Instantshoot debounce time, amp side improvements, WIP source 5-4-3

FRCTeam1987 · Apr 3, 2024 · c4ff39c · c4ff39c
1 parent 023f0ce
commit c4ff39c
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Showing 4 changed files with 44 additions and 11 deletions.
diff --git a/src/main/deploy/pathplanner/paths/GKC Amp 1-2.path b/src/main/deploy/pathplanner/paths/GKC Amp 1-2.path
@@ -65,15 +65,15 @@
     {
       "anchor": {
         "x": 8.26,
-        "y": 7.33
+        "y": 7.270671578886561
       },
       "prevControl": {
         "x": 8.175002096204153,
-        "y": 7.511039654082502
+        "y": 7.451711232969063
       },
       "nextControl": {
         "x": 8.36624737974481,
-        "y": 7.103700432396873
+        "y": 7.044372011283434
       },
       "isLocked": false,
       "linkedName": null
@@ -168,7 +168,7 @@
     },
     {
       "waypointRelativePos": 4.0,
-      "rotationDegrees": 11.803956712734475,
+      "rotationDegrees": -2.2110373401427523,
       "rotateFast": false
     },
     {
@@ -254,6 +254,17 @@
         "maxAngularVelocity": 540.0,
         "maxAngularAcceleration": 360.0
       }
+    },
+    {
+      "name": "New Constraints Zone",
+      "minWaypointRelativePos": 4.8,
+      "maxWaypointRelativePos": 5.35,
+      "constraints": {
+        "maxVelocity": 1.0,
+        "maxAcceleration": 2.0,
+        "maxAngularVelocity": 540.0,
+        "maxAngularAcceleration": 360.0
+      }
     }
   ],
   "eventMarkers": [

diff --git a/src/main/deploy/pathplanner/paths/GKC Amp 2-1.path b/src/main/deploy/pathplanner/paths/GKC Amp 2-1.path
@@ -243,6 +243,17 @@
       "name": "Slowmo end",
       "minWaypointRelativePos": 7.85,
       "maxWaypointRelativePos": 8.0,
+      "constraints": {
+        "maxVelocity": 1.0,
+        "maxAcceleration": 2.0,
+        "maxAngularVelocity": 540.0,
+        "maxAngularAcceleration": 360.0
+      }
+    },
+    {
+      "name": "Slow fifth Shot",
+      "minWaypointRelativePos": 5.65,
+      "maxWaypointRelativePos": 6.2,
       "constraints": {
         "maxVelocity": 1.25,
         "maxAcceleration": 2.0,

diff --git a/src/main/deploy/pathplanner/paths/GKC Source 5-4-3.path b/src/main/deploy/pathplanner/paths/GKC Source 5-4-3.path
@@ -138,8 +138,8 @@
   "constraintZones": [
     {
       "name": "Slow Second Shot",
-      "minWaypointRelativePos": 1.9,
-      "maxWaypointRelativePos": 1.9500000000000002,
+      "minWaypointRelativePos": 1.7999999999999998,
+      "maxWaypointRelativePos": 2.0,
       "constraints": {
         "maxVelocity": 0.25,
         "maxAcceleration": 1.5,
@@ -149,8 +149,8 @@
     },
     {
       "name": "Slow Third Shot",
-      "minWaypointRelativePos": 3.9000000000000004,
-      "maxWaypointRelativePos": 4.0,
+      "minWaypointRelativePos": 3.8,
+      "maxWaypointRelativePos": 4.1,
       "constraints": {
         "maxVelocity": 0.25,
         "maxAcceleration": 1.5,
@@ -171,8 +171,8 @@
     },
     {
       "name": "Slow Intake Fourth Note",
-      "minWaypointRelativePos": 4.9,
-      "maxWaypointRelativePos": 5.1,
+      "minWaypointRelativePos": 4.85,
+      "maxWaypointRelativePos": 5.1499999999999995,
       "constraints": {
         "maxVelocity": 2.75,
         "maxAcceleration": 2.0,
@@ -190,6 +190,17 @@
         "maxAngularVelocity": 540.0,
         "maxAngularAcceleration": 360.0
       }
+    },
+    {
+      "name": "Slow third intake",
+      "minWaypointRelativePos": 2.9499999999999997,
+      "maxWaypointRelativePos": 3.1500000000000004,
+      "constraints": {
+        "maxVelocity": 2.0,
+        "maxAcceleration": 2.0,
+        "maxAngularVelocity": 540.0,
+        "maxAngularAcceleration": 360.0
+      }
     }
   ],
   "eventMarkers": [

diff --git a/src/main/java/frc/robot/commands/control/auto/InstantShoot.java b/src/main/java/frc/robot/commands/control/auto/InstantShoot.java
@@ -12,7 +12,7 @@
 
 public class InstantShoot extends Command {
 
-  private static final double SHOT_DEBOUNCE_TIME = 0.06;
+  private static final double SHOT_DEBOUNCE_TIME = 0.08; //0.06
 
   private final Shooter m_shooter;
   private Debouncer m_shotDebouncer;