GSC

PathWeaver/Paths/GSC_ABLUE

@@ -1,6 +1,6 @@
 X,Y,Tangent X,Tangent Y,Fixed Theta,Name
 1.269,-2.313833150808477,1.336,0.031,true,
-4.6270772402241835,-3.748786703601108,1.2563247355441896,1.7028754396751247,false,
-5.394035173613347,-1.5035792050505696,1.4968049990336905,0.5133670038008115,true,
+4.794076145075049,-3.3281968691618884,1.2803249371899765,1.1937329124524894,true,
+5.5362934999677895,-2.060242221220125,0.9586974167364559,0.6556253301552535,true,
 6.909395606519357,-2.276722283063841,1.7442107839979393,0.04948115699284994,true,
 8.901012175481542,-2.208685692198673,0.5690333054177668,0.012370289248212374,true,

PathWeaver/Paths/GSC_ARED

@@ -1,6 +1,6 @@
 X,Y,Tangent X,Tangent Y,Fixed Theta,Name
 1.269,-2.313833150808477,0.8840193905817173,-0.0061851446241063535,true,
-2.3509440185531143,-2.2890925723120525,1.269287873893314,-0.3453492463826622,false,
-3.872489596083231,-3.0436802164530046,1.694729627005089,0.49481156992849273,true,
-4.899223603684853,-0.6005480899310699,2.152430329188946,0.5381075822972362,true,
-8.962863621722605,-0.5572520775623268,0.5690333054177668,0.012370289248212374,true,
+2.3880548862977515,-2.3262034400566898,0.8709913158855322,-0.15096819285711183,false,
+3.8415638729627,-2.9447179024673065,1.694729627005089,0.49481156992849273,true,
+5.029111640791084,-1.1448408168524122,2.152430329188946,0.5381075822972362,true,
+8.703087547510146,-0.9716567673774398,0.5690333054177668,0.012370289248212374,true,

PathWeaver/Paths/GSC_BBLUE

@@ -1,6 +1,6 @@
 X,Y,Tangent X,Tangent Y,Fixed Theta,Name
-1.269,-2.2890925723120525,1.3359912388069315,0.03092572312053088,true,
-4.608521806351864,-3.0374950718288987,1.8740988211041678,0.19173948334729074,true,
-6.130067383881981,-1.497394060426464,1.762766217870257,0.03092572312053088,true,
-7.676353539908522,-3.0251247825806864,1.874098821104166,-0.006185144624105465,true,
-8.956678477098498,-3.0189396379565805,0.5690333054177668,0.012370289248212374,true,
+1.269,-2.2890925723120525,3.0,0.0,true,
+4.608521806351864,-3.0374950718288987,2.0,0.0,true,
+6.130067383881981,-1.8623175932487273,2.5,0.006,true,
+7.701094118404947,-2.9385327578431997,2.5,0.0,true,
+8.758753849127102,-2.9323476132190938,0.5690333054177668,0.0,true,

PathWeaver/Paths/GSC_BRED

@@ -1,6 +1,6 @@
 X,Y,Tangent X,Tangent Y,Fixed Theta,Name
 1.269,-2.313833150808477,1.336,0.0,true,
-2.369499452425433,-1.5345049281711007,1.694729627005088,-0.402034400566901,true,
-3.872489596083231,-3.0436802164530046,1.6019524576434967,-0.012370289248212263,true,
-5.412590607485666,-1.497394060426464,2.170985763061264,0.22266520646782229,true,
-8.894827030857435,-1.429357469561296,0.5690333054177668,0.012370289248212374,true,
+2.3509440185531143,-1.806651291631772,2.0,0.0,true,
+3.8910450299555492,-2.8952367454744574,2.5,0.0,true,
+5.635255813953488,-1.806651291631772,2.170985763061264,0.22266520646782229,true,
+8.628865812020871,-1.7509849900148167,0.5690333054177668,0.012370289248212374,true,

PathWeaver/pathweaver.json

@@ -2,8 +2,8 @@
   "lengthUnit": "Meter",
   "exportUnit": "Always Meters",
   "maxVelocity": 2.3,
-  "maxAcceleration": 2.7,
+  "maxAcceleration": 4.5,
   "wheelBase": 0.648,
-  "gameName": "Galactic Search B",
+  "gameName": "Galactic Search A",
   "outputDir": ".."
 }

src/main/deploy/paths/DriveOffLineBackward.wpilib.json

@@ -1 +1 @@
-[{"time":0.0,"velocity":0.0,"acceleration":2.7,"pose":{"translation":{"x":3.2,"y":-2.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.3042903097250923,"velocity":0.8215838362577492,"acceleration":2.7,"pose":{"translation":{"x":3.325,"y":-2.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.43033148291193524,"velocity":1.161895003862225,"acceleration":-2.7,"pose":{"translation":{"x":3.45,"y":-2.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.5563726560987782,"velocity":0.8215838362577492,"acceleration":-2.7,"pose":{"translation":{"x":3.575,"y":-2.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.8606629658238705,"velocity":0.0,"acceleration":-2.7,"pose":{"translation":{"x":3.7,"y":-2.3},"rotation":{"radians":0.0}},"curvature":0.0}]
+[{"time":0.0,"velocity":0.0,"acceleration":4.499999999999999,"pose":{"translation":{"x":3.2,"y":-2.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.23570226039551587,"velocity":1.0606601717798212,"acceleration":4.500000000000001,"pose":{"translation":{"x":3.325,"y":-2.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.33333333333333337,"velocity":1.5,"acceleration":-4.500000000000001,"pose":{"translation":{"x":3.45,"y":-2.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.43096440627115085,"velocity":1.0606601717798212,"acceleration":-4.499999999999999,"pose":{"translation":{"x":3.575,"y":-2.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.6666666666666667,"velocity":0.0,"acceleration":-4.499999999999999,"pose":{"translation":{"x":3.7,"y":-2.3},"rotation":{"radians":0.0}},"curvature":0.0}]

