Merge pull request #31 from applepi-2067/gordon/feat/zero-shoulder

Gordon/feat/zero shoulder
applepi-2067 · Apr 3, 2024 · 4ecc24b · 4ecc24b
2 parents 77b24a3 + 8b663ae
commit 4ecc24b
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Showing 18 changed files with 396 additions and 93 deletions.
diff --git a/src/main/deploy/pathplanner/autos/Center upper 4-note.auto b/src/main/deploy/pathplanner/autos/Center upper 4-note.auto
@@ -22,9 +22,22 @@
           "data": {
             "commands": [
               {
-                "type": "path",
+                "type": "sequential",
                 "data": {
-                  "pathName": "Center note 2"
+                  "commands": [
+                    {
+                      "type": "path",
+                      "data": {
+                        "pathName": "Center note 2"
+                      }
+                    },
+                    {
+                      "type": "wait",
+                      "data": {
+                        "waitTime": 0.5
+                      }
+                    }
+                  ]
                 }
               },
               {

diff --git a/src/main/deploy/pathplanner/autos/Jim auto.auto b/src/main/deploy/pathplanner/autos/Jim auto.auto
@@ -0,0 +1,50 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 1.4662605074140238,
+      "y": 4.602358762492133
+    },
+    "rotation": 180.0
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "CloseAimShoot"
+          }
+        },
+        {
+          "type": "parallel",
+          "data": {
+            "commands": [
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "Jim"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "SpitNotes"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "KillShooter"
+          }
+        }
+      ]
+    }
+  },
+  "folder": "Source",
+  "choreoAuto": false
+}
diff --git a/src/main/deploy/pathplanner/paths/Amp midline note path.path b/src/main/deploy/pathplanner/paths/Amp midline note path.path
@@ -3,12 +3,12 @@
   "waypoints": [
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       "anchor": {
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       "nextControl": {
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+        "x": 4.349902856581748,
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       },
       "isLocked": false,
@@ -32,27 +32,27 @@
     },
     {
       "anchor": {
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       "linkedName": null
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     {
       "anchor": {
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       },
       "prevControl": {
-        "x": 8.45,
+        "x": 8.35,
         "y": 3.7623672132546333
       },
       "nextControl": null,

diff --git a/src/main/deploy/pathplanner/paths/Amp note 2.path b/src/main/deploy/pathplanner/paths/Amp note 2.path
@@ -16,11 +16,11 @@
     },
     {
       "anchor": {
-        "x": 3.0,
+        "x": 3.05,
         "y": 6.991369417831561
       },
       "prevControl": {
-        "x": 2.027365849063134,
+        "x": 2.077365849063134,
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       "nextControl": null,

diff --git a/src/main/deploy/pathplanner/paths/Amp return path.path b/src/main/deploy/pathplanner/paths/Amp return path.path
@@ -3,24 +3,24 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 8.45,
+        "x": 8.35,
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       },
       "prevControl": null,
       "nextControl": {
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+        "x": 7.406811289942122,
         "y": 6.2770083885388885
       },
       "isLocked": false,
       "linkedName": "Amp midline pickup end"
     },
     {
       "anchor": {
-        "x": 3.0,
+        "x": 3.05,
         "y": 6.991369417831561
       },
       "prevControl": {
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+        "x": 5.4741431649767724,
         "y": 6.90939356201109
       },
       "nextControl": null,

diff --git a/src/main/deploy/pathplanner/paths/Center lower note.path b/src/main/deploy/pathplanner/paths/Center lower note.path
@@ -3,13 +3,13 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 3.480524393288442,
-        "y": 5.539225686154654
+        "x": 3.05,
+        "y": 5.54
       },
       "prevControl": null,
       "nextControl": {
-        "x": 5.283993221338795,
-        "y": 4.251033666118688
+        "x": 4.853468828050353,
+        "y": 4.251807979964034
       },
       "isLocked": false,
       "linkedName": "Center shooting"
@@ -32,12 +32,12 @@
     },
     {
       "anchor": {
-        "x": 3.480524393288442,
-        "y": 5.539225686154654
+        "x": 3.05,
+        "y": 5.54
       },
       "prevControl": {
-        "x": 5.061487326968947,
-        "y": 4.27445533921025
+        "x": 4.630962933680504,
+        "y": 4.275229653055596
       },
       "nextControl": null,
       "isLocked": false,

diff --git a/src/main/deploy/pathplanner/paths/Center middle note.path b/src/main/deploy/pathplanner/paths/Center middle note.path
@@ -3,65 +3,77 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 3.480524393288442,
-        "y": 5.539225686154654
+        "x": 3.05,
+        "y": 5.54
       },
       "prevControl": null,
       "nextControl": {
-        "x": 3.5859219222004755,
-        "y": 4.813153820316202
+        "x": 5.497564838068336,
+        "y": 4.322072999238722
       },
       "isLocked": false,
       "linkedName": "Center shooting"
     },
     {
       "anchor": {
-        "x": 7.251413761030089,
-        "y": 4.098792791023527
+        "x": 6.689293606832576,
+        "y": 3.946551915928368
       },
       "prevControl": {
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-        "y": 4.098792791023527
+        "x": 4.6264402256004695,
+        "y": 4.00906262445055
       },
       "nextControl": {
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-        "y": 4.098792791023527
+        "x": 7.075751212843366,
+        "y": 3.934841079382587
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 8.6,
+        "x": 8.305389050150424,
         "y": 4.098792791023527
       },
       "prevControl": {
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-        "y": 4.098792791023527
+        "x": 6.970353683931332,
+        "y": 3.8879977331994606
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       "nextControl": {
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       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 3.480524393288442,
-        "y": 5.539225686154654
+        "x": 3.05,
+        "y": 5.54
       },
       "prevControl": {
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-        "y": 4.204190319935563
+        "x": 6.4695642713682,
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       },
       "nextControl": null,
       "isLocked": false,
       "linkedName": "Center shooting"
     }
   ],
   "rotationTargets": [],
-  "constraintZones": [],
+  "constraintZones": [
+    {
+      "name": "New Constraints Zone",
+      "minWaypointRelativePos": 1.6500000000000001,
+      "maxWaypointRelativePos": 2.4000000000000004,
+      "constraints": {
+        "maxVelocity": 2.0,
+        "maxAcceleration": 4.0,
+        "maxAngularVelocity": 360.0,
+        "maxAngularAcceleration": 720.0
+      }
+    }
+  ],
   "eventMarkers": [],
   "globalConstraints": {
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diff --git a/src/main/deploy/pathplanner/paths/Center note 2.path b/src/main/deploy/pathplanner/paths/Center note 2.path
@@ -16,20 +16,32 @@
     },
     {
       "anchor": {
-        "x": 3.480524393288442,
-        "y": 5.539225686154654
+        "x": 3.05,
+        "y": 5.54
       },
       "prevControl": {
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+        "x": 2.05,
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       },
       "nextControl": null,
       "isLocked": false,
       "linkedName": "Center shooting"
     }
   ],
   "rotationTargets": [],
-  "constraintZones": [],
+  "constraintZones": [
+    {
+      "name": "New Constraints Zone",
+      "minWaypointRelativePos": 0.6,
+      "maxWaypointRelativePos": 1.0,
+      "constraints": {
+        "maxVelocity": 2.0,
+        "maxAcceleration": 4.0,
+        "maxAngularVelocity": 360.0,
+        "maxAngularAcceleration": 720.0
+      }
+    }
+  ],
   "eventMarkers": [],
   "globalConstraints": {
     "maxVelocity": 4.0,