gp elims

robototes · Mar 3, 2024 · 653910c · 653910c
1 parent 2cf0c82
commit 653910c
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Showing 10 changed files with 44 additions and 32 deletions.
diff --git a/src/main/deploy/pathplanner/autos/PresetMidAutoline3Score.auto b/src/main/deploy/pathplanner/autos/PresetMidAutoline3Score.auto
@@ -40,6 +40,12 @@
           "data": {
             "name": "SubwooferLaunch"
           }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "MidSpeakerPassAutoLine"
+          }
         }
       ]
     }

diff --git a/src/main/deploy/pathplanner/autos/PresetSourceSideAutoline2Score.auto b/src/main/deploy/pathplanner/autos/PresetSourceSideAutoline2Score.auto
@@ -23,6 +23,12 @@
             "pathName": "LowSpeakerToLowNote"
           }
         },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "LowNoteToLowSpeaker"
+          }
+        },
         {
           "type": "named",
           "data": {
@@ -32,7 +38,7 @@
         {
           "type": "path",
           "data": {
-            "pathName": "LowNoteToLowSpeaker"
+            "pathName": "LowSpeakerCenterLine"
           }
         }
       ]

diff --git a/src/main/deploy/pathplanner/paths/BottomNoteLaunch.path b/src/main/deploy/pathplanner/paths/BottomNoteLaunch.path
@@ -3,13 +3,13 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 2.64,
-        "y": 4.1
+        "x": 2.7713929062062417,
+        "y": 4.07539893464585
       },
       "prevControl": null,
       "nextControl": {
-        "x": 2.524746117192999,
-        "y": 4.003997174531632
+        "x": 2.6561390233992404,
+        "y": 3.9793961091774825
       },
       "isLocked": false,
       "linkedName": "Podium"

diff --git a/src/main/deploy/pathplanner/paths/LowNoteToLaunch.path b/src/main/deploy/pathplanner/paths/LowNoteToLaunch.path
@@ -3,13 +3,13 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 2.64,
-        "y": 4.1
+        "x": 2.7713929062062417,
+        "y": 4.07539893464585
       },
       "prevControl": null,
       "nextControl": {
-        "x": 2.4323196806588725,
-        "y": 4.243322559198271
+        "x": 2.563712586865114,
+        "y": 4.2187214938441215
       },
       "isLocked": false,
       "linkedName": "Podium"

diff --git a/src/main/deploy/pathplanner/paths/LowNoteToLowSpeaker.path b/src/main/deploy/pathplanner/paths/LowNoteToLowSpeaker.path
@@ -3,16 +3,16 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 2.64,
-        "y": 4.1
+        "x": 2.77,
+        "y": 4.08
       },
       "prevControl": null,
       "nextControl": {
-        "x": 2.266667696398456,
-        "y": 4.123137615644601
+        "x": 2.3966676963984557,
+        "y": 4.103137615644601
       },
       "isLocked": false,
-      "linkedName": "Podium"
+      "linkedName": null
     },
     {
       "anchor": {

diff --git a/src/main/deploy/pathplanner/paths/LowNoteToSpeaker.path b/src/main/deploy/pathplanner/paths/LowNoteToSpeaker.path
@@ -3,13 +3,13 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 2.64,
-        "y": 4.1
+        "x": 2.7713929062062417,
+        "y": 4.07539893464585
       },
       "prevControl": null,
       "nextControl": {
-        "x": 2.547148467218551,
-        "y": 4.962626932379757
+        "x": 2.6785413734247925,
+        "y": 4.938025867025607
       },
       "isLocked": false,
       "linkedName": "Podium"

diff --git a/src/main/deploy/pathplanner/paths/LowSpeakerToLowNote.path b/src/main/deploy/pathplanner/paths/LowSpeakerToLowNote.path
@@ -16,12 +16,12 @@
     },
     {
       "anchor": {
-        "x": 2.64,
-        "y": 4.1
+        "x": 2.77,
+        "y": 4.07539893464585
       },
       "prevControl": {
-        "x": 2.3213806186170927,
-        "y": 4.095403506122328
+        "x": 2.4513806186170926,
+        "y": 4.070802440768179
       },
       "nextControl": null,
       "isLocked": false,

diff --git a/src/main/deploy/pathplanner/paths/MidNoteToBottomNote.path b/src/main/deploy/pathplanner/paths/MidNoteToBottomNote.path
@@ -16,12 +16,12 @@
     },
     {
       "anchor": {
-        "x": 2.64,
-        "y": 4.1
+        "x": 2.7713929062062417,
+        "y": 4.07539893464585
       },
       "prevControl": {
-        "x": 1.6927408027789026,
-        "y": 4.243318756907785
+        "x": 1.8241337089851442,
+        "y": 4.2187176915536355
       },
       "nextControl": null,
       "isLocked": false,

diff --git a/src/main/deploy/pathplanner/paths/MidSpeakerPassAutoLine.path b/src/main/deploy/pathplanner/paths/MidSpeakerPassAutoLine.path
@@ -38,8 +38,8 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 4.0,
-    "maxAcceleration": 3.0,
+    "maxVelocity": 2.0,
+    "maxAcceleration": 2.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0
   },

diff --git a/src/main/deploy/pathplanner/paths/SpeakerToLowNote.path b/src/main/deploy/pathplanner/paths/SpeakerToLowNote.path
@@ -32,12 +32,12 @@
     },
     {
       "anchor": {
-        "x": 2.64,
-        "y": 4.1
+        "x": 2.7713929062062417,
+        "y": 4.07539893464585
       },
       "prevControl": {
-        "x": 2.3213806186170927,
-        "y": 4.095403506122328
+        "x": 2.452773524823334,
+        "y": 4.070802440768179
       },
       "nextControl": null,
       "isLocked": false,