From c5eb51492368f6ae7a3f94834e4ea339b27f2606 Mon Sep 17 00:00:00 2001 From: Aarav Shah Date: Fri, 12 Feb 2021 15:34:56 -0700 Subject: [PATCH] Working Barrel path, none of the tape measures are pushed Set motors to coast mode instead of brake to help with stuttering problem --- PathWeaver/Paths/Barrel | 8 ++++---- PathWeaver/pathweaver.json | 2 +- src/main/deploy/paths/Barrel.wpilib.json | 2 +- src/main/deploy/paths/EightBallMid0.wpilib.json | 2 +- src/main/deploy/paths/EightBallMid1.wpilib.json | 2 +- src/main/deploy/paths/EightBallMid2.wpilib.json | 2 +- src/main/deploy/paths/EightBallMidComplete.wpilib.json | 2 +- src/main/deploy/paths/FiveBallMidComplete.wpilib.json | 2 +- src/main/deploy/paths/SixBallMid0.wpilib.json | 2 +- src/main/deploy/paths/SixBallMid1.wpilib.json | 2 +- src/main/deploy/paths/SixBallMidComplete.wpilib.json | 2 +- src/main/deploy/paths/Slalom.wpilib.json | 2 +- src/main/deploy/paths/TenBallMidComplete.wpilib.json | 2 +- src/main/java/frc4388/robot/Robot.java | 2 +- 14 files changed, 17 insertions(+), 17 deletions(-) diff --git a/PathWeaver/Paths/Barrel b/PathWeaver/Paths/Barrel index 249b3f2..13afc4d 100644 --- a/PathWeaver/Paths/Barrel +++ b/PathWeaver/Paths/Barrel @@ -1,5 +1,5 @@ X,Y,Tangent X,Tangent Y,Fixed Theta,Name -0.7043,-2.286,0.7360322102686336,-0.018555433872318616,true, +0.864,-2.134,0.7360322102686336,-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, @@ -15,6 +15,6 @@ X,Y,Tangent X,Tangent Y,Fixed Theta,Name 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, +7.58357637054693,-2.232,-0.7298470656445284,-0.04948115699284905,true, +6.525916639824776,-2.222,-1.3711249819762972,-0.0116654608891831,false, +0.7984727179024672,-2.134,-1.0391042968498356,0.0618514462410622,true, diff --git a/PathWeaver/pathweaver.json b/PathWeaver/pathweaver.json index ca2c7c6..6b0af63 100644 --- a/PathWeaver/pathweaver.json +++ b/PathWeaver/pathweaver.json @@ -1,7 +1,7 @@ { "lengthUnit": "Meter", "exportUnit": "Always Meters", - "maxVelocity": 2.1, + "maxVelocity": 2.0, "maxAcceleration": 2.7, "wheelBase": 0.648, "gameName": "Barrel Racing Path", diff --git a/src/main/deploy/paths/Barrel.wpilib.json b/src/main/deploy/paths/Barrel.wpilib.json index 4c9a755..3ed5a36 100644 --- a/src/main/deploy/paths/Barrel.wpilib.json +++ b/src/main/deploy/paths/Barrel.wpilib.json @@ -1 +1 @@ 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\ No newline at end of file diff --git a/src/main/java/frc4388/robot/Robot.java b/src/main/java/frc4388/robot/Robot.java index fb6f242..b8ecd81 100644 --- a/src/main/java/frc4388/robot/Robot.java +++ b/src/main/java/frc4388/robot/Robot.java @@ -85,7 +85,7 @@ public class Robot extends TimedRobot { m_autonomousCommand = m_robotContainer.getAutonomousCommand(); - m_robotContainer.setDriveNeutralMode(NeutralMode.Brake); + m_robotContainer.setDriveNeutralMode(NeutralMode.Coast); m_robotContainer.setDriveGearState(true); m_initialTime = System.currentTimeMillis();