tweak center autos

applepi-2067 · Apr 3, 2024 · fb88f2a · fb88f2a
1 parent 2a7925f
commit fb88f2a
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Showing 5 changed files with 95 additions and 40 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/paths/Center lower note.path b/src/main/deploy/pathplanner/paths/Center lower note.path
@@ -3,13 +3,13 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 3.0,
-        "y": 5.539225686154654
+        "x": 3.05,
+        "y": 5.54
       },
       "prevControl": null,
       "nextControl": {
-        "x": 4.803468828050353,
-        "y": 4.251033666118688
+        "x": 4.853468828050353,
+        "y": 4.251807979964034
       },
       "isLocked": false,
       "linkedName": "Center shooting"
@@ -32,12 +32,12 @@
     },
     {
       "anchor": {
-        "x": 3.0,
-        "y": 5.539225686154654
+        "x": 3.05,
+        "y": 5.54
       },
       "prevControl": {
-        "x": 4.580962933680504,
-        "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
@@ -3,13 +3,13 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 3.0,
-        "y": 5.539225686154654
+        "x": 3.05,
+        "y": 5.54
       },
       "prevControl": null,
       "nextControl": {
-        "x": 5.447564838068336,
-        "y": 4.321298685393376
+        "x": 5.497564838068336,
+        "y": 4.322072999238722
       },
       "isLocked": false,
       "linkedName": "Center shooting"
@@ -48,20 +48,32 @@
     },
     {
       "anchor": {
-        "x": 3.0,
-        "y": 5.539225686154654
+        "x": 3.05,
+        "y": 5.54
       },
       "prevControl": {
-        "x": 6.4195642713682,
-        "y": 3.5366726368260153
+        "x": 6.4695642713682,
+        "y": 3.5374469506713613
       },
       "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": {
     "maxVelocity": 4.0,

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": 3.0,
-        "y": 5.539225686154654
+        "x": 3.05,
+        "y": 5.54
       },
       "prevControl": {
-        "x": 2.0,
-        "y": 5.539225686154654
+        "x": 2.05,
+        "y": 5.54
       },
       "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,

diff --git a/src/main/deploy/pathplanner/paths/Center upper note.path b/src/main/deploy/pathplanner/paths/Center upper note.path
@@ -3,65 +3,83 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 3.0,
-        "y": 5.539225686154654
+        "x": 3.05,
+        "y": 5.54
       },
       "prevControl": null,
       "nextControl": {
-        "x": 4.52293314424004,
-        "y": 7.306787690722315
+        "x": 4.572933144240039,
+        "y": 7.307562004567661
       },
       "isLocked": false,
       "linkedName": "Center shooting"
     },
     {
       "anchor": {
         "x": 7.087462049389147,
-        "y": 5.7617315805245015
+        "y": 5.78
       },
       "prevControl": {
         "x": 6.9352211742939875,
-        "y": 5.7617315805245015
+        "y": 5.78
       },
       "nextControl": {
         "x": 7.7905024949807595,
-        "y": 5.7617315805245015
+        "y": 5.78
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
         "x": 8.352232396333552,
-        "y": 5.7617315805245015
+        "y": 5.78
       },
       "prevControl": {
         "x": 7.602738857403534,
-        "y": 5.7617315805245015
+        "y": 5.78
       },
       "nextControl": {
         "x": 9.008457353775977,
-        "y": 5.7617315805245015
+        "y": 5.78
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 3.0,
-        "y": 5.539225686154654
+        "x": 3.05,
+        "y": 5.54
       },
       "prevControl": {
-        "x": 4.5346439807858205,
-        "y": 7.3419202003596595
+        "x": 4.58464398078582,
+        "y": 7.3426945142050055
       },
       "nextControl": null,
       "isLocked": false,
       "linkedName": "Center shooting"
     }
   ],
-  "rotationTargets": [],
-  "constraintZones": [],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 1.0999999999999999,
+      "rotationDegrees": 180.0,
+      "rotateFast": false
+    }
+  ],
+  "constraintZones": [
+    {
+      "name": "New Constraints Zone",
+      "minWaypointRelativePos": 1.1500000000000001,
+      "maxWaypointRelativePos": 2.25,
+      "constraints": {
+        "maxVelocity": 2.0,
+        "maxAcceleration": 4.0,
+        "maxAngularVelocity": 360.0,
+        "maxAngularAcceleration": 720.0
+      }
+    }
+  ],
   "eventMarkers": [],
   "globalConstraints": {
     "maxVelocity": 4.0,