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Tuned slalom path. WIP

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Co-Authored-By: Nirvan Bhalala <78400306+nbhalala27@users.noreply.github.com>
This commit is contained in:
Aarav Shah
2021-02-23 17:53:56 -07:00
parent c5a2c4ff6e
commit e660b59d1f
4 changed files with 16 additions and 17 deletions
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PathWeaver/Paths/Slalom
+12 -13
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@@ -1,15 +1,14 @@
X,Y,Tangent X,Tangent Y,Fixed Theta,Name X,Y,Tangent X,Tangent Y,Fixed Theta,Name
1.2994694324550664,-3.8910450299555492,3.048,0.0,true, 1.1633962507247309,-3.693120401984152,2.30034323262256,0.058245899632803244,true,
2.8704961669780324,-2.4313508986664947,1.0081785737293036,0.7607727887650584,true, 2.85812587772982,-2.412795464794176,0.8102539457579074,0.6494401855311474,true,
4.336375442891193,-1.7942810023835594,1.5833970237711776,0.10514745860980468,true, 4.571410938607228,-2.004575919603169,2.022542292082716,0.05566630161695518,true,
6.031105069896283,-2.1777599690781417,0.9629650370580306,-0.6119074379656407,false, 6.105326805385555,-2.3509440185531143,0.8734927301599473,-0.5329783419602319,false,
7.144431102235392,-3.748786703601108,0.9129332006861199,-0.3193197571926916,false, 7.150616246859498,-3.6683798234877276,1.1442517554596412,-0.7174767763963148,true,
8.449496617921792,-3.7116758358564708,0.43075407969515506,0.45701597777948244,false, 8.202090832957547,-3.618898666494878,0.6741807640275734,0.6370698962829353,true,
8.653606390517297,-2.647830960510211,-0.23623592828539644,0.5373704622107232,false, 8.43712632867358,-2.456091477162919,-0.8721053919989696,1.107140887715003,true,
7.82479701088707,-2.0664273658442305,-0.5725748756955894,0.05867536270547524,false, 7.076394511370224,-2.4808320556593437,-0.5195521484249168,-1.2122883463248084,true,
6.946506474263994,-2.3942400309218574,-0.5467714376131736,-0.43799557830063024,false, 6.204289119371255,-3.581787798750241,-0.9215865489918196,-0.6185144624106163,true,
6.420769181214971,-3.6127135218707718,-0.675970094877858,-0.6987407651139694,false, 4.7384098434580935,-3.903415319203762,-1.0282413438142206,-0.047219421650161054,false,
4.565225793983121,-4.027118211685885,-1.1465338797118756,0.025296532830716423,false, 3.1179019519422786,-3.674564968111833,-1.3854723957997805,0.5319224376731304,true,
2.9818287702119433,-3.6621946788636217,-1.3050655156864006,0.7607727887650593,true, 2.1282788120852927,-2.7839041422405457,-1.2679546479417638,1.6019524576434963,true,
1.58398608516395,-2.3076480061843716,-0.717476776396315,0.26596121883656565,true,
0.5572520775623268,-2.140649101333505,-0.7236619210204216,0.04948115699284905,true, 0.5572520775623268,-2.140649101333505,-0.7236619210204216,0.04948115699284905,true,
PathWeaver/pathweaver.json
+1 -1
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@@ -4,6 +4,6 @@
"maxVelocity": 2.3, "maxVelocity": 2.3,
"maxAcceleration": 2.7, "maxAcceleration": 2.7,
"wheelBase": 0.648, "wheelBase": 0.648,
"gameName": "Barrel Racing Path", "gameName": "Slalom Path",
"outputDir": ".." "outputDir": ".."
} }
src/main/deploy/paths/Slalom.wpilib.json
+1 -1
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src/main/java/frc4388/robot/RobotContainer.java
+2 -2
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@@ -371,8 +371,8 @@ public class RobotContainer {
//return m_driveOffLineBackward.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0)); //return m_driveOffLineBackward.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0));
//return m_fiveBallAutoMiddle.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0)); //return m_fiveBallAutoMiddle.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0));
//return m_tenBallAutoMiddle.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0)); //return m_tenBallAutoMiddle.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0));
//return m_slalom.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0)); return m_slalom.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0));
return m_barrel.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0)); //return m_barrel.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0));
//return m_barrelMany.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0)); //return m_barrelMany.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0));
} catch (Exception e) { } catch (Exception e) {
System.err.println("ERROR"); System.err.println("ERROR");