From 0631295bb787fd81a119b8bd4bc08f629f742f4d Mon Sep 17 00:00:00 2001 From: Antoine PerreaultE Date: Wed, 10 Apr 2024 18:27:06 -0400 Subject: [PATCH 1/3] path --- .../deploy/pathplanner/autos/10 avril.auto | 102 ++++++++++++++++++ .../deploy/pathplanner/autos/New Auto.auto | 25 ----- .../{New Path.path => 10 avril avancer.path} | 26 +++-- .../pathplanner/paths/10 avril reculer.path | 58 ++++++++++ 4 files changed, 176 insertions(+), 35 deletions(-) create mode 100644 src/main/deploy/pathplanner/autos/10 avril.auto delete mode 100644 src/main/deploy/pathplanner/autos/New Auto.auto rename src/main/deploy/pathplanner/paths/{New Path.path => 10 avril avancer.path} (69%) create mode 100644 src/main/deploy/pathplanner/paths/10 avril reculer.path diff --git a/src/main/deploy/pathplanner/autos/10 avril.auto b/src/main/deploy/pathplanner/autos/10 avril.auto new file mode 100644 index 0000000..31816c3 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/10 avril.auto @@ -0,0 +1,102 @@ +{ + "version": 1.0, + "startingPose": { + "position": { + "x": 1.38, + "y": 5.55 + }, + "rotation": 0 + }, + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "lancer" + } + } + ] + } + }, + { + "type": "wait", + "data": { + "waitTime": 0.5 + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "10 avril reculer" + } + }, + { + "type": "named", + "data": { + "name": "balayer" + } + } + ] + } + }, + { + "type": "wait", + "data": { + "waitTime": 0.3 + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "10 avril avancer" + } + }, + { + "type": "wait", + "data": { + "waitTime": 0.2 + } + } + ] + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "lancer" + } + } + ] + } + } + ] + } + } + ] + } + }, + "folder": null, + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/New Auto.auto b/src/main/deploy/pathplanner/autos/New Auto.auto deleted file mode 100644 index 522e276..0000000 --- a/src/main/deploy/pathplanner/autos/New Auto.auto +++ /dev/null @@ -1,25 +0,0 @@ -{ - "version": 1.0, - "startingPose": { - "position": { - "x": 1.3707054194735169, - "y": 7.004798511021523 - }, - "rotation": 0 - }, - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "New Path" - } - } - ] - } - }, - "folder": null, - "choreoAuto": false -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/New Path.path b/src/main/deploy/pathplanner/paths/10 avril avancer.path similarity index 69% rename from src/main/deploy/pathplanner/paths/New Path.path rename to src/main/deploy/pathplanner/paths/10 avril avancer.path index 1fa245d..76a462e 100644 --- a/src/main/deploy/pathplanner/paths/New Path.path +++ b/src/main/deploy/pathplanner/paths/10 avril avancer.path @@ -3,37 +3,43 @@ "waypoints": [ { "anchor": { - "x": 1.3707054194735169, - "y": 7.004798511021523 + "x": 2.91, + "y": 5.55 }, "prevControl": null, "nextControl": { - "x": 2.3707054194735173, - "y": 7.004798511021523 + "x": 3.91, + "y": 5.55 }, "isLocked": false, "linkedName": null }, { "anchor": { - "x": 2.8792513425482693, - "y": 5.531335051274091 + "x": 1.4, + "y": 5.55 }, "prevControl": { - "x": 1.8792513425482693, - "y": 5.531335051274091 + "x": 0.3999999999999999, + "y": 5.55 }, "nextControl": null, "isLocked": false, "linkedName": null } ], - "rotationTargets": [], + "rotationTargets": [ + { + "waypointRelativePos": 0.55, + "rotationDegrees": 0, + "rotateFast": false + } + ], "constraintZones": [], "eventMarkers": [], "globalConstraints": { "maxVelocity": 1.0, - "maxAcceleration": 2.0, + "maxAcceleration": 0.5, "maxAngularVelocity": 540.0, "maxAngularAcceleration": 720.0 }, diff --git a/src/main/deploy/pathplanner/paths/10 avril reculer.path