diff --git a/src/main/deploy/pathplanner/autos/3.3.auto b/src/main/deploy/pathplanner/autos/3.3.auto deleted file mode 100644 index ce4eab5..0000000 --- a/src/main/deploy/pathplanner/autos/3.3.auto +++ /dev/null @@ -1,63 +0,0 @@ -{ - "version": 1.0, - "startingPose": { - "position": { - "x": 0.7, - "y": 6.7 - }, - "rotation": -120.0 - }, - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "deadline", - "data": { - "commands": [ - { - "type": "wait", - "data": { - "waitTime": 3.0 - } - }, - { - "type": "named", - "data": { - "name": "lancer" - } - } - ] - } - }, - { - "type": "path", - "data": { - "pathName": "3.1" - } - }, - { - "type": "deadline", - "data": { - "commands": [ - { - "type": "wait", - "data": { - "waitTime": 3.0 - } - }, - { - "type": "named", - "data": { - "name": "lancer" - } - } - ] - } - } - ] - } - }, - "folder": "3", - "choreoAuto": false -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/9.auto b/src/main/deploy/pathplanner/autos/9.auto index f1fd8c4..9bd7ff5 100644 --- a/src/main/deploy/pathplanner/autos/9.auto +++ b/src/main/deploy/pathplanner/autos/9.auto @@ -31,25 +31,32 @@ } }, { - "type": "path", - "data": { - "pathName": "1.1" - } - }, - { - "type": "deadline", + "type": "parallel", "data": { "commands": [ { - "type": "wait", + "type": "path", "data": { - "waitTime": 3.0 + "pathName": "1.1" } }, { - "type": "named", + "type": "deadline", "data": { - "name": "balyer" + "commands": [ + { + "type": "wait", + "data": { + "waitTime": 3.0 + } + }, + { + "type": "named", + "data": { + "name": "balyer" + } + } + ] } } ] diff --git a/src/main/deploy/pathplanner/autos/7.auto b/src/main/deploy/pathplanner/autos/B recule.auto similarity index 100% rename from src/main/deploy/pathplanner/autos/7.auto rename to src/main/deploy/pathplanner/autos/B recule.auto diff --git a/src/main/deploy/pathplanner/autos/1.1.auto b/src/main/deploy/pathplanner/autos/B.C.1.auto similarity index 100% rename from src/main/deploy/pathplanner/autos/1.1.auto rename to src/main/deploy/pathplanner/autos/B.C.1.auto diff --git a/src/main/deploy/pathplanner/autos/1.2.auto b/src/main/deploy/pathplanner/autos/B.C.2.auto similarity index 100% rename from src/main/deploy/pathplanner/autos/1.2.auto rename to src/main/deploy/pathplanner/autos/B.C.2.auto diff --git a/src/main/deploy/pathplanner/autos/1.4.auto b/src/main/deploy/pathplanner/autos/B.C.3.auto similarity index 65% rename from src/main/deploy/pathplanner/autos/1.4.auto rename to src/main/deploy/pathplanner/autos/B.C.3.auto index 6e06e00..d56a1aa 100644 --- a/src/main/deploy/pathplanner/autos/1.4.auto +++ b/src/main/deploy/pathplanner/autos/B.C.3.auto @@ -31,25 +31,32 @@ } }, { - "type": "path", - "data": { - "pathName": "1.1" - } - }, - { - "type": "deadline", + "type": "parallel", "data": { "commands": [ { - "type": "wait", + "type": "path", "data": { - "waitTime": 3.0 + "pathName": "1.1" } }, { - "type": "named", + "type": "deadline", "data": { - "name": "balyer" + "commands": [ + { + "type": "wait", + "data": { + "waitTime": 3.0 + } + }, + { + "type": "named", + "data": { + "name": "balyer" + } + } + ] } } ] diff --git a/src/main/deploy/pathplanner/autos/1.3.auto b/src/main/deploy/pathplanner/autos/B.C.4.auto similarity