src/main/deploy/paths/DriveOffLineForward.wpilib.json

@@ -1 +1 @@
-[{"time":0.0,"velocity":0.0,"acceleration":2.7,"pose":{"translation":{"x":3.2,"y":-2.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.3042903097250923,"velocity":0.8215838362577492,"acceleration":2.7,"pose":{"translation":{"x":3.325,"y":-2.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.43033148291193524,"velocity":1.161895003862225,"acceleration":-2.7,"pose":{"translation":{"x":3.45,"y":-2.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.5563726560987782,"velocity":0.8215838362577492,"acceleration":-2.7,"pose":{"translation":{"x":3.575,"y":-2.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.8606629658238705,"velocity":0.0,"acceleration":-2.7,"pose":{"translation":{"x":3.7,"y":-2.3},"rotation":{"radians":0.0}},"curvature":0.0}]
+[{"time":0.0,"velocity":0.0,"acceleration":4.499999999999999,"pose":{"translation":{"x":3.2,"y":-2.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.23570226039551587,"velocity":1.0606601717798212,"acceleration":4.500000000000001,"pose":{"translation":{"x":3.325,"y":-2.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.33333333333333337,"velocity":1.5,"acceleration":-4.500000000000001,"pose":{"translation":{"x":3.45,"y":-2.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.43096440627115085,"velocity":1.0606601717798212,"acceleration":-4.499999999999999,"pose":{"translation":{"x":3.575,"y":-2.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.6666666666666667,"velocity":0.0,"acceleration":-4.499999999999999,"pose":{"translation":{"x":3.7,"y":-2.3},"rotation":{"radians":0.0}},"curvature":0.0}]

