Cleaned up long side 3 auto path and added short side 3 auto

team581 · Sep 20, 2023 · 4c2d130 · 4c2d130
1 parent 28b74f2
commit 4c2d130
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Showing 3 changed files with 344 additions and 45 deletions.
diff --git a/.pathplanner/settings.json b/.pathplanner/settings.json
@@ -1,7 +1,7 @@
 {
-  "generateJSON": false,
+  "robotWidth": 0.84,
+  "robotLength": 0.84,
   "holonomicMode": true,
-  "robotWidth": 0.82,
-  "robotLength": 0.82,
+  "generateJSON": false,
   "generateCSV": false
-}
+}
diff --git a/.../deploy/pathplanner/Blue Long Side 3.path → ...ain/deploy/pathplanner/BlueLongSide3.path b/.../deploy/pathplanner/Blue Long Side 3.path → ...ain/deploy/pathplanner/BlueLongSide3.path
@@ -2,38 +2,43 @@
   "waypoints": [
     {
       "anchorPoint": {
-        "x": 1.8058410463614287,
-        "y": 0.48554519911890315
+        "x": 1.79,
+        "y": 0.5299207713800053
       },
       "prevControl": null,
       "nextControl": {
-        "x": 2.253304269078848,
-        "y": 0.48554519911890315
+        "x": 2.8691113889920095,
+        "y": 0.5202858482640057
       },
       "holonomicAngle": 180.0,
       "isReversal": false,
       "velOverride": null,
       "isLocked": false,
       "isStopPoint": false,
       "stopEvent": {
-        "names": [],
-        "executionBehavior": "parallel",
+        "names": [
+          "home",
+          "preloadCone",
+          "scoreHigh",
+          "stowFast"
+        ],
+        "executionBehavior": "sequential",
         "waitBehavior": "none",
         "waitTime": 0
       }
     },
     {
       "anchorPoint": {
-        "x": 6.5089651319445165,
-        "y": 0.9330084218363207
+        "x": 6.535970379633067,
+        "y": 0.9056827729040083
       },
       "prevControl": {
-        "x": 5.680682145212272,
-        "y": 0.5236271755203842
+        "x": 5.331604990133058,
+        "y": 0.7033493874680057
       },
       "nextControl": {
-        "x": 5.680682145212272,
-        "y": 0.5236271755203842
+        "x": 5.331604990133058,
+        "y": 0.7033493874680057
       },
       "holonomicAngle": 180.0,
       "isReversal": true,
@@ -49,16 +54,16 @@
     },
     {
       "anchorPoint": {
-        "x": 3.8908292543425955,
-        "y": 0.5331476696207564
+        "x": 3.9152712920810475,
+        "y": 0.7418890799320065
       },
       "prevControl": {
-        "x": 4.005075183547043,
-        "y": 0.5331476696207564
+        "x": 4.252773825353934,
+        "y": 0.728388978601091
       },
       "nextControl": {
-        "x": 2.2716453722751724,
-        "y": 0.5331476696207564
+        "x": 1.74741359098103,
+        "y": 0.8286033879760079
       },
       "holonomicAngle": 180.0,
       "isReversal": false,
@@ -74,22 +79,50 @@
     },
     {
       "anchorPoint": {
-        "x": 1.7963205522610584,
-        "y": 1.0472543510407684
+        "x": 1.79,
+        "y": 1.0694764658760103
       },
       "prevControl": {
-        "x": 2.3487429256054266,
-        "y": 1.012727952706739
+        "x": 2.3640486704050345,
+        "y": 1.0598415427600094
       },
       "nextControl": {
-        "x": 2.3487429256054266,
-        "y": 1.012727952706739
+        "x": 2.3640486704050345,
+        "y": 1.0598415427600094
       },
       "holonomicAngle": 180.0,
       "isReversal": true,
       "velOverride": null,
       "isLocked": false,
       "isStopPoint": true,
+      "stopEvent": {
+        "names": [
+          "scoreHigh",
+          "stowFast"
+        ],
+        "executionBehavior": "sequential",
+        "waitBehavior": "none",
+        "waitTime": 0
+      }
+    },
+    {
+      "anchorPoint": {
+        "x": 4.560811140853053,
+        "y": 0.7804287723960073
+      },
+      "prevControl": {
+        "x": 2.872517588941853,
+        "y": 0.7679228942337026
+      },
+      "nextControl": {
+        "x": 5.861525761513063,
+        "y": 0.790063695512007
+      },
+      "holonomicAngle": 180.0,
+      "isReversal": false,
+      "velOverride": null,
+      "isLocked": false,
+      "isStopPoint": false,
       "stopEvent": {
         "names": [],
         "executionBehavior": "parallel",
@@ -103,12 +136,12 @@
         "y": 1.7517709144681959
       },
       "prevControl": {
-        "x": 4.205005559654826,
-        "y": -0.19993037610778208
+        "x": 6.843684587826156,
+        "y": 1.866965834963769
       },
       "nextControl": {
-        "x": 6.838043592446369,
-        "y": 1.8761188420547805
+        "x": 5.890430530861064,
+        "y": 1.1947304663840113
       },
       "holonomicAngle": -135.0,
       "isReversal": false,
@@ -124,16 +157,16 @@
     },
     {
       "anchorPoint": {
-        "x": 3.9193907366437073,
-        "y": 0.7140370575277974
+        "x": 3.8960014458490475,
+        "y": 0.8286033879760079
       },
       "prevControl": {
-        "x": 6.206230336653774,
-        "y": 0.8217938973188474
+        "x": 5.928955638937863,
+        "y": 0.8209028039112779
       },
       "nextControl": {
-        "x": 2.100976363472918,
-        "y": 0.628352610624462
+        "x": 1.3523817432250271,
+        "y": 0.8382383110920074
       },
       "holonomicAngle": 180.0,
       "isReversal": false,
@@ -149,12 +182,12 @@
     },
     {
       "anchorPoint": {
-        "x": 1.8058410463614287,
+        "x": 1.79,
         "y": 1.6184839970630058
       },
       "prevControl": {
-        "x": 2.0724148811718064,
-        "y": 1.6089635029626348
+        "x": 2.248429593013034,
+        "y": 1.6186670834880137
       },
       "nextControl": null,
       "holonomicAngle": 180.0,
@@ -163,15 +196,43 @@
       "isLocked": false,
       "isStopPoint": false,
       "stopEvent": {
-        "names": [],
-        "executionBehavior": "parallel",
+        "names": [
+          "scoreHigh",
+          "stowFast"
+        ],
+        "executionBehavior": "sequential",
         "waitBehavior": "none",
         "waitTime": 0
       }
     }
   ],
-  "maxVelocity": null,
+  "maxVelocity": 4.0,
   "maxAcceleration": 4.0,
   "isReversed": null,
-  "markers": []
+  "markers": [
+    {
+      "position": 0.71,
+      "names": [
+        "intakeCone"
+      ]
+    },
+    {
+      "position": 0.8145454545454661,
+      "names": [
+        "stowFast"
+      ]
+    },
+    {
+      "position": 4.123636363636191,
+      "names": [
+        "intakeCone"
+      ]
+    },
+    {
+      "position": 5.650909090908921,
+      "names": [
+        "stowFast"
+      ]
+    }
+  ]
 }