Add changes from 4/3/2024

frc2204 · Apr 4, 2024 · f68f768 · f68f768
1 parent 02a5732
commit f68f768
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Showing 38 changed files with 604 additions and 122 deletions.
diff --git a/.pathplanner/settings.json b/.pathplanner/settings.json
@@ -11,8 +11,8 @@
     "Troll"
   ],
   "defaultMaxVel": 3.0,
-  "defaultMaxAccel": 4.0,
-  "defaultMaxAngVel": 540.0,
-  "defaultMaxAngAccel": 720.0,
+  "defaultMaxAccel": 1.0,
+  "defaultMaxAngVel": 360.0,
+  "defaultMaxAngAccel": 360.0,
   "maxModuleSpeed": 4.331208
 }
diff --git a/src/main/deploy/pathplanner/autos/6 Note Auto from Amp Side.auto b/src/main/deploy/pathplanner/autos/6 Note Auto from Amp Side.auto
@@ -46,6 +46,12 @@
           "data": {
             "pathName": "#5 Note"
           }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Long Shot Speaker Amp Side"
+          }
         }
       ]
     }

diff --git a/src/main/deploy/pathplanner/autos/6 Note from Center.auto b/src/main/deploy/pathplanner/autos/6 Note from Center.auto
@@ -0,0 +1,332 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 1.588271083518912,
+      "y": 5.624616329733554
+    },
+    "rotation": 180.0
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "race",
+          "data": {
+            "commands": [
+              {
+                "type": "named",
+                "data": {
+                  "name": "Shoot"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "Stop"
+                }
+              },
+              {
+                "type": "wait",
+                "data": {
+                  "waitTime": 2.0
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "race",
+          "data": {
+            "commands": [
+              {
+                "type": "named",
+                "data": {
+                  "name": "Shoot"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "ConfirmShoot"
+                }
+              },
+              {
+                "type": "wait",
+                "data": {
+                  "waitTime": 2.0
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "race",
+          "data": {
+            "commands": [
+              {
+                "type": "named",
+                "data": {
+                  "name": "Intake"
+                }
+              },
+              {
+                "type": "wait",
+                "data": {
+                  "waitTime": 0.5
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "#1 Note from Speaker"
+          }
+        },
+        {
+          "type": "race",
+          "data": {
+            "commands": [
+              {
+                "type": "named",
+                "data": {
+                  "name": "IntakeHome"
+                }
+              },
+              {
+                "type": "wait",
+                "data": {
+                  "waitTime": 2.0
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "race",
+          "data": {
+            "commands": [
+              {
+                "type": "named",
+                "data": {
+                  "name": "Shoot"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "Stop"
+                }
+              },
+              {
+                "type": "wait",
+                "data": {
+                  "waitTime": 2.0
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "race",
+          "data": {
+            "commands": [
+              {
+                "type": "named",
+                "data": {
+                  "name": "Shoot"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "ConfirmShoot"
+                }
+              },
+              {
+                "type": "wait",
+                "data": {
+                  "waitTime": 2.0
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "race",
+          "data": {
+            "commands": [
+              {
+                "type": "named",
+                "data": {
+                  "name": "Intake"
+                }
+              },
+              {
+                "type": "wait",
+                "data": {
+                  "waitTime": 0.5
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "#2 Note"
+          }
+        },
+        {
+          "type": "race",
+          "data": {
+            "commands": [
+              {
+                "type": "named",
+                "data": {
+                  "name": "IntakeHome"
+                }
+              },
+              {
+                "type": "wait",
+                "data": {
+                  "waitTime": 0.5
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "race",
+          "data": {
+            "commands": [
+              {
+                "type": "named",
+                "data": {
+                  "name": "Shoot"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "Stop"
+                }
+              },
+              {
+                "type": "wait",
+                "data": {
+                  "waitTime": 2.0
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "race",
+          "data": {
+            "commands": [
+              {
+                "type": "named",
+                "data": {
+                  "name": "Shoot"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "ConfirmShoot"
+                }
+              },
+              {
+                "type": "wait",
+                "data": {
+                  "waitTime": 2.0
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "#3 Note"
+          }
+        },
+        {
+          "type": "race",
+          "data": {
+            "commands": [
+              {
+                "type": "named",
+                "data": {
+                  "name": "IntakeHome"
+                }
+              },
+              {
+                "type": "wait",
+                "data": {
+                  "waitTime": 0.5
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "race",
+          "data": {
+            "commands": [
+              {
+                "type": "named",
+                "data": {
+                  "name": "Shoot"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "Stop"
+                }
+              },
+              {
+                "type": "wait",
+                "data": {
+                  "waitTime": 2.0
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "race",
+          "data": {
+            "commands": [
+              {
+                "type": "named",
+                "data": {
+                  "name": "Shoot"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "ConfirmShoot"
+                }
+              },
+              {
+                "type": "wait",
+                "data": {
+                  "waitTime": 2.0
+                }
+              }
+            ]
+          }
+        }
+      ]
+    }
+  },
+  "folder": null,
+  "choreoAuto": false
+}