstantlyWhenReady"
+                      }
+                    }
+                  ]
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "PrepareSWD"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "deadline",
+          "data": {
+            "commands": [
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "W2 C3"
+                }
+              },
+              {
+                "type": "sequential",
+                "data": {
+                  "commands": [
+                    {
+                      "type": "named",
+                      "data": {
+                        "name": "StopAll"
+                      }
+                    },
+                    {
+                      "type": "wait",
+                      "data": {
+                        "waitTime": 1.0
+                      }
+                    },
+                    {
+                      "type": "named",
+                      "data": {
+                        "name": "ToIndexer"
+                      }
+                    }
+                  ]
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "deadline",
+          "data": {
+            "commands": [
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "C3 M"
+                }
+              },
+              {
+                "type": "sequential",
+                "data": {
+                  "commands": [
+                    {
+                      "type": "named",
+                      "data": {
+                        "name": "StopIntake"
+                      }
+                    },
+                    {
+                      "type": "named",
+                      "data": {
+                        "name": "ToIndexer"
+                      }
+                    }
+                  ]
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "PrepareSWD"
+                }
+              }
+            ]
+          }
+        }
+      ]
+    }
+  },
+  "folder": "Normal",
+  "choreoAuto": false
+}
diff --git a/src/main/deploy/pathplanner/paths/CA2 W2.path b/src/main/deploy/pathplanner/paths/CA2 W2.path
@@ -50,13 +50,13 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 5.0,
+    "maxVelocity": 2.54,
     "maxAcceleration": 3.5,
     "maxAngularVelocity": 1137.21,
     "maxAngularAcceleration": 1492.9
   },
   "goalEndState": {
-    "velocity": 2.54,
+    "velocity": 0.0,
     "rotation": -179.2747757009407,
     "rotateFast": false
   },
@@ -66,5 +66,5 @@
     "rotation": 180.0,
     "velocity": 0
   },
-  "useDefaultConstraints": true
+  "useDefaultConstraints": false
 }
diff --git a/src/main/deploy/pathplanner/paths/P CA2.path b/src/main/deploy/pathplanner/paths/P CA2.path
@@ -32,13 +32,13 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 5.0,
+    "maxVelocity": 2.54,
     "maxAcceleration": 3.5,
     "maxAngularVelocity": 1137.21,
     "maxAngularAcceleration": 1492.9
   },
   "goalEndState": {
-    "velocity": 2.54,
+    "velocity": 0.0,
     "rotation": -179.29528514946807,
     "rotateFast": false
   },
@@ -48,5 +48,5 @@
     "rotation": 180.0,
     "velocity": 0
   },
-  "useDefaultConstraints": true
+  "useDefaultConstraints": false
 }
diff --git a/src/main/deploy/pathplanner/paths/S W2.path b/src/main/deploy/pathplanner/paths/S W2.path
@@ -3,13 +3,13 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 1.3793978662827602,
-        "y": 5.631181847982673
+        "x": 1.3642439036290506,
+        "y": 5.572415049000463
       },
       "prevControl": null,
       "nextControl": {
-        "x": 1.8146745263093393,
-        "y": 5.612789876434728
+        "x": 1.7995205636556297,
+        "y": 5.554023077452517
       },
       "isLocked": false,
       "linkedName": null
@@ -20,8 +20,8 @@
         "y": 5.572415049000463
       },
       "prevControl": {
-        "x": 2.438669900029892,
-        "y": 5.579020672674274
+        "x": 2.2454678129695247,
+        "y": 5.570262711146891
       },
       "nextControl": null,
       "isLocked": false,
@@ -57,13 +57,13 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": 179.31337875990656,
+    "rotation": -179.21039048519975,
     "rotateFast": false
   },
   "reversed": false,
   "folder": "Preloads",
   "previewStartingState": {
-    "rotation": -179.1656544244532,
+    "rotation": -178.888482285124,
     "velocity": 0
   },
   "useDefaultConstraints": true

diff --git a/src/main/deploy/pathplanner/paths/W2 C3.path b/src/main/deploy/pathplanner/paths/W2 C3.path
@@ -8,8 +8,8 @@
       },
       "prevControl": null,
       "nextControl": {
-        "x": 5.202725850291558,
-        "y": 4.411401278318571
+        "x": 7.198276073971502,
+        "y": 2.4991028046572223
       },
       "isLocked": false,
       "linkedName": "W2"
@@ -20,8 +20,8 @@
         "y": 4.095455268178173
       },
       "prevControl": {
-        "x": 5.718850061662163,
-        "y": 3.729727791602677
+        "x": 7.887059903152064,
+        "y": 6.04003375748687
       },
       "nextControl": null,
       "isLocked": false,
@@ -39,7 +39,7 @@
   },
   "goalEndState": {
     "velocity": 0.0,
-    "rotation": -169.4937204001024,
+    "rotation": 111.44077429233252,
     "rotateFast": false
   },
   "reversed": false,

diff --git a/src/main/java/frc/robot/util/Constants.java b/src/main/java/frc/robot/util/Constants.java
@@ -510,7 +510,8 @@ public static final class AutoConstants {
             "S W2 S C1-2 S W1 S C3-5 S", // UNTESTED
             "S C1-5 S Over W1 DEF",
             "S W1 S C1-5 S DEF",
-            "S W3-1 S C1-5 S DEF"
+            "S W3-1 S C1-5 S DEF",
+            "S W2 S C3-5 S DEF"
         };
     }
 
@@ -570,7 +571,7 @@ private enum SwerveGearing {
 
         // Calculations required for driving motor conversion factors and feed forward
         public static final double DRIVING_MOTOR_FREE_SPEED_RPS = NeoMotorConstants.VORTEX_FREE_SPEED_RPM / 60;
-        public static final double WHEEL_DIAMETER_METERS = Units.inchesToMeters(1.504919579940926*2.0);
+        public static final double WHEEL_DIAMETER_METERS = Units.inchesToMeters(1.4629649170172998*2.0);
         public static final double WHEEL_CIRCUMFERENCE_METERS = WHEEL_DIAMETER_METERS * Math.PI;
         // 45 teeth on the wheel's bevel gear, 15 teeth on the bevel pinion
         public static final double DRIVING_MOTOR_REDUCTION = (45.0 * CURRENT_GEARING.spurTeeth) / (CURRENT_GEARING.pinionTeeth * 15.0);