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aarav18
2022-01-31 19:46:21 -07:00
parent 7d67158d00
commit 79ac8dd551
6 changed files with 9 additions and 9 deletions
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src/main/deploy/pathplanner/First Test Path.path
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{"waypoints":[{"anchorPoint":{"x":3.8047524370910804,"y":3.0374957301638745},"prevControl":null,"nextControl":{"x":4.214656705175479,"y":3.0164749984672383},"holonomicAngle":0.0,"isReversal":false,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":4.340781095355294,"y":3.6155658518213594},"prevControl":{"x":4.372312192900248,"y":3.4473999982482733},"nextControl":{"x":4.372312192900248,"y":3.4473999982482733},"holonomicAngle":0.0,"isReversal":true,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":5.0,"y":3.0},"prevControl":{"x":4.4879262172317445,"y":2.9534128033773315},"nextControl":{"x":5.5120737827682555,"y":3.0465871966226685},"holonomicAngle":0.0,"isReversal":false,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":5.0029341437993216,"y":2.4173841451131177},"prevControl":{"x":5.189186585269722,"y":2.6373923782330317},"nextControl":null,"holonomicAngle":89.09777883846981,"isReversal":false,"velOverride":null,"isLocked":false}],"maxVelocity":1.0,"maxAcceleration":1.0,"isReversed":null}
{"waypoints":[{"anchorPoint":{"x":2.9323920716806944,"y":3.0374957301638745},"prevControl":null,"nextControl":{"x":3.342296339765092,"y":3.0164749984672383},"holonomicAngle":0.0,"isReversal":false,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":4.351291461203611,"y":4.340781095355294},"prevControl":{"x":4.382822558748565,"y":4.172615241782208},"nextControl":{"x":4.382822558748565,"y":4.172615241782208},"holonomicAngle":0.0,"isReversal":true,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":6.0539707286311115,"y":3.1110682911020993},"prevControl":{"x":5.541896945862856,"y":3.0644810944794307},"nextControl":{"x":6.566044511399367,"y":3.157655487724768},"holonomicAngle":0.0,"isReversal":false,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":5.002934143799321,"y":1.8077829259106803},"prevControl":{"x":5.189186585269721,"y":2.027791159030595},"nextControl":null,"holonomicAngle":89.09777883846981,"isReversal":false,"velOverride":null,"isLocked":false}],"maxVelocity":1.0,"maxAcceleration":1.0,"isReversed":null}
src/main/deploy/pathplanner/Move Forward.path
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{"waypoints":[{"anchorPoint":{"x":2.0390109745736735,"y":2.9639231692256494},"prevControl":null,"nextControl":{"x":2.049521340421991,"y":2.9534128033773315},"holonomicAngle":1.2188752351312955,"isReversal":false,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":5.0,"y":3.0},"prevControl":{"x":5.0029341437993216,"y":2.9954542667706034},"nextControl":null,"holonomicAngle":0.0,"isReversal":false,"velOverride":null,"isLocked":false}],"maxVelocity":1.0,"maxAcceleration":1.0,"isReversed":null}
{"waypoints":[{"anchorPoint":{"x":2.0390109745736735,"y":2.9639231692256494},"prevControl":null,"nextControl":{"x":2.049521340421991,"y":2.9534128033773315},"holonomicAngle":1.2188752351312955,"isReversal":false,"velOverride":null,"isLocked":false},{"anchorPoint":{"x":5.0,"y":3.0},"prevControl":{"x":5.0029341437993216,"y":2.995454266770603},"nextControl":null,"holonomicAngle":-178.60254149056965,"isReversal":false,"velOverride":null,"isLocked":false}],"maxVelocity":1.0,"maxAcceleration":1.0,"isReversed":null}
src/main/deploy/pathplanner/generatedJSON/First Test Path.wpilib.json
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src/main/deploy/pathplanner/generatedJSON/Move Forward.wpilib.json
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src/main/java/frc4388/robot/RobotContainer.java
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@@ -127,10 +127,10 @@ public class RobotContainer {
testFirstPath,
m_robotSwerveDrive::getOdometry,
m_robotSwerveDrive.m_kinematics,
new PIDController(0.0, 0.0, 0.0),
new PIDController(0.0, 0.0, 0.0),
new ProfiledPIDController(0.0, 0.0, 0.0, new TrapezoidProfile.Constraints(Math.PI, Math.PI)),
m_robotSwerveDrive::setModuleStates,
new PIDController(0.0, 0.0, 0.0),
new PIDController(0.0, 0.0, 0.0),
new ProfiledPIDController(1.0, 0.0, 0.0, new TrapezoidProfile.Constraints(Math.PI, Math.PI)),
m_robotSwerveDrive::setModuleStates,
m_robotSwerveDrive
);
src/main/java/frc4388/robot/subsystems/SwerveDrive.java
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@@ -144,7 +144,7 @@ public class SwerveDrive extends SubsystemBase {
for (int i = 0; i < desiredStates.length; i++) {
SwerveModule module = modules[i];
SwerveModuleState state = desiredStates[i];
module.setDesiredState(state, ignoreAngles);
module.setDesiredState(state, false);
}
}