From 261532e9d63a51fa314eb46870a1c16c343cb55b Mon Sep 17 00:00:00 2001 From: manthan-acharya Date: Sat, 20 Jan 2024 20:56:30 -0500 Subject: [PATCH] Update autos --- src/main/deploy/choreo/3Spike.traj | 490 --- src/main/deploy/choreo/6Note.traj | 2825 +++++++---------- src/main/deploy/choreo/New Path.traj | 283 -- .../subsystems/drive/DriveConstants.java | 4 +- .../trajectory/ChoreoTrajectoryReader.java | 2 +- 5 files changed, 1078 insertions(+), 2526 deletions(-) delete mode 100644 src/main/deploy/choreo/3Spike.traj delete mode 100644 src/main/deploy/choreo/New Path.traj diff --git a/src/main/deploy/choreo/3Spike.traj b/src/main/deploy/choreo/3Spike.traj deleted file mode 100644 index 5b447cef..00000000 --- a/src/main/deploy/choreo/3Spike.traj +++ /dev/null @@ -1,490 +0,0 @@ -{ - "samples": [ - { - "x": 1.3269914388656616, - "y": 4.39792537689209, - "heading": -0.8519661022091116, - "angularVelocity": 0, - "velocityX": 0, - "velocityY": 0, - "timestamp": 0 - }, - { - "x": 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1.4555695040427974, - "velocityY": 7.992896278313059e-8, - "timestamp": 3.1350408648378774 - }, - { - "x": 10.1687593460083, - "y": 7.326318740844727, - "heading": 0, - "angularVelocity": 3.1585280732860345e-21, - "velocityX": 0.7277847634744247, - "velocityY": 3.996448202047962e-8, - "timestamp": 3.2470066100106587 - }, - { - "x": 10.1687593460083, - "y": 7.326318740844727, - "heading": 0, - "angularVelocity": 0, - "velocityX": 4.0858250360262775e-40, - "velocityY": 0, - "timestamp": 3.35897235518344 - } - ] -} \ No newline at end of file diff --git a/src/main/java/frc/robot/subsystems/drive/DriveConstants.java b/src/main/java/frc/robot/subsystems/drive/DriveConstants.java index a212f4f7..35660012 100644 --- a/src/main/java/frc/robot/subsystems/drive/DriveConstants.java +++ b/src/main/java/frc/robot/subsystems/drive/DriveConstants.java @@ -85,9 +85,9 @@ private static ModuleConstants getModuleConstants() { new ModuleConstants( 0.1, 0.13, - 0.05, + 0.1, 0.0, - 7.0, + 10.0, 0.0, Mk4iReductions.L2.reduction, Mk4iReductions.TURN.reduction); diff --git a/src/main/java/frc/robot/util/trajectory/ChoreoTrajectoryReader.java b/src/main/java/frc/robot/util/trajectory/ChoreoTrajectoryReader.java index 76543436..659e194c 100644 --- a/src/main/java/frc/robot/util/trajectory/ChoreoTrajectoryReader.java +++ b/src/main/java/frc/robot/util/trajectory/ChoreoTrajectoryReader.java @@ -43,7 +43,7 @@ public double getDuration() { @Override public Pose2d startPose() { ChoreoTrajectoryState start = states.get(0); - return new Pose2d(start.x, start.y, new Rotation2d(start.angularVelocity)); + return new Pose2d(start.x(), start.y(), new Rotation2d(start.heading())); } @Override