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March 30 #98

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merged 12 commits into from
Apr 2, 2024
Merged

March 30 #98

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a89f781
Add shoot while follow path and tracking
BenG49 Mar 26, 2024
8fccf8e
Add SwerveDriveToShootMoving and make FollowPathTrackingShoot shoot w…
BenG49 Mar 27, 2024
de85f10
Shoot in SwerveDriveToShootMoving
BenG49 Mar 27, 2024
2697ee3
Tune 6 piece
Mar 30, 2024
d69b0ec
Merge branch 'se/shoot-moving-auton-tests' of https://github.com/Stuy…
Mar 30, 2024
521522a
Merge branch 'main' of https://github.com/StuyPulse/Izzi into se/mar-30
Mar 30, 2024
333a02d
Tune 6 piece, other changes
Mar 30, 2024
7d14116
Tune 4 piece
Mar 30, 2024
03dfbdc
Alignment + shooter kI testing
Mar 30, 2024
455128a
Add driver camera to shuffleboard
Mar 30, 2024
4aef60d
Increase path constraints
Mar 30, 2024
4a17006
Alignment
Mar 30, 2024
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4 changes: 2 additions & 2 deletions .pathplanner/settings.json
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Expand Up @@ -8,8 +8,8 @@
"Tests"
],
"autoFolders": [],
"defaultMaxVel": 5.0,
"defaultMaxAccel": 4.0,
"defaultMaxVel": 6.0,
"defaultMaxAccel": 5.0,
"defaultMaxAngVel": 540.0,
"defaultMaxAngAccel": 720.0,
"maxModuleSpeed": 5.0
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21 changes: 21 additions & 0 deletions shuffleboard.json
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Expand Up @@ -159,6 +159,27 @@
"_glyph": 148,
"_showGlyph": false
}
},
"1,0": {
"size": [
5,
4
],
"content": {
"_type": "Camera Stream",
"_source0": "camera_server://USB Camera 0",
"_title": "USB Camera 0",
"_glyph": 148,
"_showGlyph": false,
"Crosshair/Show crosshair": true,
"Crosshair/Crosshair color": "#FFFFFFFF",
"Controls/Show controls": true,
"Controls/Rotation": "HALF",
"compression": -1.0,
"fps": -1,
"imageWidth": 0,
"imageHeight": 0
}
}
}
}
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8 changes: 7 additions & 1 deletion src/main/deploy/pathplanner/autos/6 CBAED.auto
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Expand Up @@ -8,7 +8,13 @@
{
"type": "path",
"data": {
"pathName": "Preload to C"
"pathName": "Preload to C Close"
}
},
{
"type": "path",
"data": {
"pathName": "Close Preload to C"
}
},
{
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8 changes: 4 additions & 4 deletions src/main/deploy/pathplanner/paths/A to D.path
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Expand Up @@ -3,13 +3,13 @@
"waypoints": [
{
"anchor": {
"x": 2.8,
"y": 6.94
"x": 2.70383902591167,
"y": 6.887856966597124
},
"prevControl": null,
"nextControl": {
"x": 3.7902680687415704,
"y": 7.079173100960065
"x": 3.6941070946532406,
"y": 7.027030067557189
},
"isLocked": false,
"linkedName": "A"
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12 changes: 6 additions & 6 deletions src/main/deploy/pathplanner/paths/A to E.path
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Expand Up @@ -3,13 +3,13 @@
"waypoints": [
{
"anchor": {
"x": 2.8,
"y": 6.94
"x": 2.70383902591167,
"y": 6.887856966597124
},
"prevControl": null,
"nextControl": {
"x": 4.91984991243836,
"y": 7.023157661821328
"x": 4.82368893835003,
"y": 6.971014628418452
},
"isLocked": false,
"linkedName": "A"
Expand All @@ -32,8 +32,8 @@
"constraintZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 5.0,
"maxAcceleration": 5.0,
"maxVelocity": 6.0,
"maxAcceleration": 6.0,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0
},
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24 changes: 12 additions & 12 deletions src/main/deploy/pathplanner/paths/B to A.path
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Expand Up @@ -3,25 +3,25 @@
"waypoints": [
{
"anchor": {
"x": 2.78765406878382,
"y": 5.239147655045014
"x": 2.9260279603180286,
"y": 5.309146116867734
},
"prevControl": null,
"nextControl": {
"x": 2.6183483616967234,
"y": 5.861535033255252
"x": 2.756722253230932,
"y": 5.931533495077972
},
"isLocked": false,
"linkedName": "B"
},
{
"anchor": {
"x": 2.8,
"y": 6.94
"x": 2.70383902591167,
"y": 6.887856966597124
},
"prevControl": {
"x": 2.646912247528199,
"y": 6.50431154103049
"x": 2.5507512734398694,
"y": 6.452168507627614
},
"nextControl": null,
"isLocked": false,
Expand All @@ -31,21 +31,21 @@
"rotationTargets": [
{
"waypointRelativePos": 0.5,
"rotationDegrees": 60.0,
"rotationDegrees": 52.37639263407269,
"rotateFast": true
}
],
"constraintZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 5.0,
"maxAcceleration": 4.0,
"maxVelocity": 6.0,
"maxAcceleration": 5.0,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0
},
"goalEndState": {
"velocity": 0,
"rotation": 51.76617482255292,
"rotation": 50.90614111377048,
"rotateFast": false
},
"reversed": false,
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12 changes: 6 additions & 6 deletions src/main/deploy/pathplanner/paths/C to B Close.path
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Expand Up @@ -16,12 +16,12 @@
},
{
"anchor": {
"x": 2.78765406878382,
"y": 5.239147655045014
