Merge pull request #104 from strykeforce/mid-note-3-and-wing

New Autos

Author: mwitcpalek

simgui.json

@@ -3,6 +3,9 @@
     "RoboRIO": {
       "RoboRIO Input": {
         "open": true
+      },
+      "window": {
+        "visible": true
       }
     }
   },
@@ -12,6 +15,11 @@
       "/SmartDashboard/Auto Mode": "String Chooser"
     }
   },
+  "NetworkTables": {
+    "Persistent Values": {
+      "open": false
+    }
+  },
   "NetworkTables Info": {
     "visible": true
   }

src/main/deploy/paths/AmpInitial3_MiddleNote1_Part1.toml

@@ -1,5 +1,5 @@
 max_velocity = 2.0 #m/s
-max_acceleration = 2.5 #m/s
+max_acceleration = 1.0 #m/s
 start_velocity = 0.0 #m/s
 end_velocity = 2.0 #m/s 
 is_reversed = false
@@ -14,4 +14,4 @@ target_yaw = 90.0 #degrees
 
 [[internal_points]]
     x = 1.93 #1.93
-    y = 7.66
+    y = 7.60 # 7.66

src/main/deploy/paths/Jerry.toml

@@ -0,0 +1,20 @@
+max_velocity = 4.0 #m/s
+max_acceleration = 7.0 #m/s
+start_velocity = 0.0 #m/s
+end_velocity = 0.0 #m/s 
+is_reversed = false
+target_yaw = 0.0 #degrees
+
+[start_pose]
+    x = 14.19
+    y = 1.32
+    angle = 180.0
+
+[end_pose]
+    x = 2.32
+    y = 1.32
+    angle = 180.0
+
+[[internal_points]]
+    x = 8.26
+    y = 1.32

src/main/deploy/paths/WingNote1_MiddleNote1.toml renamed to src/main/deploy/paths/JerrysReverseTestPath.toml

@@ -1,21 +1,20 @@
-max_velocity = 5.0 #m/s
-max_acceleration = 4.4 #m/s
+max_velocity = 1.0 #m/s
+max_acceleration = 1.0 #m/s
 start_velocity = 0.0 #m/s
 end_velocity = 0.0 #m/s 
 is_reversed = false
 target_yaw = 0.0 #degrees
 
 [start_pose]
-    dataPoint = "W1"
-    dY = 0.1
-    dX = 1.0
+    x = 14.19
+    y = 1.67
     angle = 0.0
 
 [end_pose]
-    dataPoint = "M1"
-    dX = -0.5
-
+    x = 2.32
+    y = 1.67
+    angle = 0.0
 
 [[internal_points]]
-    x = 5.72
-    y = 7.4
+    x = 8.26
+    y = 1.67

src/main/deploy/paths/JerrysTestPath.toml

@@ -0,0 +1,20 @@
+max_velocity = 4.0 #m/s
+max_acceleration = 7.0 #m/s
+start_velocity = 0.0 #m/s
+end_velocity = 0.0 #m/s 
+is_reversed = false
+target_yaw = 0.0 #degrees
+
+[start_pose]
+    x = 2.32
+    y = 1.32
+    angle = 0.0
+
+[end_pose]
+    x = 14.19
+    y = 1.32
+    angle = 0.0
+
+[[internal_points]]
+    x = 8.26
+    y = 1.32

src/main/deploy/paths/MiddleInitial1_MiddleNote3.toml

@@ -1,5 +1,5 @@
-max_velocity = 1.0 #m/s
-max_acceleration = 1.0 #m/s
+max_velocity = 5.0 #m/s
+max_acceleration = 4.5 #m/s
 start_velocity = 0.0 #m/s
 end_velocity = 0.0 #m/s 
 is_reversed = false
@@ -10,11 +10,14 @@ target_yaw = 0.0 #degrees
 
 [end_pose]
     dataPoint = "M3"
-
+    dX = -0.2
+    dY = 0.0
+    
+# W2
 [[internal_points]]
-    x = 4.41
-    y = 4.83
+    x = 3.02 
+    y = 5.60 # 5.55
 
 [[internal_points]]
-    x = 4.71
-    y = 4.11
+    x = 5.221
+    y = 4.3

src/main/deploy/paths/MiddleInitial1_WingNote1.toml

@@ -3,23 +3,20 @@ max_acceleration = 3.0 #m/s
 start_velocity = 0.0 #m/s
 end_velocity = 0.0 #m/s 
 is_reversed = false
-target_yaw = 22.0 #degrees
+target_yaw = 26.6 #degrees - old 22.0
 
 [start_pose]
     dataPoint = "MI1"
     dX = 0.0
-    angle = 180.0
+    dY = 0.0
+    angle = 0.0
 
 [end_pose]
     dataPoint "W1"
-    dY = 0.1
-    dX = 1.0
-    angle = 0.0
+    dX = -0.1
+    dY = -0.35
+    angle = 26.6
 
 [[internal_points]]
     x = 1.9
-    y = 6.46
-
-[[internal_points]]
-    x = 3.09
-    y = 6.6 # 6.95
+    y = 6.3

src/main/deploy/paths/MiddleInitial1_WingNote2.toml

@@ -11,6 +11,7 @@ target_yaw = 0.0 #degrees
     angle = 0.0
 [end_pose]
     dataPoint "W2"
+    dX = 0.15
 
 [[internal_points]]
     x = 2.0

src/main/deploy/paths/MiddleInitial1_WingNote3.toml

@@ -10,8 +10,8 @@ target_yaw = -30.0 #degrees
     angle = 0.0
 [end_pose]
     dataPoint "W3"
-    dX = -0.1
-    dY = 0.25
+    dX = 0.0
+    dY = 0.1
     angle = -30.0
 
 [[internal_points]]

src/main/deploy/paths/MiddleNote3_MiddleShoot3.toml

@@ -0,0 +1,30 @@
+max_velocity = 5.0 #m/s
+max_acceleration = 4.6 #m/s
+start_velocity = 0.0 #m/s
+end_velocity = 0.0 #m/s 
+is_reversed = false
+target_yaw = 0.0 #degrees
+
+[start_pose]
+    dataPoint = "M3"
+    dX = 0.0
+    dY = 0.0
+    angle = 180.0
+
+[end_pose]
+    dataPoint = "MS3"
+    dX = 0.45
+    dY = 0.0
+    angle = 180.0
+
+[[internal_points]]
+    x = 5.364 # 5.221
+    y = 4.202 # 4.3
+
+[[internal_points]]
+    x = 4.0
+    y = 5.05
+
+[[internal_points]]
+    x = 3.007
+    y = 5.163