Adjusted Paths A LOT

Functioning barrel for sure

PathWeaver/Paths/Barrel

@@ -1,21 +1,20 @@
 X,Y,Tangent X,Tangent Y,Fixed Theta,Name
-1.2561734200863233,-2.456091477162919,0.5504778715454488,0.4453304129356437,true,
-2.9447179024673065,-2.1159085228370804,0.9107458620729512,-0.10178337482746132,false,
-3.996192488565354,-2.4437211879147065,0.41325189721031075,-0.4547588891338594,false,
+0.7043,-2.286,0.7360322102686336,-0.018555433872318616,true,
+2.078797655092443,-2.221055981446885,1.0947705984667913,0.24122064034014068,true,
+2.9447179024673065,-2.1159085228370804,0.6424990759336413,-0.041601886911014074,false,
+3.996192488565354,-2.4437211879147065,0.6123293177865099,-0.5814035946659799,true,
 4.268338852026026,-3.396233460027056,-0.31154791056112574,-0.27942584130171033,false,
 3.6127135218707718,-3.557047220253817,-0.2879329131005023,0.15605044058073636,false,
-3.3281968691618884,-3.1797533981833404,-0.06233434485711871,0.3054382027854879,false,
-3.587972943374347,-2.6292755266378918,0.055666301616955405,0.19173948334729118,true,
-4.255968562777813,-2.4313508986664947,0.8589703669838744,0.23215891428473245,false,
-6.1919188301230434,-2.0478719319719123,0.7942729164617968,0.5464826399783518,false,
-6.8970253172711455,-1.330395155575597,-0.18228040758538172,0.33251716672160114,false,
-6.210474263995361,-0.9840270566256523,-0.42352801124381567,-0.038909318843301545,false,
-5.622885524705275,-1.3736911679443404,-0.5225119504158948,-0.5710665615882562,false,
-6.303251433356953,-2.9756436255878373,0.7461533734181975,-0.6566658397700645,false,
-7.719649552277264,-3.4890106293886487,0.6320693037609113,0.28886118193638116,false,
-8.294868002319138,-2.9756436255878373,0.03665613098771699,0.37827064262095067,false,
-7.991795915737936,-2.3880548862977515,-0.4476410086145891,0.4897347710221099,false,
-6.525916639824776,-2.363314307801327,-1.108161550250234,0.10975004292544946,false,
-4.676558397217033,-1.9798353411067444,-1.3182005483288322,0.19662716982004538,false,
-2.56742408039683,-1.8004661470076657,-1.2087931465936643,0.00827931264915486,false,
-1.0520636474908198,-1.8746878824969397,-0.9648825613605618,-0.0061851446241067976,true,
+3.3281968691618884,-3.1797533981833404,-0.06865260647574907,0.31378206475905956,false,
+3.6127135218707718,-2.6045349481414672,0.38966411131868917,0.30925723120530835,true,
+4.255968562777813,-2.4313508986664947,0.8532917550578919,0.21424363839731048,false,
+6.1919188301230434,-2.0478719319719123,0.8226242350061188,0.47625613605617456,true,
+6.711470978547961,-1.3984317464407647,-0.24740578496424703,0.8226242350061197,true,
+6.210474263995361,-0.9840270566256523,-0.5690333054177676,0.0,true,
+5.622885524705275,-1.3736911679443404,-0.4144046898151128,-0.6308847516588287,true,
+6.612508664562261,-3.1426425304387036,1.5462861560265413,-0.9215865489918187,true,
+7.892833601752238,-3.427159183147587,0.8782905366230764,0.3711086774463701,true,
+8.30723829156735,-2.9261624685949883,0.1113326032339117,0.7916985118855893,true,
+7.58357637054693,-2.3571291631772207,-0.7298470656445284,-0.04948115699284905,true,
+6.525916639824776,-2.363314307801327,-1.3711249819762972,-0.0116654608891831,false,
+0.7984727179024672,-2.276722283063841,-1.0391042968498356,0.0618514462410622,true,

PathWeaver/pathweaver.json

@@ -1,7 +1,7 @@
 {
   "lengthUnit": "Meter",
   "exportUnit": "Always Meters",
-  "maxVelocity": 1.7,
+  "maxVelocity": 2.1,
   "maxAcceleration": 2.7,
   "wheelBase": 0.648,
   "gameName": "Barrel Racing Path",

