Revert "4 piece auto from the subwoofer"

This reverts commit e6d5d6b.
Team334 · Oct 20, 2024 · e51b3f0 · e51b3f0
1 parent c3b263b
commit e51b3f0
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Showing 26 changed files with 50 additions and 121 deletions.
diff --git a/src/main/deploy/pathplanner/autos/1 Piece Bottom Subwoofer.auto b/src/main/deploy/pathplanner/autos/1 Piece Bottom Subwoofer.auto
@@ -26,6 +26,6 @@
       ]
     }
   },
-  "folder": null,
+  "folder": "1 Piece",
   "choreoAuto": false
 }
diff --git a/src/main/deploy/pathplanner/autos/1 Piece Center Subwoofer.auto b/src/main/deploy/pathplanner/autos/1 Piece Center Subwoofer.auto
@@ -26,6 +26,6 @@
       ]
     }
   },
-  "folder": null,
+  "folder": "1 Piece",
   "choreoAuto": false
 }
diff --git a/src/main/deploy/pathplanner/autos/1 Piece Top Subwoofer.auto b/src/main/deploy/pathplanner/autos/1 Piece Top Subwoofer.auto
@@ -26,6 +26,6 @@
       ]
     }
   },
-  "folder": null,
+  "folder": "1 Piece",
   "choreoAuto": false
 }
diff --git a/src/main/deploy/pathplanner/autos/2 Piece from Bottom Subwoofer to Bottom Note.auto b/src/main/deploy/pathplanner/autos/2 Piece from Bottom Subwoofer to Bottom Note.auto
@@ -38,6 +38,6 @@
       ]
     }
   },
-  "folder": null,
+  "folder": "2 Piece",
   "choreoAuto": false
 }
diff --git a/src/main/deploy/pathplanner/autos/2 Piece from Center Subwoofer to Center Note.auto b/src/main/deploy/pathplanner/autos/2 Piece from Center Subwoofer to Center Note.auto
@@ -38,6 +38,6 @@
       ]
     }
   },
-  "folder": null,
+  "folder": "2 Piece",
   "choreoAuto": false
 }
diff --git a/src/main/deploy/pathplanner/autos/2 Piece from Top Subwoofer to Top Note.auto b/src/main/deploy/pathplanner/autos/2 Piece from Top Subwoofer to Top Note.auto
@@ -38,6 +38,6 @@
       ]
     }
   },
-  "folder": null,
+  "folder": "2 Piece",
   "choreoAuto": false
 }
diff --git a/.../pathplanner/autos/3 Piece Auton from Center Subwoofer to Center Note to Bottom Note.auto b/.../pathplanner/autos/3 Piece Auton from Center Subwoofer to Center Note to Bottom Note.auto
@@ -56,6 +56,6 @@
       ]
     }
   },
-  "folder": null,
+  "folder": "3 Piece",
   "choreoAuto": false
 }
diff --git a/...e from Bottom Subwoofer to Bottom Center Line Note to Middle Bottle Center Line Note.auto b/...e from Bottom Subwoofer to Bottom Center Line Note to Middle Bottle Center Line Note.auto
@@ -62,6 +62,6 @@
       ]
     }
   },
-  "folder": null,
+  "folder": "3 Piece",
   "choreoAuto": false
 }
diff --git a/...pathplanner/autos/3 Piece from Bottom Subwoofer to Bottom Center Note to Middle Note.auto b/...pathplanner/autos/3 Piece from Bottom Subwoofer to Bottom Center Note to Middle Note.auto
@@ -56,6 +56,6 @@
       ]
     }
   },
-  "folder": null,
+  "folder": "3 Piece",
   "choreoAuto": false
 }
diff --git a/...deploy/pathplanner/autos/3 Piece from Center Subwoofer to Center Note to Bottom Note.auto b/...deploy/pathplanner/autos/3 Piece from Center Subwoofer to Center Note to Bottom Note.auto
@@ -56,6 +56,6 @@
       ]
     }
   },
-  "folder": null,
+  "folder": "3 Piece",
   "choreoAuto": false
 }
diff --git a/...in/deploy/pathplanner/autos/3 Piece from Center Subwoofer to Center Note to Top Note.auto b/...in/deploy/pathplanner/autos/3 Piece from Center Subwoofer to Center Note to Top Note.auto
@@ -56,6 +56,6 @@
       ]
     }
   },
-  "folder": null,
+  "folder": "3 Piece",
   "choreoAuto": false
 }
diff --git a/...in/deploy/pathplanner/autos/3 Piece from Center Subwoofer to Top Note to Center Note.auto b/...in/deploy/pathplanner/autos/3 Piece from Center Subwoofer to Top Note to Center Note.auto
@@ -56,6 +56,6 @@
       ]
     }
   },
-  "folder": null,
+  "folder": "3 Piece",
   "choreoAuto": false
 }
diff --git a/src/main/deploy/pathplanner/autos/3 Piece from Top Subwoofer to Top Note to Center Note.auto b/src/main/deploy/pathplanner/autos/3 Piece from Top Subwoofer to Top Note to Center Note.auto
@@ -56,6 +56,6 @@
       ]
     }
   },
-  "folder": null,
+  "folder": "3 Piece",
   "choreoAuto": false
 }
diff --git a/...n/deploy/pathplanner/autos/3 Piece from Top Subwoofer to Top Note to Top Center Note.auto b/...n/deploy/pathplanner/autos/3 Piece from Top Subwoofer to Top Note to Top Center Note.auto
@@ -56,6 +56,6 @@
       ]
     }
   },
-  "folder": null,
+  "folder": "3 Piece",
   "choreoAuto": false
 }
diff --git a/src/main/deploy/pathplanner/autos/4 Piece 4 Notes.auto b/src/main/deploy/pathplanner/autos/4 Piece 4 Notes.auto
@@ -30,7 +30,7 @@
               {
                 "type": "path",
                 "data": {