"x": 2.9260279603180286,
"y": 5.309146116867734
},
"prevControl": {
"x": 2.4857700960953526,
"y": 5.063860187032356
"x": 2.6241439876295614,
"y": 5.133858648855076
},
"nextControl": null,
"isLocked": false,
Expand All @@ -38,8 +38,8 @@
"constraintZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 5.0,
"maxAcceleration": 4.0,
"maxVelocity": 6.0,
"maxAcceleration": 5.0,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0
},
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20 changes: 10 additions & 10 deletions src/main/deploy/pathplanner/paths/C to B.path
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Expand Up @@ -8,20 +8,20 @@
},
"prevControl": null,
"nextControl": {
"x": 2.5,
"y": 4.878834526352327
"x": 2.62197994481459,
"y": 4.794603321400375
},
"isLocked": false,
"linkedName": "C"
},
{
"anchor": {
"x": 2.78765406878382,
"y": 5.239147655045014
"x": 2.9260279603180286,
"y": 5.309146116867734
},
"prevControl": {
"x": 2.5539374447669423,
"y": 4.8009289850133685
"x": 2.692311336301151,
"y": 4.870927446836089
},
"nextControl": null,
"isLocked": false,
Expand All @@ -31,21 +31,21 @@
"rotationTargets": [
{
"waypointRelativePos": 0.5,
"rotationDegrees": 60.0,
"rotationDegrees": 34.799293349232,
"rotateFast": true
}
],
"constraintZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 5.0,
"maxAcceleration": 4.0,
"maxVelocity": 6.0,
"maxAcceleration": 5.0,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0
},
"goalEndState": {
"velocity": 0,
"rotation": 60.71172956223985,
"rotation": 43.876697285924436,
"rotateFast": false
},
"reversed": false,
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12 changes: 6 additions & 6 deletions src/main/deploy/pathplanner/paths/CShoot to H (CHGF).path
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Expand Up @@ -16,12 +16,12 @@
},
{
"anchor": {
"x": 8.14162084164624,
"y": -0.14032985330927936
"x": 8.290000000000001,
"y": 0.4
},
"prevControl": {
"x": 5.120084675408034,
"y": -0.14032985330927936
"x": 5.268463833761794,
"y": 0.39999999999999997
},
"nextControl": null,
"isLocked": false,
Expand All @@ -32,8 +32,8 @@
"constraintZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 5.55,
"maxAcceleration": 5.5,
"maxVelocity": 6.0,
"maxAcceleration": 5.0,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0
},
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2 changes: 1 addition & 1 deletion src/main/deploy/pathplanner/paths/Close Preload to C.path
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Expand Up @@ -39,7 +39,7 @@
},
"goalEndState": {
"velocity": 0,
"rotation": 0.0,
"rotation": -29.392354726969238,
"rotateFast": false
},
"reversed": false,
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52 changes: 52 additions & 0 deletions src/main/deploy/pathplanner/paths/Close Shoot.path
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@@ -0,0 +1,52 @@
{
"version": 1.0,
"waypoints": [
{
"anchor": {
"x": 1.3239288017037572,
"y": 5.531335051274091
},
"prevControl": null,
"nextControl": {
"x": 2.323928801703759,
"y": 5.531335051274091
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 3.6978421535190646,
"y": 5.531335051274091
},
"prevControl": {
"x": 2.6978421535190646,
"y": 5.531335051274091
},
"nextControl": null,
"isLocked": false,
"linkedName": null
}
],
"rotationTargets": [],
"constraintZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 3.0,
"maxAcceleration": 4.0,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0
},
"goalEndState": {
"velocity": 0,
"rotation": 0,
"rotateFast": false
},
"reversed": false,
"folder": "Tests",
"previewStartingState": {
"rotation": 0,
"velocity": 0
},
"useDefaultConstraints": false
}
4 changes: 2 additions & 2 deletions src/main/deploy/pathplanner/paths/Curved Line.path
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Expand Up @@ -80,8 +80,8 @@
"constraintZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 5.0,
"maxAcceleration": 4.0,
"maxVelocity": 6.0,
"maxAcceleration": 5.0,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0
},
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4 changes: 2 additions & 2 deletions src/main/deploy/pathplanner/paths/D to Shoot.path
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Expand Up @@ -32,8 +32,8 @@
"constraintZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 5.0,
"maxAcceleration": 4.0,
"maxVelocity": 6.0,
"maxAcceleration": 5.0,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0
},
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12 changes: 9 additions & 3 deletions src/main/deploy/pathplanner/paths/E to Shoot.path
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Expand Up @@ -28,12 +28,18 @@
"linkedName": "Top Side Shoot"
}
],
"rotationTargets": [],
"rotationTargets": [
{
"waypointRelativePos": 0.45,
"rotationDegrees": 15.0,
"rotateFast": false
}
],
"constraintZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 5.0,
"maxAcceleration": 5.0,
"maxVelocity": 6.0,
"maxAcceleration": 6.0,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0
},
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