Trap score tweaked, middle race improved, initial source race

FRCTeam1987 · May 17, 2024 · 2032164 · 2032164
1 parent 6cf2b6f
commit 2032164
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Showing 13 changed files with 415 additions and 15 deletions.
diff --git a/.pathplanner/settings.json b/.pathplanner/settings.json
@@ -7,6 +7,7 @@
     "GKC Amp",
     "GKC Source",
     "Middle Race",
+    "Source_5-4",
     "amp_side",
     "lame",
     "source_side",

diff --git a/src/main/deploy/pathplanner/autos/Middle Race Cleanup.auto b/src/main/deploy/pathplanner/autos/Middle Race Cleanup.auto
@@ -5,6 +5,12 @@
     "type": "sequential",
     "data": {
       "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "ShootSubwooferFirstHalf"
+          }
+        },
         {
           "type": "parallel",
           "data": {

diff --git a/src/main/deploy/pathplanner/autos/Source Race 5-4.auto b/src/main/deploy/pathplanner/autos/Source Race 5-4.auto
@@ -0,0 +1,79 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
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+      "y": 1.57
+    },
+    "rotation": 0
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Source_5-4_a"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "AutoAimAndShoot"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Source_5-4_b"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "AutoCollectNote"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "PathFindToSourceShot"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "AutoAimAndShoot"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Source_5-4_c"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "AutoCollectNote"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "PathFindToSourceShot"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "AutoAimAndShoot"
+          }
+        }
+      ]
+    }
+  },
+  "folder": "IRI",
+  "choreoAuto": false
+}
diff --git a/src/main/deploy/pathplanner/paths/Middle Race 2 Success.path b/src/main/deploy/pathplanner/paths/Middle Race 2 Success.path
@@ -8,8 +8,8 @@
       },
       "prevControl": null,
       "nextControl": {
-        "x": 4.534074173710932,
-        "y": 4.508819045102521
+        "x": 4.6120192584713875,
+        "y": 4.728852252843395
       },
       "isLocked": false,
       "linkedName": "middle_race_1_end"
@@ -20,12 +20,12 @@
         "y": 5.545689939904186
       },
       "prevControl": {
-        "x": 3.7794417368188835,
-        "y": 5.079999454927962
+        "x": 3.8341330839924415,
+        "y": 5.357907257770535
       },
       "nextControl": {
-        "x": 2.2307833206823586,
-        "y": 5.894957803636354
+        "x": 2.159036728303594,
+        "y": 5.692667822170061
       },
       "isLocked": false,
       "linkedName": null

diff --git a/src/main/deploy/pathplanner/paths/Source_5-4_a.path b/src/main/deploy/pathplanner/paths/Source_5-4_a.path
@@ -0,0 +1,185 @@
+{
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+      "nextControl": {
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+        "y": 1.3111809548974793
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+      "isLocked": false,
+      "linkedName": "source_race_start"
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+        "y": 0.75
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+      "linkedName": "source_5-4_a_end"
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+  "rotationTargets": [
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+      "rotationDegrees": -35.0,
+      "rotateFast": false
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+      "waypointRelativePos": 1,
+      "rotationDegrees": 0.0,
+      "rotateFast": false
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+  "constraintZones": [
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+      "name": "Slow Poop 5",
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+        "maxAcceleration": 3.0,
+        "maxAngularVelocity": 540.0,
+        "maxAngularAcceleration": 360.0
+      }
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+  ],
+  "eventMarkers": [
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+      "name": "Poop Prep",
+      "waypointRelativePos": 0.0,
+      "command": {
+        "type": "parallel",
+        "data": {
+          "commands": [
+            {
+              "type": "named",
+              "data": {
+                "name": "PoopPrep"
+              }
+            }
+          ]
+        }
+      }
+    },
+    {
+      "name": "Poop Preload",
+      "waypointRelativePos": 0.35,
+      "command": {
+        "type": "parallel",
+        "data": {
+          "commands": [
+            {
+              "type": "named",
+              "data": {
+                "name": "PoopStart"
+              }
+            }
+          ]
+        }
+      }
+    },
+    {
+      "name": "Intake 4",
+      "waypointRelativePos": 1.65,
+      "command": {
+        "type": "parallel",
+        "data": {
+          "commands": [
+            {
+              "type": "named",
+              "data": {
+                "name": "IntakeNoteAuto"
+              }
+            }
+          ]
+        }
+      }
+    }
+  ],
+  "globalConstraints": {
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+    "maxAcceleration": 4.25,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 360.0
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+  "goalEndState": {
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+    "rotation": -29.626989153286004,
+    "rotateFast": false
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+  "reversed": false,
+  "folder": "Source_5-4",
+  "previewStartingState": {
+    "rotation": 0.0,
+    "velocity": 0
+  },
+  "useDefaultConstraints": false
+}
diff --git a/src/main/deploy/pathplanner/paths/Source_5-4_b.path b/src/main/deploy/pathplanner/paths/Source_5-4_b.path
@@ -0,0 +1,52 @@
+{
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+  "constraintZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
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+    "rotation": -30.0,
+    "rotateFast": false
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+  "reversed": false,
+  "folder": "Source_5-4",
+  "previewStartingState": {
+    "rotation": -35.0,
+    "velocity": 0
+  },
+  "useDefaultConstraints": true
+}