src/main/deploy/paths/Seq1.wpilib.json

@@ -1 +1 @@
-[{"time":0.0,"velocity":0.0,"acceleration":2.6999999999999997,"pose":{"translation":{"x":1.6396523867809052,"y":-2.313833150808477},"rotation":{"radians":-0.008849326516257987}},"curvature":0.0},{"time":0.2722820970374773,"velocity":0.7351616620011887,"acceleration":2.7000000000000006,"pose":{"translation":{"x":1.739734776700425,"y":-2.3146446112802495},"rotation":{"radians":-0.007149647015655322}},"curvature":0.01725893438810635},{"time":0.35451476526736425,"velocity":0.9571898662218835,"acceleration":2.7,"pose":{"translation":{"x":1.8093165329850407,"y":-2.31510673816049},"rotation":{"radians":-0.006214537421300872}},"curvature":0.010262108695263363},{"time":0.4360203613484434,"velocity":1.1772549756407973,"acceleration":2.700000000000001,"pose":{"translation":{"x":1.8962996475995293,"y":-2.315615003996086},"rotation":{"radians":-0.005532904856197329}},"curvature":0.005996263181397757},{"time":0.5169500582728787,"velocity":1.3957651573367724,"acceleration":2.7000000000000015,"pose":{"translation":{"x":2.000415072981678,"y":-2.3161634275928744},"rotation":{"radians":-0.005039840497117272}},"curvature":0.0037792530506272166},{"time":0.5960164852085316,"velocity":1.6092445100630355,"acceleration":2.6999999999999944,"pose":{"translation":{"x":2.1192113689257215,"y":-2.316738666286958},"rotation":{"radians":-0.0046665773718276736}},"curvature":0.0026525886672486274},{"time":0.634352557101396,"velocity":1.7127519041737693,"acceleration":2.699999999999999,"pose":{"translation":{"x":2.18288684602207,"y":-2.317030681391432},"rotation":{"radians":-0.004508805721396696}},"curvature":0.0023250237048777172},{"time":0.6716263517870102,"velocity":1.8133911498249278,"acceleration":2.700000000000002,"pose":{"translation":{"x":2.248602565810843,"y":-2.317322139445587},"rotation":{"radians":-0.004363819082991022}},"curvature":0.0021040995089735234},{"time":0.7076518105628782,"velocity":1.9106598885197714,"acceleration":2.08330049831677,"pose":{"translation":{"x":2.315682270679263,"y":-2.31761024782456},"rotation":{"radians":-0.004227674108169131}},"curvature":0.0019683194092841986},{"time":0.7424426834355309,"velocity":1.983139731312244,"acceleration":-2.699999999999999,"pose":{"translation":{"x":2.3834160278296714,"y":-2.317892151968046},"rotation":{"radians":-0.0040968776842529794}},"curvature":0.0019052546752226036},{"time":0.7773927718968935,"velocity":1.888774492466565,"acceleration":-2.7000000000000037,"pose":{"translation":{"x":2.4510773500054253,"y":-2.318165001739701},"rotation":{"radians":-0.0039681904771730085}},"curvature":0.001909770538576822},{"time":0.8137373594388484,"velocity":1.7906441061032867,"acceleration":-2.699999999999997,"pose":{"translation":{"x":2.517940316216782,"y":-2.318426017786541},"rotation":{"radians":-0.0038384445909229676}},"curvature":0.0019833496346190354},{"time":0.851300180838236,"velocity":1.6892244883249403,"acceleration":-2.6999999999999953,"pose":{"translation":{"x":2.583296692466793,"y":-2.3186725578983505},"rotation":{"radians":-0.003704364009272917}},"curvature":0.002134423240000436},{"time":0.8898901860409195,"velocity":1.585031474277695,"acceleration":-2.700000000000001,"pose":{"translation":{"x":2.6464730524771953,"y":-2.318902183367081},"rotation":{"radians":-0.003562375965213496}},"curvature":0.002379784285935144},{"time":0.9693308968593537,"velocity":1.3705415550679225,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":2.7638687816148764,"y":-2.319302351210369},"rotation":{"radians":-0.003237626203522703}},"curvature":0.0032804752312573255},{"time":1.0503847372304065,"velocity":1.1516961860660802,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":2.8660868353612363,"y":-2.3196136033526837},"rotation":{"radians":-0.0028212080559704344}},"curvature":0.005135608410691401},{"time":1.1316234025131842,"velocity":0.9323517898025805,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":2.950739195403628,"y":-2.3198305248667666},"rotation":{"radians":-0.002252114531954038}},"curvature":0.008854161979101095},{"time":1.2129544945128348,"velocity":0.7127578414035238,"acceleration":-2.7,"pose":{"translation":{"x":3.0176383566138476,"y":-2.319957327362707},"rotation":{"radians":-0.001466708977573865}},"curvature":0.015315329026373479},{"time":1.4769388802178436,"velocity":0.0,"acceleration":-2.7,"pose":{"translation":{"x":3.111716807318168,"y":-2.320018295432578},"rotation":{"radians":2.803592695601656E-14}},"curvature":1.0107951236368945E-13}]
