changed heading for shooting

frc2204 · Mar 28, 2024 · 620c2c3 · 620c2c3
1 parent 950852f
commit 620c2c3
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Showing 3 changed files with 40 additions and 26 deletions.
diff --git a/src/main/deploy/pathplanner/autos/Start 1 1st Ring Yes Auto.auto b/src/main/deploy/pathplanner/autos/Start 1 1st Ring Yes Auto.auto
@@ -24,7 +24,7 @@
               {
                 "type": "path",
                 "data": {
-                  "pathName": "3 start shoot"
+                  "pathName": "ring#3-speaker"
                 }
               },
               {
@@ -73,7 +73,7 @@
               {
                 "type": "path",
                 "data": {
-                  "pathName": "Ring 1 shoot"
+                  "pathName": "ring#1-speaker"
                 }
               },
               {

diff --git a/src/main/deploy/pathplanner/autos/Start 1 3rd Pickup Yes Auto.auto b/src/main/deploy/pathplanner/autos/Start 1 3rd Pickup Yes Auto.auto
@@ -24,21 +24,28 @@
           }
         },
         {
-          "type": "path",
+          "type": "parallel",
           "data": {
-            "pathName": "3 start shoot"
-          }
-        },
-        {
-          "type": "named",
-          "data": {
-            "name": "aim"
+            "commands": [
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "3 start shoot"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "aim"
+                }
+              }
+            ]
           }
         },
         {
           "type": "path",
           "data": {
-            "pathName": "Ring 3 Shoot"
+            "pathName": "ring#3-speaker"
           }
         },
         {
@@ -54,21 +61,28 @@
           }
         },
         {
-          "type": "named",
-          "data": {
-            "name": "stopShooter"
-          }
-        },
-        {
-          "type": "named",
-          "data": {
-            "name": "stopIntake"
-          }
-        },
-        {
-          "type": "path",
+          "type": "parallel",
           "data": {
-            "pathName": "Ring 8 Pickup"
+            "commands": [
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "Ring 8 Pickup"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "stopShooter"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "stopIntake"
+                }
+              }
+            ]
           }
         },
         {

diff --git a/src/main/deploy/pathplanner/paths/3 start shoot.path b/src/main/deploy/pathplanner/paths/3 start shoot.path
@@ -39,7 +39,7 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": -178.9222593434949,
+    "rotation": -0.32039333898793143,
     "rotateFast": false
   },
   "reversed": false,