Auton Fixes (#91)

* 4ADE ampside auton * Changed paths involving A, B, and C so that they were straighter than the original arcs. Affects 5 CBAE and 5 CBAE Podium routines. * Change B to A path * make HGF and CHGF shoot immediately, remove alignment Co-authored-by: BrianZ60 <[email protected]> Co-authored-by: overseeroverseer <[email protected]> Co-authored-by: Ardian Agoes <[email protected]> Co-authored-by: Alan Liang <[email protected]> * Remove some shooter startup waits, make sure waiting for shooter RPM * Actually, remove shooter rpm check in conveyor shoot routine * Add back rpm check in align and shoot * Delete a ton of unused autos and paths * Lowercase To * Remove more unused autons, fix CBAED auto file, clean robotcontainer * update auton tab on pathplanner * made f to shoot other side of podium * Modify f to shoot slightly --------- Co-authored-by: Rahuldeb75 <[email protected]> Co-authored-by: Owen-Zeng <[email protected]> Co-authored-by: BenG49 <[email protected]> Co-authored-by: BrianZ60 <[email protected]> Co-authored-by: overseeroverseer <[email protected]> Co-authored-by: Ardian Agoes <[email protected]> Co-authored-by: Alan Liang <[email protected]>
StuyPulse · Mar 26, 2024 · 5783595 · 5783595
1 parent e920e74
commit 5783595
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Showing 35 changed files with 140 additions and 780 deletions.
diff --git a/.pathplanner/settings.json b/.pathplanner/settings.json
@@ -4,7 +4,6 @@
   "holonomicMode": true,
   "pathFolders": [
     "ABCDE",
-    "ABCDE (ND)",
     "HGF",
     "Tests"
   ],

diff --git a/src/main/deploy/pathplanner/autos/4.5 ADEF.auto b/src/main/deploy/pathplanner/autos/4.5 ADEF.auto
@@ -8,43 +8,43 @@
         {
           "type": "path",
           "data": {
-            "pathName": "First Piece To A"
+            "pathName": "Preload to A"
           }
         },
         {
           "type": "path",
           "data": {
-            "pathName": "A To D"
+            "pathName": "A to D"
           }
         },
         {
           "type": "path",
           "data": {
-            "pathName": "D To Shoot"
+            "pathName": "D to Shoot"
           }
         },
         {
           "type": "path",
           "data": {
-            "pathName": "Shoot To E"
+            "pathName": "Shoot to E"
           }
         },
         {
           "type": "path",
           "data": {
-            "pathName": "E To Shoot"
+            "pathName": "E to Shoot"
           }
         },
         {
           "type": "path",
           "data": {
-            "pathName": "Shoot To F (ADEF)"
+            "pathName": "Shoot to F (ADEF)"
           }
         },
         {
           "type": "path",
           "data": {
-            "pathName": "F To Shoot (ADEF)"
+            "pathName": "F to Shoot (ADEF)"
           }
         }
       ]

diff --git a/src/main/deploy/pathplanner/autos/4.5 CHGF.auto b/src/main/deploy/pathplanner/autos/4.5 CHGF.auto
@@ -8,37 +8,37 @@
         {
           "type": "path",
           "data": {
-            "pathName": "Forward First Piece to C"
+            "pathName": "Close Preload to C"
           }
         },
         {
           "type": "path",
           "data": {
-            "pathName": "CShoot To H (CHGF)"
+            "pathName": "CShoot to H (CHGF)"
           }
         },
         {
           "type": "path",
           "data": {
-            "pathName": "H To HShoot (HGF)"
+            "pathName": "H to HShoot (HGF)"
           }
         },
         {
           "type": "path",
           "data": {
-            "pathName": "HShoot To G (HGF)"
+            "pathName": "HShoot to G (HGF)"
           }
         },
         {
           "type": "path",
           "data": {
-            "pathName": "G To Shoot (HGF)"
+            "pathName": "G to Shoot (HGF)"
           }
         },
         {
           "type": "path",
           "data": {
-            "pathName": "GShoot To F (HGF)"
+            "pathName": "GShoot to F (HGF)"
           }
         }
       ]

diff --git a/src/main/deploy/pathplanner/autos/6 CBAED.auto b/src/main/deploy/pathplanner/autos/6 CBAED.auto
@@ -1,44 +1,38 @@
 {
   "version": 1.0,
-  "startingPose": {
-    "position": {
-      "x": 1.3103352321354325,
-      "y": 5.375733057397644
-    },
-    "rotation": 0
-  },
+  "startingPose": null,
   "command": {
     "type": "sequential",
     "data": {
       "commands": [
         {
           "type": "path",
           "data": {
-            "pathName": "Forward First Piece to C"
+            "pathName": "Preload to C"
           }
         },
         {
           "type": "path",
           "data": {
-            "pathName": "C to B 2"
+            "pathName": "C to B"
           }
         },
         {
           "type": "path",
           "data": {
-            "pathName": "B To A"
+            "pathName": "B to A"
           }
         },
         {
           "type": "path",
           "data": {
-            "pathName": "A To E"
+            "pathName": "A to E"
           }
         },
         {
           "type": "path",
           "data": {
-            "pathName": "E To Shoot"
+            "pathName": "E to Shoot"
           }
         },
         {
@@ -50,7 +44,7 @@
         {
           "type": "path",
           "data": {
-            "pathName": "D To Shoot"
+            "pathName": "D to Shoot"
           }
         }
       ]

