final code for DCMP

ExcaliburFRC · Mar 21, 2024 · 58b5686 · 58b5686
1 parent 9e6c375
commit 58b5686
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Showing 33 changed files with 266 additions and 99 deletions.
diff --git a/.pathplanner/settings.json b/.pathplanner/settings.json
@@ -10,6 +10,6 @@
   "defaultMaxVel": 5.5,
   "defaultMaxAccel": 3.0,
   "defaultMaxAngVel": 290.0,
-  "defaultMaxAngAccel": 250.0,
+  "defaultMaxAngAccel": 180.0,
   "maxModuleSpeed": 5.88
 }
diff --git a/src/main/deploy/pathplanner/autos/TwoNotes.auto b/src/main/deploy/pathplanner/autos/TwoNotes.auto
@@ -0,0 +1,94 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 1.3,
+      "y": 5.57
+    },
+    "rotation": 0
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "race",
+          "data": {
+            "commands": [
+              {
+                "type": "wait",
+                "data": {
+                  "waitTime": 0.5
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "prepShooterCommand"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "shootToSpeakerCommand"
+          }
+        },
+        {
+          "type": "deadline",
+          "data": {
+            "commands": [
+              {
+                "type": "named",
+                "data": {
+                  "name": "intakeFromGround"
+                }
+              },
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "P1"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "deadline",
+          "data": {
+            "commands": [
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "P2"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "closeIntake"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "prepShooterCommand"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "shootToSpeakerCommand"
+          }
+        }
+      ]
+    }
+  },
+  "folder": null,
+  "choreoAuto": false
+}
diff --git a/src/main/deploy/pathplanner/paths/Note1ToPose1.path b/src/main/deploy/pathplanner/paths/Note1ToPose1.path
@@ -3,13 +3,13 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 2.5079619390008028,
-        "y": 6.916726910376898
+        "x": 2.537562767433229,
+        "y": 6.798323596647194
       },
       "prevControl": null,
       "nextControl": {
-        "x": 2.079829971625757,
-        "y": 6.739208777562855
+        "x": 2.109430800058183,
+        "y": 6.62080546383315
       },
       "isLocked": false,
       "linkedName": "note1"
@@ -35,7 +35,7 @@
     "maxVelocity": 5.5,
     "maxAcceleration": 3.0,
     "maxAngularVelocity": 290.0,
-    "maxAngularAcceleration": 250.0
+    "maxAngularAcceleration": 180.0
   },
   "goalEndState": {
     "velocity": 0,

diff --git a/src/main/deploy/pathplanner/paths/Note1ToPose2.path b/src/main/deploy/pathplanner/paths/Note1ToPose2.path
@@ -3,13 +3,13 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 2.5079619390008028,
-        "y": 6.916726910376898
+        "x": 2.537562767433229,
+        "y": 6.798323596647194
       },
       "prevControl": null,
       "nextControl": {
-        "x": 2.2218205974873504,
-        "y": 6.37404505578242
+        "x": 2.2514214259197765,
+        "y": 6.255641742052716
       },
       "isLocked": false,
       "linkedName": "note1"
@@ -35,7 +35,7 @@
     "maxVelocity": 5.5,
     "maxAcceleration": 3.0,
     "maxAngularVelocity": 290.0,
-    "maxAngularAcceleration": 250.0
+    "maxAngularAcceleration": 180.0
   },
   "goalEndState": {
     "velocity": 0,

diff --git a/src/main/deploy/pathplanner/paths/Note2ToNote4.path b/src/main/deploy/pathplanner/paths/Note2ToNote4.path
@@ -3,25 +3,25 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 2.4330426438630655,
+        "x": 2.557296653054846,
         "y": 5.5665622442356
       },
       "prevControl": null,
       "nextControl": {
-        "x": 3.55533671803809,
+        "x": 3.6795907272298707,
         "y": 5.5665622442356
       },
       "isLocked": false,
       "linkedName": "note2"
     },
     {
       "anchor": {
-        "x": 7.934780484945588,
-        "y": 7.3114046228092455
+        "x": 7.9446474277563945,
+        "y": 7.419940993728142
       },
       "prevControl": {
-        "x": 7.1138378174192285,
-        "y": 7.313054540638996
+        "x": 7.123704760230035,
+        "y": 7.421590911557892
       },
       "nextControl": null,
       "isLocked": false,

diff --git a/src/main/deploy/pathplanner/paths/Note2ToNote5.path b/src/main/deploy/pathplanner/paths/Note2ToNote5.path
@@ -3,25 +3,25 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 2.4330426438630655,
+        "x": 2.557296653054846,
         "y": 5.5665622442356
       },
       "prevControl": null,
       "nextControl": {
-        "x": 3.7807975615951244,
+        "x": 3.905051570786905,
         "y": 6.235907856431097
       },
       "isLocked": false,
       "linkedName": "note2"
     },
     {
       "anchor": {
-        "x": 7.855844942459117,
-        "y": 5.732693773079855
+        "x": 7.806510228405074,
+        "y": 5.762294601512281
       },
       "prevControl": {
-        "x": 6.000859694027081,
-        "y": 6.650319454485064
+        "x": 5.951524979973038,
+        "y": 6.67992028291749
       },
       "nextControl": null,
       "isLocked": false,