+[{"time":0.0,"velocity":0.0,"acceleration":4.5,"pose":{"translation":{"x":1.6396523867809052,"y":-2.313833150808477},"rotation":{"radians":-0.008849326516257987}},"curvature":0.0},{"time":0.21090880545931628,"velocity":0.9490896245669233,"acceleration":4.499999999999999,"pose":{"translation":{"x":1.739734776700425,"y":-2.3146446112802495},"rotation":{"radians":-0.007149647015655322}},"curvature":0.01725893438810635},{"time":0.27460595637302665,"velocity":1.23572680367862,"acceleration":4.500000000000003,"pose":{"translation":{"x":1.8093165329850407,"y":-2.31510673816049},"rotation":{"radians":-0.006214537421300872}},"curvature":0.010262108695263363},{"time":0.33773991962197225,"velocity":1.5198296382988754,"acceleration":4.500000000000002,"pose":{"translation":{"x":1.8962996475995293,"y":-2.315615003996086},"rotation":{"radians":-0.005532904856197329}},"curvature":0.005996263181397757},{"time":0.40042779330236244,"velocity":1.8019250698606315,"acceleration":4.4999999999999964,"pose":{"translation":{"x":2.000415072981678,"y":-2.3161634275928744},"rotation":{"radians":-0.005039840497117272}},"curvature":0.0037792530506272166},{"time":0.46167238425554435,"velocity":2.07752572914995,"acceleration":4.499999999999997,"pose":{"translation":{"x":2.1192113689257215,"y":-2.316738666286958},"rotation":{"radians":-0.0046665773718276736}},"curvature":0.0026525886672486274},{"time":0.4913673778555592,"velocity":2.2111532003500165,"acceleration":2.9946589564277755,"pose":{"translation":{"x":2.18288684602207,"y":-2.317030681391432},"rotation":{"radians":-0.004508805721396696}},"curvature":0.0023250237048777172},{"time":0.5205125640588627,"velocity":2.2984330932504946,"acceleration":0.0034624410391334284,"pose":{"translation":{"x":2.248602565810843,"y":-2.317322139445587},"rotation":{"radians":-0.004363819082991022}},"curvature":0.0021040995089735234},{"time":0.5496971634393572,"velocity":2.2985341432051003,"acceleration":0.0015927990780936162,"pose":{"translation":{"x":2.315682270679263,"y":-2.31761024782456},"rotation":{"radians":-0.004227674108169131}},"curvature":0.0019683194092841986},{"time":0.5791653583798898,"velocity":2.2985810801188347,"acceleration":-1.1418064326775537E-4,"pose":{"translation":{"x":2.3834160278296714,"y":-2.317892151968046},"rotation":{"radians":-0.0040968776842529794}},"curvature":0.0019052546752226036},{"time":0.6086017451895782,"velocity":2.2985777190532533,"acceleration":-0.0018825422483139675,"pose":{"translation":{"x":2.4510773500054253,"y":-2.318165001739701},"rotation":{"radians":-0.0039681904771730085}},"curvature":0.001909770538576822},{"time":0.6376911562733191,"velocity":2.2985229570079095,"acceleration":-4.034840274718018,"pose":{"translation":{"x":2.517940316216782,"y":-2.318426017786541},"rotation":{"radians":-0.0038384445909229676}},"curvature":0.0019833496346190354},{"time":0.6668728615937505,"velocity":2.18077943709608,"acceleration":-4.499999999999996,"pose":{"translation":{"x":2.583296692466793,"y":-2.3186725578983505},"rotation":{"radians":-0.003704364009272917}},"curvature":0.002134423240000436},{"time":0.6967645510897607,"velocity":2.0462668343640344,"acceleration":-4.5000000000000036,"pose":{"translation":{"x":2.6464730524771953,"y":-2.318902183367081},"rotation":{"radians":-0.003562375965213496}},"curvature":0.002379784285935144},{"time":0.7582990610918957,"velocity":1.7693615393544266,"acceleration":-4.500000000000001,"pose":{"translation":{"x":2.7638687816148764,"y":-2.319302351210369},"rotation":{"radians":-0.003237626203522703}},"curvature":0.0032804752312573255},{"time":0.821083095872544,"velocity":1.486833382841509,"acceleration":-4.5,"pose":{"translation":{"x":2.8660868353612363,"y":-2.3196136033526837},"rotation":{"radians":-0.0028212080559704344}},"curvature":0.005135608410691401},{"time":0.8840102954142073,"velocity":1.2036609849040243,"acceleration":-4.500000000000002,"pose":{"translation":{"x":2.950739195403628,"y":-2.3198305248667666},"rotation":{"radians":-0.002252114531954038}},"curvature":0.008854161979101095},{"time":0.9470090883829093,"velocity":0.920166416544865,"acceleration":-4.5,"pose":{"translation":{"x":3.0176383566138476,"y":-2.319957327362707},"rotation":{"radians":-0.001466708977573865}},"curvature":0.015315329026373479},{"time":1.1514905142817682,"velocity":0.0,"acceleration":-4.5,"pose":{"translation":{"x":3.111716807318168,"y":-2.320018295432578},"rotation":{"radians":2.803592695601656E-14}},"curvature":1.0107951236368945E-13}]