b/src/main/deploy/pathplanner/paths/10 avril reculer.path new file mode 100644 index 0000000..0aa520c --- /dev/null +++ b/src/main/deploy/pathplanner/paths/10 avril reculer.path @@ -0,0 +1,58 @@ +{ + "version": 1.0, + "waypoints": [ + { + "anchor": { + "x": 1.4, + "y": 5.547612425391122 + }, + "prevControl": null, + "nextControl": { + "x": 2.4000000000000004, + "y": 5.547612425391122 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 2.9078895212422267, + "y": 5.547612425391122 + }, + "prevControl": { + "x": 1.9078895212422267, + "y": 5.547612425391122 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [ + { + "waypointRelativePos": 0.3, + "rotationDegrees": 0, + "rotateFast": false + } + ], + "constraintZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 1.0, + "maxAcceleration": 0.5, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0 + }, + "goalEndState": { + "velocity": 0, + "rotation": 0, + "rotateFast": false + }, + "reversed": false, + "folder": null, + "previewStartingState": { + "rotation": 0, + "velocity": 0 + }, + "useDefaultConstraints": false +} \ No newline at end of file From ce1d71a771e576f0c8b2766314258392cb4df8cf Mon Sep 17 00:00:00 2001 From: Antoine PerreaultE Date: Wed, 10 Apr 2024 18:29:00 -0400 Subject: [PATCH 2/3] path --- src/main/deploy/pathplanner/autos/10 avril.auto | 2 +- src/main/deploy/pathplanner/paths/10 avril avancer.path | 4 ++-- src/main/deploy/pathplanner/paths/10 avril reculer.path | 4 ++-- 3 files changed, 5 insertions(+), 5 deletions(-) diff --git a/src/main/deploy/pathplanner/autos/10 avril.auto b/src/main/deploy/pathplanner/autos/10 avril.auto index 31816c3..3fee79d 100644 --- a/src/main/deploy/pathplanner/autos/10 avril.auto +++ b/src/main/deploy/pathplanner/autos/10 avril.auto @@ -56,7 +56,7 @@ { "type": "wait", "data": { - "waitTime": 0.3 + "waitTime": 0.5 } }, { diff --git a/src/main/deploy/pathplanner/paths/10 avril avancer.path b/src/main/deploy/pathplanner/paths/10 avril avancer.path index 76a462e..2fd9ce0 100644 --- a/src/main/deploy/pathplanner/paths/10 avril avancer.path +++ b/src/main/deploy/pathplanner/paths/10 avril avancer.path @@ -38,8 +38,8 @@ "constraintZones": [], "eventMarkers": [], "globalConstraints": { - "maxVelocity": 1.0, - "maxAcceleration": 0.5, + "maxVelocity": 3.0, + "maxAcceleration": 1.5, "maxAngularVelocity": 540.0, "maxAngularAcceleration": 720.0 }, diff --git a/src/main/deploy/pathplanner/paths/10 avril reculer.path b/src/main/deploy/pathplanner/paths/10 avril reculer.path index 0aa520c..38b32ab 100644 --- a/src/main/deploy/pathplanner/paths/10 avril reculer.path +++ b/src/main/deploy/pathplanner/paths/10 avril reculer.path @@ -38,8 +38,8 @@ "constraintZones": [], "eventMarkers": [], "globalConstraints": { - "maxVelocity": 1.0, - "maxAcceleration": 0.5, + "maxVelocity": 3.0, + "maxAcceleration": 1.5, "maxAngularVelocity": 540.0, "maxAngularAcceleration": 720.0 }, From a31b914604ddce52536a433153930a5d02e871dd Mon Sep 17 00:00:00 2001 From: Antoine PerreaultE Date: Wed, 10 Apr 2024 18:38:28 -0400 Subject: [PATCH 3/3] path --- src/main/deploy/pathplanner/autos/10 avril.auto | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/main/deploy/pathplanner/autos/10 avril.auto b/src/main/deploy/pathplanner/autos/10 avril.auto index 3fee79d..0f94b5a 100644 --- a/src/main/deploy/pathplanner/autos/10 avril.auto +++ b/src/main/deploy/pathplanner/autos/10 avril.auto @@ -12,7 +12,7 @@ "data": { "commands": [ { - "type": "parallel", + "type": "sequential", "data": { "commands": [ { @@ -60,7 +60,7 @@ } }, { - "type": "parallel", + "type": "sequential", "data": { "commands": [ {