-                  "pathName": "Top Note to Center Subwoofer"
+                  "pathName": "Center Note to Center Sub"
                 }
               },
               {
@@ -49,64 +49,44 @@
           }
         },
         {
-          "type": "path",
+          "type": "named",
           "data": {
-            "pathName": "Center Subwoofer to Center Note"
+            "name": "actuateInFast"
           }
         },
         {
-          "type": "parallel",
+          "type": "named",
           "data": {
-            "commands": [
-              {
-                "type": "path",
-                "data": {
-                  "pathName": "Center Note to Subwoofer"
-                }
-              },
-              {
-                "type": "named",
-                "data": {
-                  "name": "actuateInFast"
-                }
-              }
-            ]
+            "name": "shoot"
           }
         },
         {
-          "type": "named",
+          "type": "path",
           "data": {
-            "name": "shoot"
+            "pathName": "Center Subwoofer to Center Note"
           }
         },
         {
           "type": "path",
           "data": {
-            "pathName": "Center Subwoofer to Bottom Note"
+            "pathName": "Center Note to Center Sub"
           }
         },
         {
-          "type": "parallel",
+          "type": "named",
           "data": {
-            "commands": [
-              {
-                "type": "path",
-                "data": {
-                  "pathName": "Bottom Note to Center Subwoofer"
-                }
-              },
-              {
-                "type": "named",
-                "data": {
-                  "name": "actuateInFast"
-                }
-              }
-            ]
+            "name": "actuateInFast"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "shoot"
           }
         }
       ]
     }
   },
-  "folder": null,
+  "folder": "4 Piece",
   "choreoAuto": false
 }
diff --git a/...rom Center Subwoofer to Center Note to Bottom Note to Middle Bottom Center Line Note.auto b/...rom Center Subwoofer to Center Note to Bottom Note to Middle Bottom Center Line Note.auto
@@ -74,6 +74,6 @@
       ]
     }
   },
-  "folder": null,
+  "folder": "4 Piece",
   "choreoAuto": false
 }
diff --git a/...tos/4 Piece from Center Subwoofer to Center Note to Top Note to Top Center Line Note.auto b/...tos/4 Piece from Center Subwoofer to Center Note to Top Note to Top Center Line Note.auto
@@ -74,6 +74,6 @@
       ]
     }
   },
-  "folder": null,
+  "folder": "4 Piece",
   "choreoAuto": false
 }
diff --git a/...lanner/autos/4 Piece from Center Subwoofer to Top Note to Center Note to Bottom Note.auto b/...lanner/autos/4 Piece from Center Subwoofer to Top Note to Center Note to Bottom Note.auto
@@ -74,6 +74,6 @@
       ]
     }
   },
-  "folder": null,
+  "folder": "4 Piece",
   "choreoAuto": false
 }
diff --git a/...iece from Center Subwoofer to Top Note to Center Note to Middle Top Center Line Note.auto b/...iece from Center Subwoofer to Top Note to Center Note to Middle Top Center Line Note.auto
@@ -74,6 +74,6 @@
       ]
     }
   },
-  "folder": null,
+  "folder": "4 Piece",
   "choreoAuto": false
 }
diff --git a/...tos/4 Piece from Center Subwoofer to Top Note to Center Note to Top Center Line Note.auto b/...tos/4 Piece from Center Subwoofer to Top Note to Center Note to Top Center Line Note.auto
@@ -74,6 +74,6 @@
       ]
     }
   },
-  "folder": null,
+  "folder": "4 Piece",
   "choreoAuto": false
 }
diff --git a/...tos/Straight 4 Piece from Center Subwoofer to Top Note to Center Note to Bottom Note.auto b/...tos/Straight 4 Piece from Center Subwoofer to Top Note to Center Note to Bottom Note.auto
@@ -74,6 +74,6 @@
       ]
     }
   },
-  "folder": null,
+  "folder": "4 Piece",
   "choreoAuto": false
 }
diff --git a/src/main/deploy/pathplanner/paths/Bottom Note to Center Subwoofer.path b/src/main/deploy/pathplanner/paths/Bottom Note to Center Subwoofer.path
diff --git a/src/main/deploy/pathplanner/paths/Center Note to Center Sub.path b/src/main/deploy/pathplanner/paths/Center Note to Center Sub.path
@@ -3,13 +3,13 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 2.5209773226564,
-        "y": 5.56
+        "x": 2.377154468594652,
+        "y": 5.55593454044051
       },
       "prevControl": null,
       "nextControl": {
-        "x": 1.9199395491522817,
-        "y": 5.589318915780689
+        "x": 1.7761166950905336,
+        "y": 5.585253456221199
       },
       "isLocked": false,
       "linkedName": null