src/main/deploy/paths/Seq2.wpilib.json

@@ -1 +1 @@
-[{"time":0.0,"velocity":0.0,"acceleration":2.6999999999999997,"pose":{"translation":{"x":2.957088191715518,"y":-2.3571291631772207},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.26544461524158175,"velocity":0.7167004611522707,"acceleration":2.7000000000000006,"pose":{"translation":{"x":3.0522103307783257,"y":-2.3571275191873893},"rotation":{"radians":5.101157578230443E-5}},"curvature":0.001038792914185728},{"time":0.3746678834467968,"velocity":1.0116032853063515,"acceleration":2.6999999999999997,"pose":{"translation":{"x":3.146595821982689,"y":-2.357116740977926},"rotation":{"radians":1.9099520049927404E-4}},"curvature":0.0019054639517066963},{"time":0.4574501551922932,"velocity":1.2351154190191918,"acceleration":2.6999999999999997,"pose":{"translation":{"x":3.2395900571900658,"y":-2.357089632328051},"rotation":{"radians":4.035864972296716E-4}},"curvature":0.002652082514494386},{"time":0.5260164380469629,"velocity":1.4202443827267999,"acceleration":2.7000000000000006,"pose":{"translation":{"x":3.3306241198087982,"y":-2.357040972350315},"rotation":{"radians":6.754485548111559E-4}},"curvature":0.0033104753166963616},{"time":0.5850751482498664,"velocity":1.5797029002746394,"acceleration":2.6999999999999997,"pose":{"translation":{"x":3.419210597831801,"y":-2.3569673627586405},"rotation":{"radians":9.950959992412528E-4}},"curvature":0.0038981243771801294},{"time":0.6370367231616594,"velocity":1.7199991525364804,"acceleration":2.700000000000001,"pose":{"translation":{"x":3.5049393968742493,"y":-2.356867075136363},"rotation":{"radians":0.0013520244174984744}},"curvature":0.0044210302444997965},{"time":0.6833390603048902,"velocity":1.8450154628232036,"acceleration":2.7,"pose":{"translation":{"x":3.587473553211266,"y":-2.3567398982042733},"rotation":{"radians":0.0017360184754233884}},"curvature":0.004874609692377478},{"time":0.7249302432685079,"velocity":1.957311656824971,"acceleration":2.6999999999999926,"pose":{"translation":{"x":3.6665450468156116,"y":-2.3565869850886587},"rotation":{"radians":0.002136559645089136}},"curvature":0.005243133825564394},{"time":0.7624827776596516,"velocity":2.0587034996810587,"acceleration":1.0819585313430768,"pose":{"translation":{"x":3.7419506143953716,"y":-2.3564107005893433},"rotation":{"radians":0.0025422828689825997}},"curvature":0.0054979122679133},{"time":0.7969484484947217,"velocity":2.095993926279525,"acceleration":-2.699999999999992,"pose":{"translation":{"x":3.813547562431645,"y":-2.3562144684477317},"rotation":{"radians":0.0029404502277413256}},"curvature":0.005594270462982216},{"time":0.8299507902622387,"velocity":2.0068876035072294,"acceleration":-2.7000000000000024,"pose":{"translation":{"x":3.881249580216232,"y":-2.3560026186148484},"rotation":{"radians":0.003316424361517827}},"curvature":0.005467307107409776},{"time":0.8624379985890592,"velocity":1.919172141024814,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":3.9450225528893235,"y":-2.3557802345193797},"rotation":{"radians":0.00365313891813889}},"curvature":0.005026461101145579},{"time":0.9256149162430781,"velocity":1.748594463358963,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":4.06088076092986,"y":-2.355327048251995},"rotation":{"radians":0.004125323787162938}},"curvature":0.0026737820186648843},{"time":0.9861184332845145,"velocity":1.5852349673470847,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":4.161734080074728,"y":-2.354904842813889},"rotation":{"radians":0.004154108750296397}},"curvature":-0.0029414739347258},{"time":1.0438566564483853,"velocity":1.4293417648046338,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":4.24876157183169,"y":-2.3545658321706227},"rotation":{"radians":0.0034781161359367808}},"curvature":-0.01397812424405661},{"time":1.099078553226315,"velocity":1.2802426435042238,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":4.323575482900814,"y":-2.35435962366233},"rotation":{"radians":0.0018016415428211323}},"curvature":-0.032741911322928474},{"time":1.2053412709015958,"velocity":0.9933333057809655,"acceleration":-2.6999999999999997,"pose":{"translation":{"x":4.444373578973541,"y":-2.354501684748035},"rotation":{"radians":-0.005323585518118219}},"curvature":-0.0899279066882791},{"time":1.3201225946749353,"velocity":0.6834237315929491,"acceleration":-2.7,"pose":{"translation":{"x":4.5405986995686,"y":-2.3554900302219766},"rotation":{"radians":-0.015505320196648706}},"curvature":-0.10506063032999254},{"time":1.5732424952649164,"velocity":0.0,"acceleration":-2.7,"pose":{"translation":{"x":4.627077240224189,"y":-2.3571291631772207},"rotation":{"radians":-0.02086328407244092}},"curvature":2.0691998138625314E-15}]
