Merge branch 'main' of https://git.demerso.net/pls5618/2024/robot

src/main/deploy/pathplanner/autos/B.C.2.auto

@@ -5,7 +5,7 @@
       "x": 1.3,
       "y": 5.55
     },
-    "rotation": 180.0
+    "rotation": 0.0
   },
   "command": {
     "type": "sequential",

src/main/deploy/pathplanner/autos/R.C.2.auto

@@ -5,7 +5,7 @@
       "x": 15.2,
       "y": 5.55
     },
-    "rotation": 0
+    "rotation": 180.0
   },
   "command": {
     "type": "sequential",

src/main/deploy/pathplanner/autos/test.auto

@@ -0,0 +1,44 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 15.18,
+      "y": 4.81
+    },
+    "rotation": 0.0
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "deadline",
+          "data": {
+            "commands": [
+              {
+                "type": "wait",
+                "data": {
+                  "waitTime": 3.0
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "lancer"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "test"
+          }
+        }
+      ]
+    }
+  },
+  "folder": "4",
+  "choreoAuto": false
+}

src/main/deploy/pathplanner/paths/1.1.path

@@ -39,7 +39,7 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": -179.69010821508004,
+    "rotation": -0.47321748092014937,
     "rotateFast": false
   },
   "reversed": false,

src/main/deploy/pathplanner/paths/4.1.path

@@ -32,14 +32,14 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 1.0,
+    "maxVelocity": 0.5,
-    "maxAcceleration": 1.0,
+    "maxAcceleration": 0.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": 0,
+    "rotation": -0.2903756608952776,
     "rotateFast": false
   },
   "reversed": false,

src/main/deploy/pathplanner/paths/4.2.path

@@ -32,8 +32,8 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
+    "maxVelocity": 0.5,
-    "maxAcceleration": 3.0,
+    "maxAcceleration": 0.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0
   },

src/main/deploy/pathplanner/paths/test.path

@@ -0,0 +1,52 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 15.182835116264057,
+        "y": 4.8066308009100585
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 15.182835116264057,
+        "y": 4.8258390977013725
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 15.182835116264057,
+        "y": 7.1855718058229465
+      },
+      "prevControl": {
+        "x": 15.192447316011023,
+        "y": 7.181673109189449
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 1.0,
+    "maxAcceleration": 1.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 0,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": null,
+  "previewStartingState": {
+    "rotation": 0,
+    "velocity": 0
+  },
+  "useDefaultConstraints": false
+}