diff --git a/src/main/deploy/pathplanner/paths/Center Subwoofer to Center Note.path b/src/main/deploy/pathplanner/paths/Center Subwoofer to Center Note.path
@@ -3,12 +3,12 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 1.5,
+        "x": 1.4661550043820806,
         "y": 5.55593454044051
       },
       "prevControl": null,
       "nextControl": {
-        "x": 1.9986371019329263,
+        "x": 1.964792106315007,
         "y": 5.55593454044051
       },
       "isLocked": false,

diff --git a/src/main/deploy/pathplanner/paths/Top Note to Center Subwoofer.path b/src/main/deploy/pathplanner/paths/Top Note to Center Subwoofer.path
@@ -8,8 +8,8 @@
       },
       "prevControl": null,
       "nextControl": {
-        "x": 2.457499476402462,
-        "y": 6.208485399426939
+        "x": 2.1572626002432207,
+        "y": 5.878442614024452
       },
       "isLocked": false,
       "linkedName": null
@@ -20,8 +20,8 @@
         "y": 5.56
       },
       "prevControl": {
-        "x": 1.5778778925978905,
-        "y": 5.637184783141497
+        "x": 1.164474241229184,
+        "y": 5.369566461238185
       },
       "nextControl": null,
       "isLocked": false,

diff --git a/src/main/java/frc/robot/commands/auto/AutonShoot.java b/src/main/java/frc/robot/commands/auto/AutonShoot.java
@@ -33,8 +33,9 @@ public AutonShoot(
       // This command will squeeze the note and rev up the shooter if needed, all while auto-aiming.
       new ParallelCommandGroup(
         new SpinShooter(shooter, ShooterState.SHOOT, true).andThen(new WaitUntilCommand(shooter::isRevved)),
-        new FeedActuate(intake, FeedMode.INTAKE).withTimeout(1).onlyIf(() -> !intake.hasNoteAuton()),
-        new AutoAim(swerve, shooter, elevator)
+        new FeedActuate(intake, FeedMode.INTAKE).withTimeout(1).onlyIf(() -> !intake.hasNoteAuton())
+        // ,
+        // new AutoAim(swerve, shooter, elevator)
       ),
 
       new FeedActuate(intake, FeedMode.OUTTAKE).withTimeout(0.5)