Post match Q80, updated auto initializing.

FRCTeam1987 · Apr 6, 2024 · dabf3ba · dabf3ba
1 parent 5426b18
commit dabf3ba
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Showing 3 changed files with 10 additions and 9 deletions.
diff --git a/src/main/deploy/pathplanner/paths/GKC Amp 1-2Red.path b/src/main/deploy/pathplanner/paths/GKC Amp 1-2Red.path
@@ -240,8 +240,8 @@
     },
     {
       "name": "Slow Fifth Intake",
-      "minWaypointRelativePos": 6.8,
-      "maxWaypointRelativePos": 7.05,
+      "minWaypointRelativePos": 6.75,
+      "maxWaypointRelativePos": 7.15,
       "constraints": {
         "maxVelocity": 2.5,
         "maxAcceleration": 2.5,

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
@@ -49,15 +49,15 @@
     {
       "anchor": {
         "x": 8.021177331478777,
-        "y": 2.273430338708075
+        "y": 2.37
       },
       "prevControl": {
-        "x": 6.1440471676400605,
-        "y": 0.6222542887343496
+        "x": 6.519473200407804,
+        "y": 1.0490591600210197
       },
       "nextControl": {
-        "x": 8.884743651289353,
-        "y": 3.0330473606407584
+        "x": 8.772029397014263,
+        "y": 3.0304704199894905
       },
       "isLocked": false,
       "linkedName": null
@@ -121,7 +121,7 @@
     },
     {
       "waypointRelativePos": 3,
-      "rotationDegrees": 24.451256919953906,
+      "rotationDegrees": 34.0,
       "rotateFast": false
     },
     {

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -599,7 +599,8 @@ public void configureNamedCommands() {
   public void addAuto(String autoName) {
     final PathPlannerAuto auto = new PathPlannerAuto(autoName);
     if (autoName == "GKC-Amp-2-1Blue"
-        || autoName == "GKC-Amp-1-2"
+        || autoName == "GKC-Amp-1-2Blue"
+        || autoName == "GKC-Amp-1-2Red"
         || autoName == "GKC-Amp-2-1Red") {
       AUTO_CHOOSER.addOption(autoName, new ShootSubwoofer(ELEVATOR, WRIST, SHOOTER).andThen(auto));
       return;