index 63% rename from src/main/deploy/pathplanner/autos/1.3.auto rename to src/main/deploy/pathplanner/autos/B.C.4.auto index e03567d..2f8fba6 100644 --- a/src/main/deploy/pathplanner/autos/1.3.auto +++ b/src/main/deploy/pathplanner/autos/B.C.4.auto @@ -31,29 +31,42 @@ } }, { - "type": "path", - "data": { - "pathName": "1.1" - } - }, - { - "type": "deadline", + "type": "sequential", "data": { "commands": [ { - "type": "wait", + "type": "path", "data": { - "waitTime": 3.0 + "pathName": "1.1" } }, { - "type": "named", + "type": "deadline", "data": { - "name": "balyer" + "commands": [ + { + "type": "wait", + "data": { + "waitTime": 3.0 + } + }, + { + "type": "named", + "data": { + "name": "balyer" + } + } + ] } } ] } + }, + { + "type": "path", + "data": { + "pathName": "1.2" + } } ] } diff --git a/src/main/deploy/pathplanner/autos/1.5.auto b/src/main/deploy/pathplanner/autos/B.C.5.auto similarity index 72% rename from src/main/deploy/pathplanner/autos/1.5.auto rename to src/main/deploy/pathplanner/autos/B.C.5.auto index 23f05cf..d5093f1 100644 --- a/src/main/deploy/pathplanner/autos/1.5.auto +++ b/src/main/deploy/pathplanner/autos/B.C.5.auto @@ -31,25 +31,32 @@ } }, { - "type": "path", - "data": { - "pathName": "1.1" - } - }, - { - "type": "deadline", + "type": "parallel", "data": { "commands": [ { - "type": "wait", + "type": "path", "data": { - "waitTime": 3.0 + "pathName": "1.1" } }, { - "type": "named", + "type": "deadline", "data": { - "name": "balyer" + "commands": [ + { + "type": "wait", + "data": { + "waitTime": 3.0 + } + }, + { + "type": "named", + "data": { + "name": "balyer" + } + } + ] } } ] diff --git a/src/main/deploy/pathplanner/autos/2.1.auto b/src/main/deploy/pathplanner/autos/B.D.1.auto similarity index 100% rename from src/main/deploy/pathplanner/autos/2.1.auto rename to src/main/deploy/pathplanner/autos/B.D.1.auto diff --git a/src/main/deploy/pathplanner/autos/2.2.auto b/src/main/deploy/pathplanner/autos/B.D.2.auto similarity index 100% rename from src/main/deploy/pathplanner/autos/2.2.auto rename to src/main/deploy/pathplanner/autos/B.D.2.auto diff --git a/src/main/deploy/pathplanner/autos/2.3.auto b/src/main/deploy/pathplanner/autos/B.D.3.auto similarity index 62% rename from src/main/deploy/pathplanner/autos/2.3.auto rename to src/main/deploy/pathplanner/autos/B.D.3.auto index 3cd5557..4a43031 100644 --- a/src/main/deploy/pathplanner/autos/2.3.auto +++ b/src/main/deploy/pathplanner/autos/B.D.3.auto @@ -31,25 +31,32 @@ } }, { - "type": "path", - "data": { - "pathName": "2.1" - } - }, - { - "type": "deadline", + "type": "parallel", "data": { "commands": [ { - "type": "wait", + "type": "path", "data": { - "waitTime": 3.0 + "pathName": "2.1" } }, { - "type": "named", + "type": "deadline", "data": { - "name": "balyer" + "commands": [ + { + "type": "wait", + "data": { + "waitTime": 3.0 + } + }, + { + "type": "named", + "data": { + "name": "balyer" + } + } + ] } } ] diff --git a/src/main/deploy/pathplanner/autos/2.4.auto b/src/main/deploy/pathplanner/autos/B.D.4.auto similarity index 65% rename from src/main/deploy/pathplanner/autos/2.4.auto rename to src/main/deploy/pathplanner/autos/B.D.4.auto index b2a1901..1f2f761 100644 --- a/src/main/deploy/pathplanner/autos/2.4.auto +++ b/src/main/deploy/pathplanner/autos/B.D.4.auto @@ -31,25 +31,32 @@ } }, { - "type": "path", - "data": { - "pathName": "2.1" - } - }, - { - "type": "deadline", + "type": "parallel", "data": { "commands": [ { - "type": "wait", + "type": "path", "data": { - "waitTime": 3.0 + "pathName": "2.1" } }, { - "type": "named", + "type": "deadline", "data": { - "name": "balyer" + "commands": [ + { + "type": "wait", + "data": { + "waitTime": 3.0 + } + }, + { + "type": "named", + "data": { + "name": "balyer" + } + } + ] } } ] diff --git a/src/main/deploy/pathplanner/autos/2.5.auto b/src/main/deploy/pathplanner/autos/B.D.5.auto similarity index 72% rename from src/main/deploy/pathplanner/autos/2.5.auto rename to src/main/deploy/pathplanner/autos/B.D.5.auto index 9a1589f..d6a5e2d 100644 --- a/src/main/deploy/pathplanner/autos/2.5.auto +++ b/src/main/deploy/pathplanner/autos/B.D.5.auto @@ -31,25 +31,32 @@ } }, { - "type": "path", - "data": { - "pathName": "2.1" - } - }, - { - "type": "deadline", + "type": "parallel", "data": { "commands": [ { - "type": "wait", + "type": "path", "data": { - "waitTime": 3.0 + "pathName": "2.1" } }, { - "type": "named", + "type": "deadline", "data": { - "name": "balyer" + "commands": [ + { + "type": "wait", + "data": { + "waitTime": 3.0 + } + }, + { + "type": "named", + "data": { + "name": "balyer" + } + } + ] } } ] diff --git a/src/main/deploy/pathplanner/autos/3.1.auto b/src/main/deploy/pathplanner/autos/B.H.1.auto similarity index 100% rename from src/main/deploy/pathplanner/autos/3.1.auto rename to src/main/deploy/pathplanner/autos/B.H.1.auto diff --git a/src/main/deploy/pathplanner/autos/3.2.auto b/src/main/deploy/pathplanner/autos/B.H.2.auto similarity index 100% rename from src/main/deploy/pathplanner/autos/3.2.auto rename to src/main/deploy/pathplanner/autos/B.H.2.auto diff --git a/src/main/deploy/pathplanner/autos/B.H.3.auto b/src/main/deploy/pathplanner/autos/B.H.3.auto new file mode 100644 index 0000000..6c5a86c --- /dev/null +++ b/src/main/deploy/pathplanner/autos/B.H.3.auto @@ -0,0 +1,89 @@ +{ + "version": 1.0, + "startingPose": { + "position": { + "x": 0.7, + "y": 6.7 + }, + "rotation": -120.0 + }, + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "deadline", + "data": { + "commands": [ + { + "type": "wait", + "data": { + "waitTime": 3.0 + } + }, + { + "type": "named", + "data": { + "name": "lancer" + } + } + ] + } + }, + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "3.1" + } + }, + { + "type": "deadline", + "data": { + "commands": [ + { + "type": "wait", + "data": { + "waitTime": 3.0 + } + }, + { + "type": "named", + "data": { + "name": "balyer" + } + } + ] + } + } + ] + } + }, + { + "type": "deadline", + "data": { + "commands": [ + { + "type": "wait", + "data": { + "waitTime": 3.0 + } + }, + { + "type": "named", + "data": { + "name": "lancer" + } + } + ] + } + } + ] + } + }, + "folder": "3", + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/3.4.auto b/src/main/deploy/pathplanner/autos/B.H.4.auto similarity index 65% rename from src/main/deploy/pathplanner/autos/3.4.auto rename to src/main/deploy/pathplanner/autos/B.H.4.auto index 2485fff..28c6ece 100644 --- a/src/main/deploy/pathplanner/autos/3.4.auto +++ b/src/main/deploy/pathplanner/autos/B.H.4.auto @@ -31,25 +31,32 @@ } }, { - "type": "path", - "data": { - "pathName": "3.1" - } - }, - { - "type": "deadline", + "type": "parallel", "data": { "commands": [ { - "type": "wait", + "type": "path", "data": { - "waitTime": 3.0 + "pathName": "3.1" } }, { - "type": "named", + "type": "deadline", "data": { - "name": "lancer" + "commands": [ + { + "type": "wait", + "data": { + "waitTime": 3.0 + } + }, + { + "type": "named", + "data": { + "name": "balyer" + } + } + ] } } ] diff --git a/src/main/deploy/pathplanner/autos/3.5.auto b/src/main/deploy/pathplanner/autos/B.H.5.auto similarity index 72% rename from src/main/deploy/pathplanner/autos/3.5.auto rename to src/main/deploy/pathplanner/autos/B.H.5.auto index 7a0dc5f..0771143 100644 --- a/src/main/deploy/pathplanner/autos/3.5.auto +++ b/src/main/deploy/pathplanner/autos/B.H.5.auto @@ -31,25 +31,32 @@ } }, { - "type": "path", - "data": { - "pathName": "3.1" - } - }, - { - "type": "deadline", + "type": "parallel", "data": { "commands": [ { - "type": "wait", + "type": "path", "data": { - "waitTime": 3.0 + "pathName": "3.1" } }, { - "type": "named", + "type": "deadline", "data": { - "name": "lancer" + "commands": [ + { + "type": "wait", + "data": { + "waitTime": 3.0 + } + }, + { + "type": "named", + "data": { + "name": "balyer" + } + } + ] } } ] diff --git a/src/main/deploy/pathplanner/autos/8.auto b/src/main/deploy/pathplanner/autos/R recule.auto similarity index 100% rename from src/main/deploy/pathplanner/autos/8.auto rename to src/main/deploy/pathplanner/autos/R recule.auto diff --git a/src/main/deploy/pathplanner/autos/4.1.auto b/src/main/deploy/pathplanner/autos/R.C.1.auto similarity index 100% rename from src/main/deploy/pathplanner/autos/4.1.auto rename to src/main/deploy/pathplanner/autos/R.C.1.auto diff --git a/src/main/deploy/pathplanner/autos/4.2.auto b/src/main/deploy/pathplanner/autos/R.C.2.auto similarity index 100% rename from src/main/deploy/pathplanner/autos/4.2.auto rename to src/main/deploy/pathplanner/autos/R.C.2.auto diff --git a/src/main/deploy/pathplanner/autos/4.3.auto b/src/main/deploy/pathplanner/autos/R.C.3.auto similarity index 62% rename from src/main/deploy/pathplanner/autos/4.3.auto rename to src/main/deploy/pathplanner/autos/R.C.3.auto index fcca443..9dcd3f2 100644 --- a/src/main/deploy/pathplanner/autos/4.3.auto +++ b/src/main/deploy/pathplanner/autos/R.C.3.auto @@ -31,25 +31,32 @@ } }, { - "type": "path", - "data": { - "pathName": "4.1" - } - }, - { - "type": "deadline", + "type": "parallel", "data": { "commands": [ { - "type": "wait", + "type": "path", "data": { - "waitTime": 3.0 + "pathName": "4.1" } }, { - "type": "named", + "type": "deadline", "data": { - "name": "balyer" + "commands": [ + { + "type": "wait", + "data": { + "waitTime": 3.0 + } + }, + { + "type": "named", + "data": { + "name": "balyer" + } + } + ] } } ] diff --git a/src/main/deploy/pathplanner/autos/4.4.auto b/src/main/deploy/pathplanner/autos/R.C.4.auto similarity index 65% rename from src/main/deploy/pathplanner/autos/4.4.auto rename to src/main/deploy/pathplanner/autos/R.C.4.auto index 3b8f377..91cced1 100644 --- a/src/main/deploy/pathplanner/autos/4.4.auto +++ b/src/main/deploy/pathplanner/autos/R.C.4.auto @@ -31,25 +31,32 @@ } }, { - "type": "path", - "data": { - "pathName": "4.1" - } - }, - { - "type": "deadline", + "type": "parallel", "data": { "commands": [ { - "type": "wait", + "type": "path", "data": { - "waitTime": 3.0 + "pathName": "4.1" } }, { - "type": "named", + "type": "deadline", "data": { - "name": "balyer" + "commands": [ + { + "type": "wait", + "data": { + "waitTime": 3.0 + } + }, + { + "type": "named", + "data": { + "name": "balyer" + } + } + ] } } ] diff --git a/src/main/deploy/pathplanner/autos/4.5.auto b/src/main/deploy/pathplanner/autos/R.C.5.auto similarity index 72% rename from src/main/deploy/pathplanner/autos/4.5.auto rename to src/main/deploy/pathplanner/autos/R.C.5.auto index 4e19546..621e3db 100644 --- a/src/main/deploy/pathplanner/autos/4.5.auto +++ b/src/main/deploy/pathplanner/autos/R.C.5.auto @@ -31,25 +31,32 @@ } }, { - "type": "path", - "data": { - "pathName": "4.1" - } - }, - { - "type": "deadline", + "type": "parallel", "data": { "commands": [ { - "type": "wait", + "type": "path", "data": { - "waitTime": 3.0 + "pathName": "4.1" } }, { - "type": "named", + "type": "deadline", "data": { - "name": "balyer" + "commands": [ + { + "type": "wait", + "data": { + "waitTime": 3.0 + } + }, + { + "type": "named", + "data": { + "name": "balyer" + } + } + ] } } ] diff --git a/src/main/deploy/pathplanner/autos/5.1.auto b/src/main/deploy/pathplanner/autos/R.D.1.auto similarity index 100% rename from src/main/deploy/pathplanner/autos/5.1.auto rename to src/main/deploy/pathplanner/autos/R.D.1.auto diff --git a/src/main/deploy/pathplanner/autos/5.2.auto b/src/main/deploy/pathplanner/autos/R.D.2.auto similarity index 100% rename from src/main/deploy/pathplanner/autos/5.2.auto rename to src/main/deploy/pathplanner/autos/R.D.2.auto diff --git a/src/main/deploy/pathplanner/autos/5.4.auto b/src/main/deploy/pathplanner/autos/R.D.3.auto similarity index 73% rename from src/main/deploy/pathplanner/autos/5.4.auto rename to src/main/deploy/pathplanner/autos/R.D.3.auto index dd425d2..cec92fd 100644 --- a/src/main/deploy/pathplanner/autos/5.4.auto +++ b/src/main/deploy/pathplanner/autos/R.D.3.auto @@ -15,58 +15,52 @@ "type": "deadline", "data": { "commands": [ + { + "type": "wait", + "data": { + "waitTime": 3.0 + } + }, + { + "type": "named", + "data": { + "name": "lancer" + } + } + ] + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "5.1" + } + }, { "type": "deadline", "data": { "commands": [ + { + "type": "wait", + "data": { + "waitTime": 3.0 + } + }, { "type": "named", "data": { - "name": "lancer" + "name": "balyer" } } ] } - }, - { - "type": "wait", - "data": { - "waitTime": 3.0 - } } ] } - }, - { - "type": "path", - "data": { - "pathName": "5.1" - } - }, - { - "type": "deadline", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "balyer" - } - }, - { - "type": "wait", - "data": { - "waitTime": 3.0 - } - } - ] - } - }, - { - "type": "path", - "data": { - "pathName": "5.2" - } } ] } diff --git a/src/main/deploy/pathplanner/autos/5.3.auto b/src/main/deploy/pathplanner/autos/R.D.4.auto similarity index 52% rename from src/main/deploy/pathplanner/autos/5.3.auto rename to src/main/deploy/pathplanner/autos/R.D.4.auto index 902d99a..f43c6b0 