fixed gyro yaw stuff, adjustments to disrupt autos, timeouts for all …

…goal based commands, amp with intake is now on press not hold, some other auto adjustments/additions
RoboLancers · Apr 18, 2024 · c933508 · c933508
1 parent 13d35df
commit c933508
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Showing 46 changed files with 421 additions and 166 deletions.
diff --git a/.pathplanner/settings.json b/.pathplanner/settings.json
@@ -4,21 +4,21 @@
   "holonomicMode": true,
   "pathFolders": [
     "3BotCenter",
+    "3BotCenterAlt",
     "3Mid",
     "3TopCenter",
     "4Bot",
     "4Mid",
     "4Top",
-    "4TopAlt",
     "BotDisrupt",
     "BotTaxi",
-    "3BotCenterAlt",
+    "4TopAlt",
     "TopDisrupt",
     "TopTaxi"
   ],
   "autoFolders": [],
   "defaultMaxVel": 4.0,
-  "defaultMaxAccel": 3.0,
+  "defaultMaxAccel": 4.0,
   "defaultMaxAngVel": 270.0,
   "defaultMaxAngAccel": 360.0,
   "maxModuleSpeed": 4.0

diff --git a/src/main/deploy/pathplanner/autos/4Bot.auto b/src/main/deploy/pathplanner/autos/4Bot.auto
@@ -14,7 +14,7 @@
         {
           "type": "path",
           "data": {
-            "pathName": "TopChaos"
+            "pathName": "4Bot.2"
           }
         },
         {

diff --git a/src/main/deploy/pathplanner/paths/1BotTaxi.path b/src/main/deploy/pathplanner/paths/1BotTaxi.path
@@ -8,8 +8,8 @@
       },
       "prevControl": null,
       "nextControl": {
-        "x": 0.7383447478405972,
-        "y": 2.0783638253329397
+        "x": 1.0949554723536934,
+        "y": 1.0026621579960722
       },
       "isLocked": false,
       "linkedName": "BotStart"

diff --git a/src/main/deploy/pathplanner/paths/1TopTaxi.path b/src/main/deploy/pathplanner/paths/1TopTaxi.path
@@ -16,15 +16,15 @@
     },
     {
       "anchor": {
-        "x": 2.168910700160914,
+        "x": 1.9409516681628791,
         "y": 7.705730447124233
       },
       "prevControl": {
-        "x": 1.3752333551014027,
+        "x": 1.1472743231033677,
         "y": 7.689442794925981
       },
       "nextControl": {
-        "x": 3.081821080793479,
+        "x": 2.8538620487954445,
         "y": 7.724464970492544
       },
       "isLocked": false,

diff --git a/src/main/deploy/pathplanner/paths/3BotCenter.1.path b/src/main/deploy/pathplanner/paths/3BotCenter.1.path
@@ -48,14 +48,14 @@
     {
       "waypointRelativePos": 1,
       "rotationDegrees": 0,
-      "rotateFast": false
+      "rotateFast": true
     }
   ],
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
     "maxVelocity": 4.0,
-    "maxAcceleration": 3.0,
+    "maxAcceleration": 4.0,
     "maxAngularVelocity": 270.0,
     "maxAngularAcceleration": 360.0
   },

