barge auto changes

Author: CougarRoboticsProg1

src/main/deploy/pathplanner/paths/One piece part 2 barge.path

@@ -8,8 +8,8 @@
       },
       "prevControl": null,
       "nextControl": {
-        "x": 6.58380744421885,
-        "y": 3.97072622940022
+        "x": 6.602930227919898,
+        "y": 4.010654731384542
       },
       "isLocked": false,
       "linkedName": null
@@ -20,8 +20,8 @@
         "y": 4.020078421927787
       },
       "prevControl": {
-        "x": 5.692719585551794,
-        "y": 4.197501730233285
+        "x": 5.683538694167147,
+        "y": 4.226226857329675
       },
       "nextControl": null,
       "isLocked": false,
@@ -34,7 +34,7 @@
   "eventMarkers": [],
   "globalConstraints": {
     "maxVelocity": 4.752,
-    "maxAcceleration": 5.0,
+    "maxAcceleration": 2.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
@@ -50,5 +50,5 @@
     "velocity": 0,
     "rotation": 180.0
   },
-  "useDefaultConstraints": true
+  "useDefaultConstraints": false
 }

src/main/deploy/pathplanner/paths/One piece part 3 barge.path

@@ -36,7 +36,7 @@
     "maxVelocity": 4.752,
     "maxAcceleration": 2.5,
     "maxAngularVelocity": 540.0,
-    "maxAngularAcceleration": 720.0,
+    "maxAngularAcceleration": 540.0,
     "nominalVoltage": 12.0,
     "unlimited": false
   },

src/main/deploy/pathplanner/paths/OneP Center.path

@@ -8,20 +8,20 @@
       },
       "prevControl": null,
       "nextControl": {
-        "x": 6.6246686906903065,
-        "y": 4.194390695050413
+        "x": 6.624777998655663,
+        "y": 4.174562042674747
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 6.605225409836065,
+        "x": 6.3534836065573765,
         "y": 4.168852459016394
       },
       "prevControl": {
-        "x": 7.066232772066507,
-        "y": 4.158843936152193
+        "x": 7.00914605019554,
+        "y": 4.1579986667419675
       },
       "nextControl": null,
       "isLocked": false,

src/main/java/team1403/robot/commands/auto/AutoHelper.java

@@ -49,10 +49,13 @@ public static Command getOnePCenterAlgae(SwerveSubsystem m_swerve) {
                 NamedCommands.getCommand("CoralScore"),
                 NamedCommands.getCommand("Loading"),
                 AutoUtil.loadPathPlannerPath("One piece part 2 barge", m_swerve),
-                NamedCommands.getCommand("Barge L3"),
-                NamedCommands.getCommand("ReefAlignCenter"),
+                //NamedCommands.getCommand("Barge L3"),
+                Commands.waitSeconds(1),
                 Commands.race(
-                    NamedCommands.getCommand("Algae Harvest"),
+                    Commands.parallel(
+                        NamedCommands.getCommand("ReefAlignCenter"),
+                        NamedCommands.getCommand("Algae Harvest")
+                    ),
                     Commands.sequence(
                         Commands.waitSeconds(3.0),
                         AutoUtil.loadPathPlannerPath("One piece part 3 barge", m_swerve),
@@ -61,10 +64,10 @@ public static Command getOnePCenterAlgae(SwerveSubsystem m_swerve) {
                         //NamedCommands.getCommand("WaitForSetpoint"),
                         //NamedCommands.getCommand("Algae Expel") // default command will expel
                     )
-                ),
-                Commands.waitSeconds(0.5),
-                NamedCommands.getCommand("LoadingFromBarge"), //make sure we don't kill ourselves on the barge
-                AutoUtil.loadPathPlannerPath("One piece part 4 barge", m_swerve)
+                )
+                //Commands.waitSeconds(0.5),
+                //NamedCommands.getCommand("LoadingFromBarge"), //make sure we don't kill ourselves on the barge
+                //AutoUtil.loadPathPlannerPath("One piece part 4 barge", m_swerve)
             );
         } catch (Exception e) {
             System.err.println("Could not load auto: " + e.getMessage());