100644 --- a/src/main/deploy/pathplanner/autos/5.3.auto +++ b/src/main/deploy/pathplanner/autos/R.D.4.auto @@ -15,16 +15,55 @@ "type": "deadline", "data": { "commands": [ + { + "type": "deadline", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "lancer" + } + } + ] + } + }, { "type": "wait", "data": { "waitTime": 3.0 } + } + ] + } + }, + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "5.1" + } }, { - "type": "named", + "type": "deadline", "data": { - "name": "lancer" + "commands": [ + { + "type": "wait", + "data": { + "waitTime": 3.0 + } + }, + { + "type": "named", + "data": { + "name": "balyer" + } + } + ] } } ] @@ -33,26 +72,7 @@ { "type": "path", "data": { - "pathName": "5.1" - } - }, - { - "type": "deadline", - "data": { - "commands": [ - { - "type": "wait", - "data": { - "waitTime": 3.0 - } - }, - { - "type": "named", - "data": { - "name": "balyer" - } - } - ] + "pathName": "5.2" } } ] diff --git a/src/main/deploy/pathplanner/autos/5.5.auto b/src/main/deploy/pathplanner/autos/R.D.5.auto similarity index 72% rename from src/main/deploy/pathplanner/autos/5.5.auto rename to src/main/deploy/pathplanner/autos/R.D.5.auto index e7c6626..615fb4e 100644 --- a/src/main/deploy/pathplanner/autos/5.5.auto +++ b/src/main/deploy/pathplanner/autos/R.D.5.auto @@ -31,25 +31,32 @@ } }, { - "type": "path", - "data": { - "pathName": "5.1" - } - }, - { - "type": "deadline", + "type": "parallel", "data": { "commands": [ { - "type": "wait", + "type": "path", "data": { - "waitTime": 3.0 + "pathName": "5.1" } }, { - "type": "named", + "type": "deadline", "data": { - "name": "balyer" + "commands": [ + { + "type": "wait", + "data": { + "waitTime": 3.0 + } + }, + { + "type": "named", + "data": { + "name": "balyer" + } + } + ] } } ] diff --git a/src/main/deploy/pathplanner/autos/6.1.auto b/src/main/deploy/pathplanner/autos/R.H.1.auto similarity index 100% rename from src/main/deploy/pathplanner/autos/6.1.auto rename to src/main/deploy/pathplanner/autos/R.H.1.auto diff --git a/src/main/deploy/pathplanner/autos/6.2.auto b/src/main/deploy/pathplanner/autos/R.H.2.auto similarity index 100% rename from src/main/deploy/pathplanner/autos/6.2.auto rename to src/main/deploy/pathplanner/autos/R.H.2.auto diff --git a/src/main/deploy/pathplanner/autos/6.3.auto b/src/main/deploy/pathplanner/autos/R.H.3.auto similarity index 62% rename from src/main/deploy/pathplanner/autos/6.3.auto rename to src/main/deploy/pathplanner/autos/R.H.3.auto index ce14187..051db29 100644 --- a/src/main/deploy/pathplanner/autos/6.3.auto +++ b/src/main/deploy/pathplanner/autos/R.H.3.auto @@ -31,25 +31,32 @@ } }, { - "type": "path", - "data": { - "pathName": "6.1" - } - }, - { - "type": "deadline", + "type": "parallel", "data": { "commands": [ { - "type": "wait", + "type": "path", "data": { - "waitTime": 3.0 + "pathName": "6.1" } }, { - "type": "named", + "type": "deadline", "data": { - "name": "balyer" + "commands": [ + { + "type": "wait", + "data": { + "waitTime": 3.0 + } + }, + { + "type": "named", + "data": { + "name": "balyer" + } + } + ] } } ] diff --git a/src/main/deploy/pathplanner/autos/6.4.auto b/src/main/deploy/pathplanner/autos/R.H.4.auto similarity index 65% rename from src/main/deploy/pathplanner/autos/6.4.auto