diff --git a/src/main/deploy/pathplanner/paths/Note2ToPose2.path b/src/main/deploy/pathplanner/paths/Note2ToPose2.path
@@ -3,12 +3,12 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 2.4330426438630655,
+        "x": 2.557296653054846,
         "y": 5.5665622442356
       },
       "prevControl": null,
       "nextControl": {
-        "x": 1.3783243970795378,
+        "x": 1.5025784062713186,
         "y": 5.5665622442356
       },
       "isLocked": false,
@@ -35,7 +35,7 @@
     "maxVelocity": 5.5,
     "maxAcceleration": 3.0,
     "maxAngularVelocity": 290.0,
-    "maxAngularAcceleration": 250.0
+    "maxAngularAcceleration": 180.0
   },
   "goalEndState": {
     "velocity": 0,

diff --git a/src/main/deploy/pathplanner/paths/Note3ToPose2.path b/src/main/deploy/pathplanner/paths/Note3ToPose2.path
@@ -4,12 +4,12 @@
     {
       "anchor": {
         "x": 2.596764424298081,
-        "y": 4.430257322053106
+        "y": 4.33
       },
       "prevControl": null,
       "nextControl": {
         "x": 2.359957796838672,
-        "y": 4.894003634161114
+        "y": 4.793746312108008
       },
       "isLocked": false,
       "linkedName": "note3"
@@ -41,7 +41,7 @@
     "maxVelocity": 5.5,
     "maxAcceleration": 3.0,
     "maxAngularVelocity": 290.0,
-    "maxAngularAcceleration": 250.0
+    "maxAngularAcceleration": 180.0
   },
   "goalEndState": {
     "velocity": 0,

diff --git a/src/main/deploy/pathplanner/paths/Note4ToAmp.path b/src/main/deploy/pathplanner/paths/Note4ToAmp.path
@@ -35,7 +35,7 @@
     "maxVelocity": 5.5,
     "maxAcceleration": 3.0,
     "maxAngularVelocity": 290.0,
-    "maxAngularAcceleration": 250.0
+    "maxAngularAcceleration": 180.0
   },
   "goalEndState": {
     "velocity": 0,

diff --git a/src/main/deploy/pathplanner/paths/Note4ToNote2.path b/src/main/deploy/pathplanner/paths/Note4ToNote2.path
@@ -3,24 +3,24 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 7.934780484945588,
-        "y": 7.3114046228092455
+        "x": 7.9446474277563945,
+        "y": 7.419940993728142
       },
       "prevControl": null,
       "nextControl": {
-        "x": 5.773920009378484,
-        "y": 6.640452511674253
+        "x": 5.783786952189291,
+        "y": 6.748988882593149
       },
       "isLocked": false,
       "linkedName": "note4"
     },
     {
       "anchor": {
-        "x": 2.4330426438630655,
+        "x": 2.557296653054846,
         "y": 5.5665622442356
       },
       "prevControl": {
-        "x": 3.187126924808923,
+        "x": 3.3113809340007037,
         "y": 5.5665622442356
       },
       "nextControl": null,

diff --git a/src/main/deploy/pathplanner/paths/Note4ToPose1.path b/src/main/deploy/pathplanner/paths/Note4ToPose1.path
@@ -35,7 +35,7 @@
     "maxVelocity": 5.5,
     "maxAcceleration": 3.0,
     "maxAngularVelocity": 290.0,
-    "maxAngularAcceleration": 250.0
+    "maxAngularAcceleration": 180.0
   },
   "goalEndState": {
     "velocity": 0,

diff --git a/src/main/deploy/pathplanner/paths/Note4ToPose2.path b/src/main/deploy/pathplanner/paths/Note4ToPose2.path
@@ -35,7 +35,7 @@
     "maxVelocity": 5.5,
     "maxAcceleration": 3.0,
     "maxAngularVelocity": 290.0,
-    "maxAngularAcceleration": 250.0
+    "maxAngularAcceleration": 180.0
   },
   "goalEndState": {
     "velocity": 0,

diff --git a/src/main/deploy/pathplanner/paths/Note5ToShoot2.path b/src/main/deploy/pathplanner/paths/Note5ToShoot2.path
@@ -3,13 +3,13 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 7.855844942459117,
-        "y": 5.732693773079855
+        "x": 7.806510228405074,
+        "y": 5.762294601512281
       },
       "prevControl": null,
       "nextControl": {
-        "x": 5.211504269162385,
-        "y": 7.05486410972822
+        "x": 5.162169555108342,
+        "y": 7.084464938160646
       },
       "isLocked": false,
       "linkedName": "note5"

diff --git a/src/main/deploy/pathplanner/paths/Note8ToPose3.path b/src/main/deploy/pathplanner/paths/Note8ToPose3.path
@@ -3,13 +3,13 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 7.924913542134778,
-        "y": 0.9669603954592523
+        "x": 7.915046599323969,
+        "y": 0.7498876536214618
       },
       "prevControl": null,
       "nextControl": {
-        "x": 5.1424356694867255,
-        "y": 1.085363709188957
+        "x": 5.132568726675917,
+        "y": 0.8682909673511665
       },
       "isLocked": false,
       "linkedName": "pose8"