+[{"time":0.0,"velocity":0.0,"acceleration":4.500000000000001,"pose":{"translation":{"x":2.957088191715518,"y":-2.3571291631772207},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.20561251483421628,"velocity":0.9252563167539735,"acceleration":4.500000000000002,"pose":{"translation":{"x":3.0522103307783257,"y":-2.3571275191873893},"rotation":{"radians":5.101157578230443E-5}},"curvature":0.001038792914185728},{"time":0.2902164945896451,"velocity":1.3059742256534033,"acceleration":4.5,"pose":{"translation":{"x":3.146595821982689,"y":-2.357116740977926},"rotation":{"radians":1.9099520049927404E-4}},"curvature":0.0019054639517066963},{"time":0.35433936655595,"velocity":1.5945271495017752,"acceleration":4.500000000000002,"pose":{"translation":{"x":3.2395900571900658,"y":-2.357089632328051},"rotation":{"radians":4.035864972296716E-4}},"curvature":0.002652082514494386},{"time":0.4074505808774465,"velocity":1.8335276139485097,"acceleration":4.500000000000004,"pose":{"translation":{"x":3.3306241198087982,"y":-2.357040972350315},"rotation":{"radians":6.754485548111559E-4}},"curvature":0.0033104753166963616},{"time":0.45319726109031355,"velocity":2.0393876749064117,"acceleration":4.500000000000004,"pose":{"translation":{"x":3.419210597831801,"y":-2.3569673627586405},"rotation":{"radians":9.950959992412528E-4}},"curvature":0.0038981243771801294},{"time":0.49344652394553024,"velocity":2.220509357754887,"acceleration":2.0759133655912567,"pose":{"translation":{"x":3.5049393968742493,"y":-2.356867075136363},"rotation":{"radians":0.0013520244174984744}},"curvature":0.0044210302444997965},{"time":0.5299913106792951,"velocity":2.2963731689781914,"acceleration":-0.007948992541120208,"pose":{"translation":{"x":3.587473553211266,"y":-2.3567398982042733},"rotation":{"radians":0.0017360184754233884}},"curvature":0.004874609692377478},{"time":0.5644266348037568,"velocity":2.296099442843575,"acceleration":-0.0057609439556368545,"pose":{"translation":{"x":3.6665450468156116,"y":-2.3565869850886587},"rotation":{"radians":0.002136559645089136}},"curvature":0.005243133825564394},{"time":0.5972688014507297,"velocity":2.29591024096214,"acceleration":-0.002294320594991734,"pose":{"translation":{"x":3.7419506143953716,"y":-2.3564107005893433},"rotation":{"radians":0.0025422828689825997}},"curvature":0.0054979122679133},{"time":0.6284539633546098,"velocity":2.295838692202926,"acceleration":0.0031970003956235706,"pose":{"translation":{"x":3.813547562431645,"y":-2.3562144684477317},"rotation":{"radians":0.0029404502277413256}},"curvature":0.005594270462982216},{"time":0.6579425156006361,"velocity":2.295932967116123,"acceleration":0.011787868614428857,"pose":{"translation":{"x":3.881249580216232,"y":-2.3560026186148484},"rotation":{"radians":0.003316424361517827}},"curvature":0.005467307107409776},{"time":0.6857172000315234,"velocity":2.2962603714470013,"acceleration":-0.7631714150595617,"pose":{"translation":{"x":3.9450225528893235,"y":-2.3557802345193797},"rotation":{"radians":0.00365313891813889}},"curvature":0.005026461101145579},{"time":0.736603050043849,"velocity":2.2574257452865862,"acceleration":-4.500000000000004,"pose":{"translation":{"x":4.06088076092986,"y":-2.355327048251995},"rotation":{"radians":0.004125323787162938}},"curvature":0.0026737820186648843},{"time":0.7834688728215409,"velocity":2.0465295427869723,"acceleration":-4.499999999999992,"pose":{"translation":{"x":4.161734080074728,"y":-2.354904842813889},"rotation":{"radians":0.004154108750296397}},"curvature":-0.0029414739347258},{"time":0.8281927081721966,"velocity":1.8452722837090219,"acceleration":-4.5,"pose":{"translation":{"x":4.24876157183169,"y":-2.3545658321706227},"rotation":{"radians":0.0034781161359367808}},"curvature":-0.01397812424405661},{"time":0.8709674054855779,"velocity":1.652786145798806,"acceleration":-4.5,"pose":{"translation":{"x":4.323575482900814,"y":-2.35435962366233},"rotation":{"radians":0.0018016415428211323}},"curvature":-0.032741911322928474},{"time":0.9532781526613986,"velocity":1.282387783507613,"acceleration":-4.5,"pose":{"translation":{"x":4.444373578973541,"y":-2.354501684748035},"rotation":{"radians":-0.005323585518118219}},"curvature":-0.0899279066882791},{"time":1.0421873837473556,"velocity":0.8822962436208065,"acceleration":-4.5,"pose":{"translation":{"x":4.5405986995686,"y":-2.3554900302219766},"rotation":{"radians":-0.015505320196648706}},"curvature":-0.10506063032999254},{"time":1.2382532156630903,"velocity":0.0,"acceleration":-4.5,"pose":{"translation":{"x":4.627077240224189,"y":-2.3571291631772207},"rotation":{"radians":-0.02086328407244092}},"curvature":2.0691998138625314E-15}]