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":1.7647018169830884,"pose":{"translation":{"x":5.480107913374901,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.6492481806601815,"velocity":1.7,"acceleration":0.0,"pose":{"translation":{"x":5.573556354522705,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.7036997445093501,"velocity":1.7,"acceleration":0.0,"pose":{"translation":{"x":5.666124013066292,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.7575077699115317,"velocity":1.7,"acceleration":0.0,"pose":{"translation":{"x":5.757597656250001,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.810541300693782,"velocity":1.7,"acceleration":0.0,"pose":{"translation":{"x":5.847754658579826,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.8626660013101702,"velocity":1.7,"acceleration":0.0,"pose":{"translation":{"x":5.936366649627686,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.9137463026089846,"velocity":1.7,"acceleration":0.0,"pose":{"translation":{"x":6.023203161835671,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.9636475475999504,"velocity":1.7,"acceleration":0.0,"pose":{"translation":{"x":6.108035278320313,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.0122381372214386,"velocity":1.7,"acceleration":0.0,"pose":{"translation":{"x":6.190639280676843,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.0593916761076771,"velocity":1.7,"acceleration":0.0,"pose":{"translation":{"x":6.270800296783448,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.1049891183559657,"velocity":1.7,"acceleration":0.0,"pose":{"translation":{"x":6.3483159486055385,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.1489209132938847,"velocity":1.7,"acceleration":0.0,"pose":{"translation":{"x":6.423000000000001,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.1910891512465098,"velocity":1.7,"acceleration":0.0,"pose":{"translation":{"x":6.494686004519464,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.2314097093036216,"velocity":1.7,"acceleration":0.0,"pose":{"translation":{"x":6.563230953216554,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.2698143970869191,"velocity":1.7,"acceleration":-1.1179894261480032,"pose":{"translation":{"x":6.628518922448159,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.3067004902763237,"velocity":1.6587617378423356,"acceleration":-2.700000000000003,"pose":{"translation":{"x":6.690464721679689,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.3795667014519033,"velocity":1.4620229676682703,"acceleration":-2.700000000000001,"pose":{"translation":{"x":6.804164600372316,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.4531237596123885,"velocity":1.26341891063496,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":6.904402343750003,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.528510297293001,"velocity":1.0598752588973066,"acceleration":-2.7,"pose":{"translation":{"x":6.9919748954772984,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.6089801534753305,"velocity":0.8426066472050169,"acceleration":-2.6999999999999997,"pose":{"translation":{"x":7.0685211181640675,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.7044131404571534,"velocity":0.5849375823540952,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":7.136638523101813,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.9210566894771886,"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":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":1.9486709139050253,"pose":{"translation":{"x":5.757597656250001,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.7899723874356805,"velocity":2.1,"acceleration":0.0,"pose":{"translation":{"x":5.847754658579826,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.8321685736489473,"velocity":2.1,"acceleration":0.0,"pose":{"translation":{"x":5.936366649627686,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.8735192937479874,"velocity":2.1,"acceleration":0.0,"pose":{"translation":{"x":6.023203161835671,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.9139155396930551,"velocity":2.1,"acceleration":0.0,"pose":{"translation":{"x":6.108035278320313,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.9532507789104503,"velocity":2.1,"acceleration":0.0,"pose":{"translation":{"x":6.190639280676843,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.9914226913421671,"velocity":2.1,"acceleration":0.0,"pose":{"translation":{"x":6.270800296783448,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.0283349064955436,"velocity":2.1,"acceleration":-1.4340411105217659,"pose":{"translation":{"x":6.3483159486055385,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.0643414043621324,"velocity":2.0483652018133975,"acceleration":-2.700000000000008,"pose":{"translation":{"x":6.423000000000001,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.1001848263091778,"velocity":1.9515879625563746,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":6.494686004519464,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.1362049853020288,"velocity":1.8543335332756767,"acceleration":-2.6999999999999993,"pose":{"translation":{"x":6.563230953216554,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.1723652444402144,"velocity":1.7567008336025758,"acceleration":-2.699999999999997,"pose":{"translation":{"x":6.628518922448159,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.2086389836106737,"velocity":1.6587617378423356,"acceleration":-2.700000000000003,"pose":{"translation":{"x":6.690464721679689,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.2815051947862532,"velocity":1.4620229676682703,"acceleration":-2.700000000000001,"pose":{"translation":{"x":6.804164600372316,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.3550622529467384,"velocity":1.26341891063496,"acceleration":-2.7000000000000015,"pose":{"translation":{"x":6.904402343750003,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.4304487906273509,"velocity":1.0598752588973066,"acceleration":-2.7,"pose":{"translation":{"x":6.9919748954772984,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.5109186468096805,"velocity":0.8426066472050169,"acceleration":-2.6999999999999997,"pose":{"translation":{"x":7.0685211181640675,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.6063516337915034,"velocity":0.5849375823540952,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":7.136638523101813,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":1.8229951828115385,"velocity":0.0,"acceleration":-2.7000000000000006,"pose":{"translation":{"x":7.200000000000008,"y":-1.3},"rotation":{"radians":0.0}},"curvature":0.0}]

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

@@ -71,6 +71,7 @@ public class Robot extends TimedRobot {
 
   @Override
   public void disabledPeriodic() {
+    m_robotContainer.resetOdometry(new Pose2d());
   }
 
   /**
@@ -83,7 +84,6 @@ public class Robot extends TimedRobot {
 
     m_robotContainer.setDriveNeutralMode(NeutralMode.Brake);
     m_robotContainer.setDriveGearState(true);
-    m_robotContainer.resetOdometry(new Pose2d());
 
     //m_robotContainer.resetGyroYawRobotContainer(0);