rename to src/main/deploy/pathplanner/autos/R.H.4.auto index 1cd567a..f58efd3 100644 --- a/src/main/deploy/pathplanner/autos/6.4.auto +++ b/src/main/deploy/pathplanner/autos/R.H.4.auto @@ -31,25 +31,32 @@ } }, { - "type": "path", - "data": { - "pathName": "6.1" - } - }, - { - "type": "deadline", + "type": "parallel", "data": { "commands": [ { - "type": "wait", + "type": "path", "data": { - "waitTime": 3.0 + "pathName": "6.1" } }, { - "type": "named", + "type": "deadline", "data": { - "name": "balyer" + "commands": [ + { + "type": "wait", + "data": { + "waitTime": 3.0 + } + }, + { + "type": "named", + "data": { + "name": "balyer" + } + } + ] } } ] diff --git a/src/main/deploy/pathplanner/autos/6.5.auto b/src/main/deploy/pathplanner/autos/R.H.5.auto similarity index 72% rename from src/main/deploy/pathplanner/autos/6.5.auto rename to src/main/deploy/pathplanner/autos/R.H.5.auto index 2751b1b..cc8132b 100644 --- a/src/main/deploy/pathplanner/autos/6.5.auto +++ b/src/main/deploy/pathplanner/autos/R.H.5.auto @@ -31,25 +31,32 @@ } }, { - "type": "path", - "data": { - "pathName": "6.1" - } - }, - { - "type": "deadline", + "type": "parallel", "data": { "commands": [ { - "type": "wait", + "type": "path", "data": { - "waitTime": 3.0 + "pathName": "6.1" } }, { - "type": "named", + "type": "deadline", "data": { - "name": "balyer" + "commands": [ + { + "type": "wait", + "data": { + "waitTime": 3.0 + } + }, + { + "type": "named", + "data": { + "name": "balyer" + } + } + ] } } ] diff --git a/src/main/deploy/pathplanner/paths/1.1.path b/src/main/deploy/pathplanner/paths/1.1.path index 605e51a..b5ef055 100644 --- a/src/main/deploy/pathplanner/paths/1.1.path +++ b/src/main/deploy/pathplanner/paths/1.1.path @@ -8,7 +8,7 @@ }, "prevControl": null, "nextControl": { - "x": 1.2733425960299216, + "x": 1.3266574039700785, "y": 5.55 }, "isLocked": false, @@ -39,7 +39,7 @@ }, "goalEndState": { "velocity": 0, - "rotation": -179.1243356864854, + "rotation": -179.69010821508004, "rotateFast": false }, "reversed": false, diff --git a/src/main/java/frc/robot/subsystem/Lanceur.java b/src/main/java/frc/robot/subsystem/Lanceur.java index d57e8b1..e0d9627 100644 --- a/src/main/java/frc/robot/subsystem/Lanceur.java +++ b/src/main/java/frc/robot/subsystem/Lanceur.java @@ -32,8 +32,19 @@ public class Lanceur extends SubsystemBase { final CANSparkMax lanceur2 = new CANSparkMax(Constants.lancer2, MotorType.kBrushless); final CANSparkMax lanceur3 = new CANSparkMax(Constants.lancer3, MotorType.kBrushless); final CANSparkMax lanceur4 = new CANSparkMax(Constants.lancer4, MotorType.kBrushless); - public void pid(){ - lanceur1.getPIDController(); + public void pidspeaker(){ + lanceur1.getPIDController().setP(0.5); + lanceur1.getPIDController().setI(0.5); + lanceur1.getPIDController().setD(0.5); + lanceur2.getPIDController().setP(0.5); + lanceur2.getPIDController().setI(0.5); + lanceur2.getPIDController().setD(0.5); + lanceur3.getPIDController().setP(0.5); + lanceur3.getPIDController().setI(0.5); + lanceur3.getPIDController().setD(0.5); + lanceur4.getPIDController().setP(0.5); + lanceur4.getPIDController().setI(0.5); + lanceur4.getPIDController().setD(0.5); } public void lancer(double vitesse){ lanceur1.set(-vitesse);