src/main/deploy/paths/SixBallMid1.wpilib.json

@@ -1 +1 @@
-[{"time":0.0,"velocity":0.0,"acceleration":2.7,"pose":{"translation":{"x":5.006,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.2656061620411004,"velocity":0.717136637510971,"acceleration":2.6999999999999997,"pose":{"translation":{"x":5.101237954974175,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.3755418079977478,"velocity":1.013962881593919,"acceleration":2.699999999999999,"pose":{"translation":{"x":5.1963927268981935,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.45975256128584724,"velocity":1.2413319154717875,"acceleration":2.6999999999999997,"pose":{"translation":{"x":5.291352763772011,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.5305335412553954,"velocity":1.4324405613895677,"acceleration":2.7000000000000006,"pose":{"translation":{"x":5.385978881835937,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.5926137417782101,"velocity":1.6000571028011674,"acceleration":2.7000000000000006,"pose":{"translation":{"x":5.480107913374901,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.6483919450928297,"velocity":1.7506582517506402,"acceleration":2.700000000000002,"pose":{"translation":{"x":5.573556354522705,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.6992715855942349,"velocity":1.8880332811044342,"acceleration":2.699999999999999,"pose":{"translation":{"x":5.666124013066292,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.7461494519395091,"velocity":2.0146035202366748,"acceleration":2.699999999999993,"pose":{"translation":{"x":5.757597656250001,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.7896340730480098,"velocity":2.1320119972296263,"acceleration":2.699999999999995,"pose":{"translation":{"x":5.847754658579826,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.8301569015587917,"velocity":2.2414236342087372,"acceleration":1.531729483637854,"pose":{"translation":{"x":5.936366649627686,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.8683988799348584,"velocity":2.3,"acceleration":0.0,"pose":{"translation":{"x":6.023203161835671,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.9052824088412245,"velocity":2.3,"acceleration":0.0,"pose":{"translation":{"x":6.108035278320313,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.9411971924744984,"velocity":2.3,"acceleration":-1.6985912595494936,"pose":{"translation":{"x":6.190639280676843,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.9765102793153222,"velocity":2.2400174993444644,"acceleration":-2.700000000000001,"pose":{"translation":{"x":6.270800296783448,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.011868683643282,"velocity":2.144549807658973,"acceleration":-2.7,"pose":{"translation":{"x":6.3483159486055385,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.0474926117342358,"velocity":2.0483652018133975,"acceleration":-2.700000000000008,"pose":{"translation":{"x":6.423000000000001,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.0833360336812812,"velocity":1.9515879625563746,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":6.494686004519464,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.1193561926741322,"velocity":1.8543335332756767,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":6.563230953216554,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.1555164518123178,"velocity":1.7567008336025758,"acceleration":-2.699999999999997,"pose":{"translation":{"x":6.628518922448159,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.191790190982777,"velocity":1.6587617378423356,"acceleration":-2.700000000000003,"pose":{"translation":{"x":6.690464721679689,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.2646564021583566,"velocity":1.4620229676682703,"acceleration":-2.700000000000001,"pose":{"translation":{"x":6.804164600372316,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.3382134603188418,"velocity":1.26341891063496,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":6.904402343750003,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.4135999979994542,"velocity":1.0598752588973066,"acceleration":-2.7,"pose":{"translation":{"x":6.9919748954772984,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.4940698541817838,"velocity":0.8426066472050169,"acceleration":-2.6999999999999997,"pose":{"translation":{"x":7.0685211181640675,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.5895028411636067,"velocity":0.5849375823540952,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":7.136638523101813,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.8061463901836419,"velocity":0.0,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":7.200000000000008,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0}]
+[{"time":0.0,"velocity":0.0,"acceleration":4.499999999999999,"pose":{"translation":{"x":5.006,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.20573764844705011,"velocity":0.9258194180117253,"acceleration":4.499999999999999,"pose":{"translation":{"x":5.101237954974175,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.29089343363598014,"velocity":1.3090204513619104,"acceleration":4.500000000000001,"pose":{"translation":{"x":5.1963927268981935,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.35612280264725826,"velocity":1.602552611912662,"acceleration":4.499999999999997,"pose":{"translation":{"x":5.291352763772011,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.4109495139773185,"velocity":1.849272812897933,"acceleration":4.500000000000003,"pose":{"translation":{"x":5.385978881835937,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.45903663052813415,"velocity":2.0656648373766036,"acceleration":4.499999999999996,"pose":{"translation":{"x":5.480107913374901,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.5022422410319127,"velocity":2.2600900846436067,"acceleration":0.9830258870054502,"pose":{"translation":{"x":5.573556354522705,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.5428412892197167,"velocity":2.3,"acceleration":0.0,"pose":{"translation":{"x":5.666124013066292,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.5826124384300249,"velocity":2.3,"acceleration":0.0,"pose":{"translation":{"x":5.757597656250001,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.6218111350951665,"velocity":2.3,"acceleration":0.0,"pose":{"translation":{"x":5.847754658579826,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.6603380877246708,"velocity":2.3,"acceleration":0.0,"pose":{"translation":{"x":5.936366649627686,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.6980930930324901,"velocity":2.3,"acceleration":0.0,"pose":{"translation":{"x":6.023203161835671,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.7349766219388562,"velocity":2.3,"acceleration":0.0,"pose":{"translation":{"x":6.108035278320313,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.7708914055721301,"velocity":2.3,"acceleration":0.0,"pose":{"translation":{"x":6.190639280676843,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.8057440212706541,"velocity":2.3,"acceleration":0.0,"pose":{"translation":{"x":6.270800296783448,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.8394464785846065,"velocity":2.3,"acceleration":0.0,"pose":{"translation":{"x":6.3483159486055385,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.8719178052778511,"velocity":2.3,"acceleration":0.0,"pose":{"translation":{"x":6.423000000000001,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.9030856333297914,"velocity":2.3,"acceleration":0.0,"pose":{"translation":{"x":6.494686004519464,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.9328877849372218,"velocity":2.3,"acceleration":-1.1232567328986371,"pose":{"translation":{"x":6.563230953216554,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.9614733921177401,"velocity":2.267891024270487,"acceleration":-4.5,"pose":{"translation":{"x":6.628518922448159,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.9895709096601122,"velocity":2.1414521953298125,"acceleration":-4.499999999999994,"pose":{"translation":{"x":6.690464721679689,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.0460128341369628,"velocity":1.887463535183985,"acceleration":-4.500000000000002,"pose":{"translation":{"x":6.804164600372316,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.1029898863872767,"velocity":1.631066800057572,"acceleration":-4.500000000000001,"pose":{"translation":{"x":6.904402343750003,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.1613840473803265,"velocity":1.3682930755888474,"acceleration":-4.499999999999998,"pose":{"translation":{"x":6.9919748954772984,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.2237157299535002,"velocity":1.0878005040095662,"acceleration":-4.500000000000001,"pose":{"translation":{"x":7.0685211181640675,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.297637803805386,"velocity":0.7551511716760799,"acceleration":-4.499999999999999,"pose":{"translation":{"x":7.136638523101813,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.4654491752889593,"velocity":0.0,"acceleration":-4.499999999999999,"pose":{"translation":{"x":7.200000000000008,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0}]

src/main/java/frc4388/robot/Constants.java

@@ -223,9 +223,9 @@ public final class Constants {
         public static final double farLeftVisibleX = 3.58;
         public static final double farRightVisibleX = 7.04;*/
 
-        public static final double[] aRed = {3.8, 0.3};
+        public static final double[] aRed = {-2.3, 0.6};
         public static final double[] bRed = {-7.6, 4.3};
-        public static final double[] aBlue = {9.9, 8.2};
+        public static final double[] aBlue = {9.9, 9.0};
         public static final double[] bBlue = {4.8, 8.8};
 
