From 4c2d130017f055b160805bd6cbd5444912a50f34 Mon Sep 17 00:00:00 2001 From: Jordan <117786700+jordanjcoderman@users.noreply.github.com> Date: Tue, 19 Sep 2023 17:49:22 -0700 Subject: [PATCH] Cleaned up long side 3 auto path and added short side 3 auto --- .pathplanner/settings.json | 8 +- ...ue Long Side 3.path => BlueLongSide3.path} | 143 ++++++++--- .../deploy/pathplanner/BlueShortSide3.path | 238 ++++++++++++++++++ 3 files changed, 344 insertions(+), 45 deletions(-) rename src/main/deploy/pathplanner/{Blue Long Side 3.path => BlueLongSide3.path} (53%) create mode 100644 src/main/deploy/pathplanner/BlueShortSide3.path diff --git a/.pathplanner/settings.json b/.pathplanner/settings.json index 9d2a173..68ed667 100644 --- 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 -} +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/Blue Long Side 3.path b/src/main/deploy/pathplanner/BlueLongSide3.path similarity index 53% rename from src/main/deploy/pathplanner/Blue Long Side 3.path rename to src/main/deploy/pathplanner/BlueLongSide3.path index 68a2ce6..39037e7 100644 --- a/src/main/deploy/pathplanner/Blue Long Side 3.path +++ b/src/main/deploy/pathplanner/BlueLongSide3.path @@ -2,13 +2,13 @@ "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, @@ -16,24 +16,29 @@ "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" + ] + } + ] } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/BlueShortSide3.path b/src/main/deploy/pathplanner/BlueShortSide3.path new file mode 100644 index 0000000..ef2c0e3 --- /dev/null +++ b/src/main/deploy/pathplanner/BlueShortSide3.path @@ -0,0 +1,238 @@ +{ + "waypoints": [ + { + "anchorPoint": { + "x": 1.79, + "y": 4.971620327856041 + }, + "prevControl": null, + "nextControl": { + "x": 2.3488255407281193, + "y": 4.961985404741376 + }, + "holonomicAngle": 180.0, + "isReversal": false, + "velOverride": null, + "isLocked": false, + "isStopPoint": false, + "stopEvent": { + "names": [ + "home", + "preloadCone", + "scoreHigh", + "stowFast" + ], + "executionBehavior": "sequential", + "waitBehavior": "none", + "waitTime": 0 + } + }, + { + "anchorPoint": { + "x": 6.5552402258650675, + "y": 4.605493249448038 + }, + "prevControl": { + "x": 5.013652527305171, + "y": 4.730747249957374 + }, + "nextControl": { + "x": 5.013652527305171, + "y": 4.730747249957374 + }, + "holonomicAngle": 180.0, + "isReversal": true, + "velOverride": null, + "isLocked": false, + "isStopPoint": false, + "stopEvent": { + "names": [], + "executionBehavior": "parallel", + "waitBehavior": "none", + "waitTime": 0 + } + }, + { + "anchorPoint": { + "x": 3.606953752369045, + "y": 4.730747249956039 + }, + "prevControl": { + "x": 4.36905001673884, + "y": 4.738330297362704 + }, + "nextControl": { + "x": 1.6703342060530295, + "y": 4.711477403724039 + }, + "holonomicAngle": 180.0, + "isReversal": false, + "velOverride": null, + "isLocked": false, + "isStopPoint": false, + "stopEvent": { + "names": [], + "executionBehavior": "parallel", + "waitBehavior": "none", + "waitTime": 0 + } + }, + { + "anchorPoint": { + "x": 1.79, + "y": 4.412794787128036 + }, + "prevControl": { + "x": 2.310285848264004, + "y": 4.432064633360036 + }, + "nextControl": { + "x": 2.310285848264004, + "y": 4.432064633360036 + }, + "holonomicAngle": 180.0, + "isReversal": true, + "velOverride": null, + "isLocked": false, + "isStopPoint": true, + "stopEvent": { + "names": [ + "scoreHigh", + "stowFast" + ], + "executionBehavior": "sequential", + "waitBehavior": "none", + "waitTime": 0 + } + }, + { + "anchorPoint": { + "x": 4.416287294113052, + "y": 4.672937711260038 + }, + "prevControl": { + "x": 2.0073830927399245, + "y": 4.672937711260038 + }, + "nextControl": { + "x": 5.967509915789065, + "y": 4.672937711260038 + }, + "holonomicAngle": 180.0, + "isReversal": false, + "velOverride": null, + "isLocked": false, + "isStopPoint": false, + "stopEvent": { + "names": [], + "executionBehavior": "parallel", + "waitBehavior": "none", + "waitTime": 0 + } + }, + { + "anchorPoint": { + "x": 6.69976407260507, + "y": 3.757620015240031 + }, + "prevControl": { + "x": 6.86063740897577, + "y": 3.647253424008969 + }, + "nextControl": { + "x": 5.871160684629063, + "y": 4.326080479084037 + }, + "holonomicAngle": 135.0, + "isReversal": false, + "velOverride": null, + "isLocked": false, + "isStopPoint": false, + "stopEvent": { + "names": [], + "executionBehavior": "parallel", + "waitBehavior": "none", + "waitTime": 0 + } + }, + { + "anchorPoint": { + "x": 3.3179060588890428, + "y": 4.605493249448038 + }, + "prevControl": { + "x": 5.604745658899123, + "y": 4.713250089239088 + }, + "nextControl": { + "x": 1.4994916857182536, + "y": 4.519808802544703 + }, + "holonomicAngle": 180.0, + "isReversal": false, + "velOverride": null, + "isLocked": false, + "isStopPoint": false, + "stopEvent": { + "names": [], + "executionBehavior": "parallel", + "waitBehavior": "none", + "waitTime": 0 + } + }, + { + "anchorPoint": { + "x": 1.799, + "y": 3.8539692464000317 + }, + "prevControl": { + "x": 2.1073175397120028, + "y": 3.8539692464000317 + }, + "nextControl": null, + "holonomicAngle": 180.0, + "isReversal": false, + "velOverride": null, + "isLocked": false, + "isStopPoint": false, + "stopEvent": { + "names": [ + "scoreHigh", + "stowFast" + ], + "executionBehavior": "sequential", + "waitBehavior": "none", + "waitTime": 0 + } + } + ], + "maxVelocity": 4.0, + "maxAcceleration": 4.0, + "isReversed": null, + "markers": [ + { + "position": 0.71, + "names": [ + "intakeCone" + ] + }, + { + "position": 0.8145454545454661, + "names": [ + "stowFast" + ] + }, + { + "position": 4.123636363636191, + "names": [ + "intakeCone" + ] + }, + { + "position": 5.396363636363648, + "names": [ + "stowFast" + ] + } + ] +} \ No newline at end of file