adjust source side auto

team4909 · Mar 1, 2024 · 0002d55 · 0002d55
1 parent 7d54494
commit 0002d55
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Showing 5 changed files with 58 additions and 58 deletions.
diff --git a/src/main/deploy/pathplanner/autos/2 Note Source.auto b/src/main/deploy/pathplanner/autos/2 Note Source.auto
@@ -46,6 +46,12 @@
                   "name": "feederOn"
                 }
               },
+              {
+                "type": "named",
+                "data": {
+                  "name": "intake"
+                }
+              },
               {
                 "type": "wait",
                 "data": {
@@ -56,25 +62,38 @@
           }
         },
         {
-          "type": "deadline",
+          "type": "race",
           "data": {
             "commands": [
               {
-                "type": "path",
+                "type": "named",
                 "data": {
-                  "pathName": "Sub to Centerline 5"
+                  "name": "armDown"
                 }
               },
+              {
+                "type": "wait",
+                "data": {
+                  "waitTime": 0.5
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "parallel",
+          "data": {
+            "commands": [
               {
                 "type": "named",
                 "data": {
-                  "name": "intake"
+                  "name": "sensorIntake"
                 }
               },
               {
-                "type": "named",
+                "type": "path",
                 "data": {
-                  "name": "armDown"
+                  "pathName": "Sub to Centerline 5"
                 }
               }
             ]
@@ -105,6 +124,12 @@
             ]
           }
         },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 0.5
+          }
+        },
         {
           "type": "race",
           "data": {

diff --git a/src/main/deploy/pathplanner/paths/Centerline 5 to Sub.path b/src/main/deploy/pathplanner/paths/Centerline 5 to Sub.path
@@ -29,7 +29,19 @@
     }
   ],
   "rotationTargets": [],
-  "constraintZones": [],
+  "constraintZones": [
+    {
+      "name": "New Constraints Zone",
+      "minWaypointRelativePos": 0.85,
+      "maxWaypointRelativePos": 1.0,
+      "constraints": {
+        "maxVelocity": 3.0,
+        "maxAcceleration": 3.0,
+        "maxAngularVelocity": 540.0,
+        "maxAngularAcceleration": 720.0
+      }
+    }
+  ],
   "eventMarkers": [],
   "globalConstraints": {
     "maxVelocity": 3.0,

diff --git a/src/main/deploy/pathplanner/paths/Intake to Centerline 5.path b/src/main/deploy/pathplanner/paths/Intake to Centerline 5.path
diff --git a/src/main/deploy/pathplanner/paths/SubToCenterline4.path b/src/main/deploy/pathplanner/paths/SubToCenterline4.path
@@ -51,7 +51,19 @@
       "rotateFast": false
     }
   ],
-  "constraintZones": [],
+  "constraintZones": [
+    {
+      "name": "New Constraints Zone",
+      "minWaypointRelativePos": 1.55,
+      "maxWaypointRelativePos": 2.0,
+      "constraints": {
+        "maxVelocity": 3.0,
+        "maxAcceleration": 3.0,
+        "maxAngularVelocity": 540.0,
+        "maxAngularAcceleration": 720.0
+      }
+    }
+  ],
   "eventMarkers": [],
   "globalConstraints": {
     "maxVelocity": 3.0,

diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
@@ -180,7 +180,7 @@ public Robot() {
                 PoseEstimation.getInstance().getPose().getTranslation(),
                 Rotation2d.fromDegrees(-32.98)),
             m_drivetrain);
-    m_driverController.a().whileTrue(snapToAngle);
+    m_driverController.leftTrigger().whileTrue(snapToAngle);
 
     // elbow = 1.147 rad
     // wrist = 3.805 rad