         }

src/main/java/frc4388/robot/Robot.java

@@ -75,6 +75,7 @@ public class Robot extends TimedRobot {
   @Override
   public void disabledPeriodic() {
     m_robotContainer.resetOdometry(new Pose2d());
+    m_robotContainer.idenPath();
   }
 
   /**

src/main/java/frc4388/robot/RobotContainer.java

@@ -55,6 +55,8 @@ import frc4388.robot.commands.shooter.CalibrateShooter;
 import frc4388.robot.commands.shooter.ShootPrepGroup;
 import frc4388.robot.commands.shooter.TrackTarget;
 import frc4388.robot.commands.shooter.TrimShooter;
+import frc4388.robot.commands.storage.ManageStorage;
+import frc4388.robot.commands.storage.ManageStorage.StorageMode;
 import frc4388.robot.subsystems.Camera;
 import frc4388.robot.subsystems.Climber;
 import frc4388.robot.subsystems.Drive;
@@ -173,8 +175,8 @@ public class RobotContainer {
         // continually sends updates to the Blinkin LED controller to keep the lights on
         m_robotLED.setDefaultCommand(new RunCommand(() -> m_robotLED.updateLED(), m_robotLED));
         // runs the storage not
-        m_robotStorage.setDefaultCommand(new RunCommand(() -> m_robotStorage.runStorage(0), m_robotStorage));
-        //m_robotStorage.setDefaultCommand(new ManageStorage(m_robotStorage, StorageMode.IDLE));
+        //m_robotStorage.setDefaultCommand(new RunCommand(() -> m_robotStorage.runStorage(0), m_robotStorage));
+        m_robotStorage.setDefaultCommand(new ManageStorage(m_robotStorage, StorageMode.IDLE));
         //m_robotLime.setDefaultCommand(new RunCommand(() -> m_robotLime.limeOff(), m_robotLime));
     }
 
@@ -294,10 +296,14 @@ public class RobotContainer {
             "GSC_BRED",
             "GSC_BBLUE"
         };
-        m_robotLime.identifyPath();
+        idenPath();
         m_galacticSearch = new GalacticSearch(m_robotLime, m_robotIntake, buildPaths(galacticSearchPaths));
     }
 
+    public void idenPath()
+    {
+        m_robotLime.identifyPath();
+    }
     /**
      * Use this to pass the autonomous command to the main {@link Robot} class.
      *
@@ -308,7 +314,6 @@ public class RobotContainer {
         //TrajectoryConfig config = getTrajectoryConfig();
         //Trajectory trajectory = getTrajectory(config);
         //RamseteCommand ramseteCommand = getRamseteCommand(trajectory);
-
         // Run path following command, then stop at the end.
         try {
             SmartDashboard.putNumber("Trajectory Total Time", m_totalTimeAuto);

src/main/java/frc4388/robot/subsystems/LimeLight.java

@@ -50,31 +50,58 @@ public class LimeLight extends SubsystemBase {
     return NetworkTableInstance.getDefault().getTable("limelight").getEntry("ty").getDouble(0);
   }
 
+  int i = 0;
+  boolean onceThrough = false;
+  boolean pathFound = false;
   public void identifyPath(){
-    changePipeline(1);
-    if (withinCoords(VisionConstants.aBlue))
-    {
-      galacticSearchPath = "A_BLUE";
-    }
 
-    changePipeline(2);
-    if (withinCoords(VisionConstants.bBlue))
+    if (!onceThrough)
     {
-      galacticSearchPath = "B_BLUE";
-    }
+      changePipeline(2);
+      if (withinCoords(VisionConstants.aBlue))
+      {
+        pathFound = true;
+        galacticSearchPath = "A_BLUE";
+      }
 
-    changePipeline(1);
-    if (withinCoords(VisionConstants.aRed))
-    {
-      galacticSearchPath = "A_RED";
-    }
+      changePipeline(4);
+      if (withinCoords(VisionConstants.bBlue))
+      {
+        pathFound = true;
+        galacticSearchPath = "B_BLUE";
+      }
 
-    changePipeline(1);
-    if (withinCoords(VisionConstants.bRed))
-    {
-      galacticSearchPath = "B_RED";
+      changePipeline(1);
+      if (withinCoords(VisionConstants.aRed))
+      {
+        pathFound = true;
+        galacticSearchPath = "A_RED";
+      }
+
+      changePipeline(3);
+      if (withinCoords(VisionConstants.bRed))
+      {
+        pathFound = true;
+        galacticSearchPath = "B_RED";
+      }
+
+      if (pathFound == false)
+      {
+        galacticSearchPath = "PathNotFound";
+      }
+      SmartDashboard.putString("GalacticSearchPath", galacticSearchPath);
+      onceThrough = true;
+    }
+    else{
+      i++;
+      SmartDashboard.putNumber("Counter", i);
+    }
+    if (i >= 50)
+    {
+      i=0;
+      pathFound = false;
+      onceThrough = false;
     }
-    SmartDashboard.putString("GalacticSearchPath", galacticSearchPath);
   }
 
 public boolean withinError(double angle, double goal)