Merge branch 'main' into shake-off-note

SouthwestRoboticsProgramming · Apr 1, 2024 · b11b3da · b11b3da
2 parents 930d954 + 9c4d7be
commit b11b3da
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Showing 83 changed files with 2,554 additions and 3,457 deletions.
diff --git a/Robot/.pathplanner/settings.json b/Robot/.pathplanner/settings.json
@@ -3,14 +3,16 @@
  "robotLength": 0.914,
  "holonomicMode": true,
  "pathFolders": [
- "Troll"
+ "Amp",
+ "Source"
  ],
  "autoFolders": [
- "New Autos"
+ "Amp",
+ "Source"
  ],
- "defaultMaxVel": 4.0,
+ "defaultMaxVel": 5.7,
  "defaultMaxAccel": 3.8,
- "defaultMaxAngVel": 600.0,
- "defaultMaxAngAccel": 960.0,
+ "defaultMaxAngVel": 540.0,
+ "defaultMaxAngAccel": 640.0,
  "maxModuleSpeed": 5.64
 }
diff --git a/Robot/Chreo_Auto_Project.chor b/Robot/Chreo_Auto_Project.chor
@@ -3,7 +3,7 @@
  "robotConfiguration": {
  "mass": 74.08797700309194,
  "rotationalInertia": 6.000000000000001,
- "motorMaxTorque": 0.5811475409836065,
+ "motorMaxTorque": 0.774863387978142,
  "motorMaxVelocity": 4800,
  "gearing": 5.36,
  "wheelbase": 0.5524497016771611,
@@ -343,7 +343,7 @@
  {
  "name": "Marker",
  "target": "last",
- "targetTimestamp": 1.345777924459432,
+ "targetTimestamp": null,
  "offset": 0,
  "command": {
  "type": "named",
@@ -353,7 +353,7 @@
  }
  }
  ],
- "isTrajectoryStale": false
+ "isTrajectoryStale": true
  },
  "Amp Side Mid A": {
  "waypoints": [
@@ -3186,7 +3186,7 @@
  }
  }
  ],
- "isTrajectoryStale": false
+ "isTrajectoryStale": true
  },
  "Amp Side Start B": {
  "waypoints": [
@@ -3680,7 +3680,7 @@
  }
  }
  ],
- "isTrajectoryStale": false
+ "isTrajectoryStale": true
  },
  "Source Side Start A": {
  "waypoints": [
@@ -5240,7 +5240,7 @@
  }
  }
  ],
- "isTrajectoryStale": false
+ "isTrajectoryStale": true
  },
  "Source Mid": {
  "waypoints": [
@@ -6402,7 +6402,7 @@
  }
  }
  ],
- "isTrajectoryStale": false
+ "isTrajectoryStale": true
  },
  "Source End": {
  "waypoints": [
@@ -7924,7 +7924,7 @@
  }
  }
  ],
- "isTrajectoryStale": false
+ "isTrajectoryStale": true
  },
  "Amp Side Mid B": {
  "waypoints": [
@@ -10297,7 +10297,7 @@
  }
  }
  ],
- "isTrajectoryStale": false
+ "isTrajectoryStale": true
  },
  "Amp Side Start C": {
  "waypoints": [
@@ -11127,7 +11127,7 @@
  }
  }
  ],
- "isTrajectoryStale": false
+ "isTrajectoryStale": true
  },
  "Source Side Start B": {
  "waypoints": [
@@ -12625,7 +12625,7 @@
  }
  }
  ],
- "isTrajectoryStale": false
+ "isTrajectoryStale": true
  }
  },
  "splitTrajectoriesAtStopPoints": true,

diff --git a/Robot/src/main/deploy/choreo/Amp Side Start A.1.traj b/Robot/src/main/deploy/choreo/Amp Side Start A.1.traj
@@ -230,15 +230,6 @@
  "name": "Wait and Shoot"
  }
  }
- },
- {
- "timestamp": 1.345777924459432,
- "command": {
- "type": "named",
- "data": {
- "name": "Shoot"
- }
- }
  }
  ]
 }
diff --git a/Robot/src/main/deploy/choreo/Amp Side Start A.traj b/Robot/src/main/deploy/choreo/Amp Side Start A.traj
@@ -230,15 +230,6 @@
  "name": "Wait and Shoot"
  }
  }
- },
- {
- "timestamp": 1.345777924459432,
- "command": {
- "type": "named",
- "data": {
- "name": "Shoot"
- }
- }
  }
  ]
 }