[Robot] Source Alternate is good now

SouthwestRoboticsProgramming · Apr 1, 2024 · 971ddd9 · 971ddd9
1 parent 805e384
commit 971ddd9
Show file tree

Hide file tree

Showing 6 changed files with 33 additions and 49 deletions.
diff --git a/Robot/src/main/deploy/pathplanner/paths/Source Center A Fast.path b/Robot/src/main/deploy/pathplanner/paths/Source Center A Fast.path
@@ -73,8 +73,8 @@
  }
  ],
  "globalConstraints": {
- "maxVelocity": 4.5,
- "maxAcceleration": 4.0,
+ "maxVelocity": 5.7,
+ "maxAcceleration": 3.8,
  "maxAngularVelocity": 540.0,
  "maxAngularAcceleration": 640.0
  },
@@ -89,5 +89,5 @@
  "rotation": 90.0,
  "velocity": 0
  },
- "useDefaultConstraints": false
+ "useDefaultConstraints": true
 }
diff --git a/Robot/src/main/deploy/pathplanner/paths/Source Center A Grab.path b/Robot/src/main/deploy/pathplanner/paths/Source Center A Grab.path
@@ -16,12 +16,12 @@
  },
  {
  "anchor": {
- "x": 7.8726552894701225,
- "y": 0.7133434209888375
+ "x": 7.727323886646013,
+ "y": 0.8759953092914556
  },
  "prevControl": {
- "x": 6.215196392604585,
- "y": 0.7328429374225484
+ "x": 6.069864989780475,
+ "y": 0.8954948257251665
  },
  "nextControl": null,
  "isLocked": false,

diff --git a/Robot/src/main/deploy/pathplanner/paths/Source Center A Score.path b/Robot/src/main/deploy/pathplanner/paths/Source Center A Score.path
@@ -3,25 +3,25 @@
  "waypoints": [
  {
  "anchor": {
- "x": 7.8726552894701225,
- "y": 0.7133434209888375
+ "x": 7.727323886646013,
+ "y": 0.8759953092914556
  },
  "prevControl": null,
  "nextControl": {
- "x": 6.478439864459699,
- "y": 0.8205907613742541
+ "x": 6.3331084616355895,
+ "y": 0.9832426496768722
  },
  "isLocked": false,
  "linkedName": "End of Source Center A Grab"
  },
  {
  "anchor": {
- "x": 3.0541358944950683,
- "y": 3.2271699697793705
+ "x": 3.375977203580178,
+ "y": 2.937996934085583
  },
  "prevControl": {
- "x": 4.097360023698671,
- "y": 2.261943906310616
+ "x": 4.4192013327837785,
+ "y": 1.9727708706168285
  },
  "nextControl": null,
  "isLocked": false,

diff --git a/Robot/src/main/deploy/pathplanner/paths/Source Center B Grab.path b/Robot/src/main/deploy/pathplanner/paths/Source Center B Grab.path
@@ -3,41 +3,25 @@
  "waypoints": [
  {
  "anchor": {
- "x": 3.0541358944950683,
- "y": 3.2271699697793705
+ "x": 3.375977203580178,
+ "y": 2.937996934085583
  },
  "prevControl": null,
  "nextControl": {
- "x": 3.955113551252743,
- "y": 1.719040703038672
+ "x": 4.276954860337852,
+ "y": 1.4298676673448847
  },
  "isLocked": false,
  "linkedName": "Score Location Source"
  },
  {
  "anchor": {
- "x": 5.685848408733854,
- "y": 1.777511475250871
+ "x": 7.8549113665954,
+ "y": 2.2003375432119485
  },
  "prevControl": {
- "x": 4.973000273866197,
- "y": 1.7237116160155765
- },
- "nextControl": {
- "x": 6.925428779632489,
- "y": 1.8710647107903897
- },
- "isLocked": false,
- "linkedName": null
- },
- {
- "anchor": {
- "x": 7.767407899488164,
- "y": 2.408995815142628
- },
- "prevControl": {
- "x": 6.399191829722692,
- "y": 2.3973016607001885
+ "x": 6.302030399092708,
+ "y": 1.1611700964654137
  },
  "nextControl": null,
  "isLocked": false,
@@ -49,7 +33,7 @@
  "eventMarkers": [
  {
  "name": "New Event Marker",
- "waypointRelativePos": 0.5,
+ "waypointRelativePos": 0.25,
  "command": {
  "type": "parallel",
  "data": {
@@ -73,7 +57,7 @@
  },
  "goalEndState": {
  "velocity": 0,
- "rotation": -176.9335144988741,
+ "rotation": -152.83398643930994,
  "rotateFast": false
  },
  "reversed": false,

diff --git a/Robot/src/main/deploy/pathplanner/paths/Source Center B Score.path b/Robot/src/main/deploy/pathplanner/paths/Source Center B Score.path
@@ -16,12 +16,12 @@
  },
  {
  "anchor": {
- "x": 3.0541358944950683,
- "y": 3.2271699697793705
+ "x": 3.375977203580178,
+ "y": 2.937996934085583
  },
  "prevControl": {
- "x": 4.682345516710037,
- "y": 1.7257072043835309
+ "x": 5.004186825795147,
+ "y": 1.4365341686897435
  },
  "nextControl": null,
  "isLocked": false,

diff --git a/Robot/src/main/deploy/pathplanner/paths/Source End Grab.path b/Robot/src/main/deploy/pathplanner/paths/Source End Grab.path
@@ -3,13 +3,13 @@
  "waypoints": [
  {
  "anchor": {
- "x": 3.0541358944950683,
- "y": 3.2271699697793705
+ "x": 3.375977203580178,
+ "y": 2.937996934085583
  },
  "prevControl": null,
  "nextControl": {
- "x": 4.311854704469505,
- "y": 2.5056878617320186
+ "x": 4.633696013554615,
+ "y": 2.2165148260382312
  },
  "isLocked": false,
  "linkedName": "Score Location Source"