Merge pull request #48 from OakvilleDynamics/GRC

2024 GRC Competition
OakvilleDynamics · Jan 5, 2025 · af9cb68 · af9cb68
2 parents 827be20 + 2780098
commit af9cb68
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Showing 16 changed files with 359 additions and 183 deletions.
diff --git a/src/main/deploy/pathplanner/autos/BLUE AMP SIDE Auto.auto b/src/main/deploy/pathplanner/autos/BLUE AMP SIDE Auto.auto
diff --git a/src/main/deploy/pathplanner/autos/BLUE SOURCE SIDE Auto.auto b/src/main/deploy/pathplanner/autos/BLUE SOURCE SIDE Auto.auto
diff --git a/...hplanner/autos/RED Middle Shoot Auto.auto → ...planner/autos/D Amp to Speaker Score.auto b/...hplanner/autos/RED Middle Shoot Auto.auto → ...planner/autos/D Amp to Speaker Score.auto
@@ -2,8 +2,8 @@
   "version": 1.0,
   "startingPose": {
     "position": {
-      "x": 15.319384055583853,
-      "y": 5.551187918118234
+      "x": 2.0,
+      "y": 7.0
     },
     "rotation": 0
   },
@@ -12,27 +12,33 @@
     "data": {
       "commands": [
         {
-          "type": "named",
+          "type": "path",
           "data": {
-            "name": "SHOOTCONVEYOR"
+            "pathName": "D Amp to Speaker Score"
+          }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 2.0
           }
         },
         {
           "type": "named",
           "data": {
-            "name": "SHOOTFLYS"
+            "name": "SHOOTCONVEYOR"
           }
         },
         {
-          "type": "wait",
+          "type": "named",
           "data": {
-            "waitTime": 2.0
+            "name": "SHOOTFLYS"
           }
         },
         {
           "type": "path",
           "data": {
-            "pathName": "RS Path"
+            "pathName": "D Leave Zone"
           }
         }
       ]

diff --git a/...n/deploy/pathplanner/autos/BLUE TAXI.auto → ...eploy/pathplanner/autos/D Leave Zone.auto b/...n/deploy/pathplanner/autos/BLUE TAXI.auto → ...eploy/pathplanner/autos/D Leave Zone.auto
@@ -2,8 +2,8 @@
   "version": 1.0,
   "startingPose": {
     "position": {
-      "x": 0.400090600751002,
-      "y": 1.9997004096572308
+      "x": 2.0,
+      "y": 7.0
     },
     "rotation": 0
   },
@@ -14,7 +14,7 @@
         {
           "type": "path",
           "data": {
-            "pathName": "BR Path"
+            "pathName": "D Leave Zone"
           }
         }
       ]

diff --git a/...in/deploy/pathplanner/autos/RED TAXI.auto → ...athplanner/autos/D Source Leave Zone.auto b/...in/deploy/pathplanner/autos/RED TAXI.auto → ...athplanner/autos/D Source Leave Zone.auto
@@ -2,8 +2,8 @@
   "version": 1.0,
   "startingPose": {
     "position": {
-      "x": 16.112410901029318,
-      "y": 2.0413098429059118
+      "x": 1.9169897697665406,
+      "y": 1.792603115355015
     },
     "rotation": 0
   },
@@ -14,7 +14,7 @@
         {
           "type": "path",
           "data": {
-            "pathName": "RR Path"
+            "pathName": "D Source Leave Zone"
           }
         }
       ]

diff --git a/...planner/autos/BLUE Middle Shoot Auto.auto → ...ain/deploy/pathplanner/autos/D-1-AMP.auto b/...planner/autos/BLUE Middle Shoot Auto.auto → ...ain/deploy/pathplanner/autos/D-1-AMP.auto
@@ -2,8 +2,8 @@
   "version": 1.0,
   "startingPose": {
     "position": {
-      "x": 1.3674277229789629,
-      "y": 5.557362183607978
+      "x": 2.0,
+      "y": 7.0
     },
     "rotation": 0
   },
@@ -12,27 +12,27 @@
     "data": {
       "commands": [
         {
-          "type": "named",
+          "type": "path",
           "data": {
-            "name": "SHOOTCONVEYOR"
+            "pathName": "D-Amp-2"
           }
         },
         {
           "type": "named",
           "data": {
-            "name": "SHOOTFLYS"
+            "name": "SHOOTCONVEYOR"
           }
         },
         {
-          "type": "wait",
+          "type": "named",
           "data": {
-            "waitTime": 2.0
+            "name": "SHOOTFLYSLOW"
           }
         },
         {
           "type": "path",
           "data": {
-            "pathName": "BS Path"
+            "pathName": "D Leave Zone"
           }
         }
       ]

diff --git a/src/main/deploy/pathplanner/autos/RED AMP SIDE Auto.auto b/src/main/deploy/pathplanner/autos/RED AMP SIDE Auto.auto
diff --git a/src/main/deploy/pathplanner/autos/RED SOURCE SIDE Auto.auto b/src/main/deploy/pathplanner/autos/RED SOURCE SIDE Auto.auto
diff --git a/src/main/deploy/pathplanner/paths/D Amp to Speaker Score.path b/src/main/deploy/pathplanner/paths/D Amp to Speaker Score.path
@@ -0,0 +1,52 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 2.0,
+        "y": 7.0
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 3.0,
+        "y": 7.0
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 1.372979159427387,
+        "y": 5.522961586252069
+      },
+      "prevControl": {
+        "x": 2.3638556282594165,
+        "y": 5.445245784775046
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 0,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": null,
+  "previewStartingState": {
+    "rotation": 0,
+    "velocity": 0
+  },
+  "useDefaultConstraints": true
+}