diff --git a/src/main/deploy/pathplanner/paths/3BotCenter.2.path b/src/main/deploy/pathplanner/paths/3BotCenter.2.path
@@ -55,7 +55,7 @@
   "eventMarkers": [],
   "globalConstraints": {
     "maxVelocity": 4.0,
-    "maxAcceleration": 3.0,
+    "maxAcceleration": 4.0,
     "maxAngularVelocity": 270.0,
     "maxAngularAcceleration": 360.0
   },
@@ -67,5 +67,5 @@
   "reversed": false,
   "folder": "3BotCenter",
   "previewStartingState": null,
-  "useDefaultConstraints": false
+  "useDefaultConstraints": true
 }
diff --git a/src/main/deploy/pathplanner/paths/3BotCenter.3.path b/src/main/deploy/pathplanner/paths/3BotCenter.3.path
@@ -32,12 +32,12 @@
     },
     {
       "anchor": {
-        "x": 7.848666424864946,
-        "y": 2.5529623669803687
+        "x": 7.885445770891543,
+        "y": 2.476602645512984
       },
       "prevControl": {
-        "x": 7.296610270823963,
-        "y": 2.5122137229899386
+        "x": 7.33338961685056,
+        "y": 2.435854001522554
       },
       "nextControl": null,
       "isLocked": false,
@@ -49,7 +49,7 @@
   "eventMarkers": [],
   "globalConstraints": {
     "maxVelocity": 4.0,
-    "maxAcceleration": 3.0,
+    "maxAcceleration": 4.0,
     "maxAngularVelocity": 270.0,
     "maxAngularAcceleration": 360.0
   },
@@ -61,5 +61,5 @@
   "reversed": false,
   "folder": "3BotCenter",
   "previewStartingState": null,
-  "useDefaultConstraints": false
+  "useDefaultConstraints": true
 }
diff --git a/src/main/deploy/pathplanner/paths/3BotCenter.4.path b/src/main/deploy/pathplanner/paths/3BotCenter.4.path
@@ -3,13 +3,13 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 7.848666424864946,
-        "y": 2.5529623669803687
+        "x": 7.885445770891543,
+        "y": 2.476602645512984
       },
       "prevControl": null,
       "nextControl": {
-        "x": 7.039577114378632,
-        "y": 2.0497482836291248
+        "x": 7.07635646040523,
+        "y": 1.9733885621617402
       },
       "isLocked": false,
       "linkedName": "3BotCenter.3End"
@@ -49,7 +49,7 @@
   "eventMarkers": [],
   "globalConstraints": {
     "maxVelocity": 4.0,
-    "maxAcceleration": 3.0,
+    "maxAcceleration": 4.0,
     "maxAngularVelocity": 270.0,
     "maxAngularAcceleration": 360.0
   },
@@ -61,5 +61,5 @@
   "reversed": false,
   "folder": "3BotCenter",
   "previewStartingState": null,
-  "useDefaultConstraints": false
+  "useDefaultConstraints": true
 }
diff --git a/src/main/deploy/pathplanner/paths/3BotCenterAlt.1.path b/src/main/deploy/pathplanner/paths/3BotCenterAlt.1.path
@@ -55,7 +55,7 @@
   "eventMarkers": [],
   "globalConstraints": {
     "maxVelocity": 4.0,
-    "maxAcceleration": 3.0,
+    "maxAcceleration": 4.0,
     "maxAngularVelocity": 270.0,
     "maxAngularAcceleration": 360.0
   },

diff --git a/src/main/deploy/pathplanner/paths/3BotCenterAlt.3.path b/src/main/deploy/pathplanner/paths/3BotCenterAlt.3.path
@@ -55,7 +55,7 @@
   "eventMarkers": [],
   "globalConstraints": {
     "maxVelocity": 4.0,
-    "maxAcceleration": 3.0,
+    "maxAcceleration": 4.0,
     "maxAngularVelocity": 270.0,
     "maxAngularAcceleration": 360.0
   },

diff --git a/src/main/deploy/pathplanner/paths/3BotCenterAlt.4.path b/src/main/deploy/pathplanner/paths/3BotCenterAlt.4.path
@@ -48,14 +48,14 @@
     {
       "waypointRelativePos": 1.0,
       "rotationDegrees": 0,
-      "rotateFast": false
+      "rotateFast": true
     }
   ],
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
     "maxVelocity": 4.0,
-    "maxAcceleration": 3.0,
+    "maxAcceleration": 4.0,
     "maxAngularVelocity": 270.0,
     "maxAngularAcceleration": 360.0
   },
@@ -67,5 +67,5 @@
   "reversed": false,
   "folder": "3BotCenterAlt",
   "previewStartingState": null,
-  "useDefaultConstraints": false
+  "useDefaultConstraints": true
 }
diff --git a/src/main/deploy/pathplanner/paths/3Mid.1.path b/src/main/deploy/pathplanner/paths/3Mid.1.path
@@ -33,7 +33,7 @@
   "eventMarkers": [],
   "globalConstraints": {
     "maxVelocity": 4.0,
-    "maxAcceleration": 3.0,
+    "maxAcceleration": 4.0,
     "maxAngularVelocity": 270.0,
     "maxAngularAcceleration": 360.0
   },

diff --git a/src/main/deploy/pathplanner/paths/3Mid.2.path b/src/main/deploy/pathplanner/paths/3Mid.2.path
@@ -49,7 +49,7 @@
   "eventMarkers": [],
   "globalConstraints": {
     "maxVelocity": 4.0,
-    "maxAcceleration": 3.0,
+    "maxAcceleration": 4.0,
     "maxAngularVelocity": 270.0,
     "maxAngularAcceleration": 360.0
   },

