From 971ddd9eeb4290317b5477923813a98a1425748c Mon Sep 17 00:00:00 2001 From: rmheuer <63077980+rmheuer@users.noreply.github.com> Date: Mon, 1 Apr 2024 17:13:43 -0500 Subject: [PATCH] [Robot] Source Alternate is good now --- .../paths/Source Center A Fast.path | 6 ++-- .../paths/Source Center A Grab.path | 8 ++--- .../paths/Source Center A Score.path | 16 ++++----- .../paths/Source Center B Grab.path | 36 ++++++------------- .../paths/Source Center B Score.path | 8 ++--- .../pathplanner/paths/Source End Grab.path | 8 ++--- 6 files changed, 33 insertions(+), 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 index 54076b9..6a13526 100644 --- 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 } \ No newline at end of file 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 index a73dc61..8decf33 100644 --- 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 index d54c0fe..3f2c99f 100644 --- 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 index 955f3a0..bff05a2 100644 --- 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 index 9c153e4..d24a308 100644 --- 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 index 5748d3d..122b099 100644 --- 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"