diff --git a/src/main/deploy/pathplanner/paths/B to A.path b/src/main/deploy/pathplanner/paths/B to A.path
@@ -3,13 +3,13 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 2.81,
-        "y": 5.472864279061892
+        "x": 2.78765406878382,
+        "y": 5.239147655045014
       },
       "prevControl": null,
       "nextControl": {
-        "x": 1.8152627375287849,
-        "y": 5.5043194331858505
+        "x": 2.6183483616967234,
+        "y": 5.861535033255252
       },
       "isLocked": false,
       "linkedName": "B"
@@ -20,28 +20,23 @@
         "y": 6.94
       },
       "prevControl": {
-        "x": 1.6454530467410546,
-        "y": 6.691707053395119
+        "x": 2.646912247528199,
+        "y": 6.50431154103049
       },
       "nextControl": null,
       "isLocked": false,
       "linkedName": "A"
     }
   ],
-  "rotationTargets": [],
-  "constraintZones": [],
-  "eventMarkers": [
+  "rotationTargets": [
     {
-      "name": "IntakeToShooter",
-      "waypointRelativePos": 0.3,
-      "command": {
-        "type": "parallel",
-        "data": {
-          "commands": []
-        }
-      }
+      "waypointRelativePos": 0.5,
+      "rotationDegrees": 60.0,
+      "rotateFast": true
     }
   ],
+  "constraintZones": [],
+  "eventMarkers": [],
   "globalConstraints": {
     "maxVelocity": 5.0,
     "maxAcceleration": 4.0,
@@ -50,7 +45,7 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": 23.336949256100596,
+    "rotation": 51.76617482255292,
     "rotateFast": false
   },
   "reversed": false,

diff --git a/src/main/deploy/pathplanner/paths/C Shoot to B.path b/src/main/deploy/pathplanner/paths/C Shoot to B.path
diff --git a/src/main/deploy/pathplanner/paths/C to B Close.path b/src/main/deploy/pathplanner/paths/C to B Close.path
@@ -3,25 +3,25 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 2.3938754127508255,
-        "y": 4.103044831089663
+        "x": 2.52,
+        "y": 4.1
       },
       "prevControl": null,
       "nextControl": {
-        "x": 1.5151395724967984,
-        "y": 4.789588512576437
+        "x": 2.2862694665305834,
+        "y": 4.4310887318157315
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 2.81,
-        "y": 5.472864279061892
+        "x": 2.78765406878382,
+        "y": 5.239147655045014
       },
       "prevControl": {
-        "x": 1.9184388425219452,
-        "y": 5.403007877888045
+        "x": 2.4857700960953526,
+        "y": 5.063860187032356
       },
       "nextControl": null,
       "isLocked": false,
@@ -30,8 +30,8 @@
   ],
   "rotationTargets": [
     {
-      "waypointRelativePos": 0,
-      "rotationDegrees": 0,
+      "waypointRelativePos": 0.5,
+      "rotationDegrees": 72.16956019523882,
       "rotateFast": false
     }
   ],
@@ -45,7 +45,7 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": -1.3821062752111186,
+    "rotation": 70.55996517182386,
     "rotateFast": false
   },
   "reversed": false,

diff --git a/src/main/deploy/pathplanner/paths/C to B.path b/src/main/deploy/pathplanner/paths/C to B.path
@@ -3,32 +3,38 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 2.5635091726023904,
-        "y": 4.034483282641779
+        "x": 2.5,
+        "y": 4.265328388308022
       },
       "prevControl": null,
       "nextControl": {
-        "x": 1.7117636877122235,
-        "y": 4.2792545853082995
+        "x": 2.5,
+        "y": 4.878834526352327
       },
       "isLocked": false,
       "linkedName": "C"
     },
     {
       "anchor": {
-        "x": 2.81,
-        "y": 5.472864279061892
+        "x": 2.78765406878382,
+        "y": 5.239147655045014
       },
       "prevControl": {
-        "x": 1.9184388425219452,
-        "y": 5.403007877888045
+        "x": 2.5539374447669423,
+        "y": 4.8009289850133685
       },
       "nextControl": null,
       "isLocked": false,
       "linkedName": "B"
     }
   ],
-  "rotationTargets": [],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 0.5,
+      "rotationDegrees": 60.0,
+      "rotateFast": true
+    }
+  ],
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
@@ -39,11 +45,14 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": -1.3821062752111186,
+    "rotation": 60.71172956223985,
     "rotateFast": false
   },
   "reversed": false,
   "folder": "ABCDE",
-  "previewStartingState": null,
+  "previewStartingState": {
+    "rotation": -20.0,
+    "velocity": 0
+  },
   "useDefaultConstraints": true
 }