diff --git a/src/main/deploy/pathplanner/paths/3Mid.3.path b/src/main/deploy/pathplanner/paths/3Mid.3.path
@@ -49,7 +49,7 @@
   "eventMarkers": [],
   "globalConstraints": {
     "maxVelocity": 4.0,
-    "maxAcceleration": 3.0,
+    "maxAcceleration": 4.0,
     "maxAngularVelocity": 270.0,
     "maxAngularAcceleration": 360.0
   },

diff --git a/src/main/deploy/pathplanner/paths/3TopCenter.1.path b/src/main/deploy/pathplanner/paths/3TopCenter.1.path
@@ -16,16 +16,32 @@
     },
     {
       "anchor": {
-        "x": 2.2415544831089678,
-        "y": 7.725816220863211
+        "x": 1.8469520908507473,
+        "y": 7.739298532032179
       },
       "prevControl": {
-        "x": 1.8370098278658107,
-        "y": 7.6863484496199765
+        "x": 1.4406046908225594,
+        "y": 7.729507028417042
       },
       "nextControl": {
-        "x": 3.180717852181861,
-        "y": 7.817441915406908
+        "x": 2.713837081618185,
+        "y": 7.7601873269904305
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 4.1760527286957885,
+        "y": 7.739298532032179
+      },
+      "prevControl": {
+        "x": 3.3822785202822323,
+        "y": 7.728854134553053
+      },
+      "nextControl": {
+        "x": 5.141906451839974,
+        "y": 7.752007133652497
       },
       "isLocked": false,
       "linkedName": null
@@ -54,7 +70,7 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 4.0,
+    "maxVelocity": 3.0,
     "maxAcceleration": 3.0,
     "maxAngularVelocity": 270.0,
     "maxAngularAcceleration": 360.0
@@ -70,5 +86,5 @@
     "rotation": 60.59,
     "velocity": 0
   },
-  "useDefaultConstraints": true
+  "useDefaultConstraints": false
 }
diff --git a/src/main/deploy/pathplanner/paths/3TopCenter.2.path b/src/main/deploy/pathplanner/paths/3TopCenter.2.path
@@ -16,16 +16,32 @@
     },
     {
       "anchor": {
-        "x": 2.843437994568298,
-        "y": 7.6863484496199765
+        "x": 4.88627175727634,
+        "y": 7.791520519427808
       },
       "prevControl": {
-        "x": 3.8582130601048834,
-        "y": 7.6528021664617425
+        "x": 5.37558711858268,
+        "y": 7.795343711817274
       },
       "nextControl": {
-        "x": 1.6495379144604458,
-        "y": 7.725816220863211
+        "x": 4.39695639597,
+        "y": 7.787697327038341
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 2.7765034664929384,
+        "y": 7.791520519427808
+      },
+      "prevControl": {
+        "x": 3.524231941789387,
+        "y": 7.750471024527878
+      },
+      "nextControl": {
+        "x": 1.5837472720204562,
+        "y": 7.857001560928128
       },
       "isLocked": false,
       "linkedName": null
@@ -46,7 +62,7 @@
   ],
   "rotationTargets": [
     {
-      "waypointRelativePos": 1.0,
+      "waypointRelativePos": 2.0,
       "rotationDegrees": 0.0,
       "rotateFast": true
     }

diff --git a/src/main/deploy/pathplanner/paths/3TopCenter.3.path b/src/main/deploy/pathplanner/paths/3TopCenter.3.path
@@ -16,20 +16,36 @@
     },
     {
       "anchor": {
-        "x": 2.8237041089466803,
+        "x": 2.212506002620149,
         "y": 7.715949278052403
       },
       "prevControl": {
-        "x": 2.0639495125144114,
+        "x": 1.45275140618788,
         "y": 7.715949278052403
       },
       "nextControl": {
-        "x": 4.00349508386258,
+        "x": 3.3922969775360485,
         "y": 7.715949278052403
       },
       "isLocked": false,
       "linkedName": null
     },
+    {
+      "anchor": {
+        "x": 4.374496280799177,
+        "y": 7.715949278052403
+      },
+      "prevControl": {
+        "x": 3.7585213006870717,
+        "y": 7.733478963047839
+      },
+      "nextControl": {
+        "x": 5.022048924504974,
+        "y": 7.697520942115676
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
     {
       "anchor": {
         "x": 7.915046599323969,