From 40b4557ee1ffb9cb40e0ac97890a21371dec6bad Mon Sep 17 00:00:00 2001 From: Anay Nagar <71475983+ReeledWarrior14@users.noreply.github.com> Date: Wed, 17 Apr 2024 16:18:14 -0700 Subject: [PATCH] Auto - DCMP changes (#45) * tuned center-line path * auton comp changes --------- Co-authored-by: ProgrammingSR --- .../autos/Souce-CenterlineSweep.auto | 19 ++++ .../paths/Middle4thNote-Right.path | 24 ++-- .../paths/Middle5thNote-Right.path | 24 ++-- .../paths/Source-Centerline-Sweep.path | 106 ++++++++++++++++++ 4 files changed, 149 insertions(+), 24 deletions(-) create mode 100644 src/main/deploy/pathplanner/autos/Souce-CenterlineSweep.auto create mode 100644 src/main/deploy/pathplanner/paths/Source-Centerline-Sweep.path diff --git a/src/main/deploy/pathplanner/autos/Souce-CenterlineSweep.auto b/src/main/deploy/pathplanner/autos/Souce-CenterlineSweep.auto new file mode 100644 index 0000000..f14a8f1 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/Souce-CenterlineSweep.auto @@ -0,0 +1,19 @@ +{ + "version": 1.0, + "startingPose": null, + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "Source-Centerline-Sweep" + } + } + ] + } + }, + "folder": null, + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Middle4thNote-Right.path b/src/main/deploy/pathplanner/paths/Middle4thNote-Right.path index 30d6c42..2407155 100644 --- a/src/main/deploy/pathplanner/paths/Middle4thNote-Right.path +++ b/src/main/deploy/pathplanner/paths/Middle4thNote-Right.path @@ -16,28 +16,28 @@ }, { "anchor": { - "x": 7.75, - "y": 2.45 + "x": 7.991726840596539, + "y": 2.550745672919918 }, "prevControl": { - "x": 7.550468489825868, - "y": 2.435747749273277 + "x": 7.792195330422407, + "y": 2.5364934221931947 }, "nextControl": { - "x": 8.916061262246275, - "y": 2.5332900901604463 + "x": 9.157788102842815, + "y": 2.634035763080364 }, "isLocked": false, "linkedName": null }, { "anchor": { - "x": 0.8305816611633227, - "y": 4.375440973104168 + "x": 1.0158609206107305, + "y": 4.517963480371405 }, "prevControl": { - "x": 2.79739226145119, - "y": 0.028504501453447222 + "x": 2.982671520898598, + "y": 0.17102700872068394 }, "nextControl": null, "isLocked": false, @@ -61,13 +61,13 @@ }, "goalEndState": { "velocity": 0, - "rotation": -60.46371417686636, + "rotation": -50.61758059012676, "rotateFast": false }, "reversed": false, "folder": null, "previewStartingState": { - "rotation": -48.9909130984298, + "rotation": -45.41467873893242, "velocity": 0 }, "useDefaultConstraints": true diff --git a/src/main/deploy/pathplanner/paths/Middle5thNote-Right.path b/src/main/deploy/pathplanner/paths/Middle5thNote-Right.path index 5756921..df0ea96 100644 --- a/src/main/deploy/pathplanner/paths/Middle5thNote-Right.path +++ b/src/main/deploy/pathplanner/paths/Middle5thNote-Right.path @@ -16,28 +16,28 @@ }, { "anchor": { - "x": 8.25, - "y": 0.75 + "x": 8.284915998403426, + "y": 0.8062701839689397 }, "prevControl": { - "x": 7.25, - "y": 0.75 + "x": 7.2849159984034255, + "y": 0.8062701839689397 }, "nextControl": { - "x": 9.249999999999988, - "y": 0.75 + "x": 9.284915998403413, + "y": 0.8062701839689397 }, "isLocked": false, "linkedName": null }, { "anchor": { - "x": 0.8305816611633227, - "y": 4.375440973104168 + "x": 1.1311005479153822, + "y": 4.808302188032948 }, "prevControl": { - "x": 2.7261310078175716, - "y": 1.0404143030508277 + "x": 3.0266498945696307, + "y": 1.4732755179796073 }, "nextControl": null, "isLocked": false, @@ -61,13 +61,13 @@ }, "goalEndState": { "velocity": 0, - "rotation": -60.46371417686636, + "rotation": -38.18615248470486, "rotateFast": false }, "reversed": false, "folder": null, "previewStartingState": { - "rotation": -48.9909130984298, + "rotation": -49.42697164747932, "velocity": 0 }, "useDefaultConstraints": true diff --git a/src/main/deploy/pathplanner/paths/Source-Centerline-Sweep.path b/src/main/deploy/pathplanner/paths/Source-Centerline-Sweep.path new file mode 100644 index 0000000..d59aeea --- /dev/null +++ b/src/main/deploy/pathplanner/paths/Source-Centerline-Sweep.path @@ -0,0 +1,106 @@ +{ + "version": 1.0, + "waypoints": [ + { + "anchor": { + "x": 0.8525708479988394, + "y": 4.441815740774339 + }, + "prevControl": null, + "nextControl": { + "x": 1.204397837367104, + "y": 1.5392430784861582 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 3.725824594506332, + "y": 1.2900322943503038 + }, + "prevControl": { + "x": 2.4032775457689963, + "y": 1.3250666532572533 + }, + "nextControl": { + "x": 5.939402735948329, + "y": 1.2313944627889262 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 8.387532203635836, + "y": 1.055480968104794 + }, + "prevControl": { + "x": 8.37287274574549, + "y": 0.5277404840523967 + }, + "nextControl": { + "x": 8.43565850674609, + "y": 2.788027880073846 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 8.09434304582895, + "y": 7.168474908378388 + }, + "prevControl": { + "x": 8.929932145578578, + "y": 6.714031713777714 + }, + "nextControl": { + "x": 7.4241868331530325, + "y": 7.532945831061782 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 5.8514459886062635, + "y": 7.168474908378388 + }, + "prevControl": { + "x": 6.7016945462462365, + "y": 7.080518161036323 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [ + { + "waypointRelativePos": 0.5, + "rotationDegrees": -135.02414156515954, + "rotateFast": false + } + ], + "constraintZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 4.0, + "maxAcceleration": 3.0, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0 + }, + "goalEndState": { + "velocity": 0, + "rotation": -139.96974072811037, + "rotateFast": false + }, + "reversed": false, + "folder": null, + "previewStartingState": { + "rotation": 125.53767779197439, + "velocity": 0 + }, + "useDefaultConstraints": false +} \ No newline at end of file