generated from OakvilleDynamics/frc-robot-template
-
Notifications
You must be signed in to change notification settings - Fork 1
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
Recreate autonomous, add basic vision locking
Recreated some of the autonomous paths for better management and implementing full auto routines compared to just paths. Added vision mapping for AprilTags. AprilTags and notes can now lock rotation while still in holonomic mode.
- Loading branch information
1 parent
db386c2
commit 7e635d7
Showing
16 changed files
with
692 additions
and
15 deletions.
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,67 @@ | ||
| { | ||
| "version": 1.0, | ||
| "startingPose": { | ||
| "position": { | ||
| "x": 1.5119055354389788, | ||
| "y": 2.558245860677768 | ||
| }, | ||
| "rotation": 0 | ||
| }, | ||
| "command": { | ||
| "type": "sequential", | ||
| "data": { | ||
| "commands": [ | ||
| { | ||
| "type": "path", | ||
| "data": { | ||
| "pathName": "Station 1 Go to AMP" | ||
| } | ||
| }, | ||
| { | ||
| "type": "named", | ||
| "data": { | ||
| "name": null | ||
| } | ||
| }, | ||
| { | ||
| "type": "path", | ||
| "data": { | ||
| "pathName": "Pickup close Note" | ||
| } | ||
| }, | ||
| { | ||
| "type": "named", | ||
| "data": { | ||
| "name": null | ||
| } | ||
| }, | ||
| { | ||
| "type": "path", | ||
| "data": { | ||
| "pathName": "Close note to AMP" | ||
| } | ||
| }, | ||
| { | ||
| "type": "named", | ||
| "data": { | ||
| "name": null | ||
| } | ||
| }, | ||
| { | ||
| "type": "path", | ||
| "data": { | ||
| "pathName": "AMP to middle field" | ||
| } | ||
| }, | ||
| { | ||
| "type": "named", | ||
| "data": { | ||
| "name": null | ||
| } | ||
| } | ||
| ] | ||
| } | ||
| }, | ||
| "folder": null, | ||
| "choreoAuto": false | ||
| } |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,43 @@ | ||
| { | ||
| "version": 1.0, | ||
| "startingPose": { | ||
| "position": { | ||
| "x": 1.5119055354389788, | ||
| "y": 2.558245860677768 | ||
| }, | ||
| "rotation": 0 | ||
| }, | ||
| "command": { | ||
| "type": "sequential", | ||
| "data": { | ||
| "commands": [ | ||
| { | ||
| "type": "path", | ||
| "data": { | ||
| "pathName": "Leave Station 1" | ||
| } | ||
| }, | ||
| { | ||
| "type": "named", | ||
| "data": { | ||
| "name": null | ||
| } | ||
| }, | ||
| { | ||
| "type": "path", | ||
| "data": { | ||
| "pathName": "AMP to middle field" | ||
| } | ||
| }, | ||
| { | ||
| "type": "named", | ||
| "data": { | ||
| "name": null | ||
| } | ||
| } | ||
| ] | ||
| } | ||
| }, | ||
| "folder": null, | ||
| "choreoAuto": false | ||
| } |
49 changes: 49 additions & 0 deletions
49
src/main/deploy/pathplanner/autos/Station 1 Not Full AMP.auto
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,49 @@ | ||
| { | ||
| "version": 1.0, | ||
| "startingPose": { | ||
| "position": { | ||
| "x": 1.5119055354389788, | ||
| "y": 2.558245860677768 | ||
| }, | ||
| "rotation": 0 | ||
| }, | ||
| "command": { | ||
| "type": "sequential", | ||
| "data": { | ||
| "commands": [ | ||
| { | ||
| "type": "path", | ||
| "data": { | ||
| "pathName": "Station 1 Go to AMP" | ||
| } | ||
| }, | ||
| { | ||
| "type": "named", | ||
| "data": { | ||
| "name": null | ||
| } | ||
| }, | ||
| { | ||
| "type": "path", | ||
| "data": { | ||
| "pathName": "Pickup close Note" | ||
| } | ||
| }, | ||
| { | ||
| "type": "named", | ||
| "data": { | ||
| "name": null | ||
| } | ||
| }, | ||
| { | ||
| "type": "path", | ||
| "data": { | ||
| "pathName": "Leave Station 3" | ||
| } | ||
| } | ||
| ] | ||
| } | ||
| }, | ||
| "folder": null, | ||
| "choreoAuto": false | ||
| } |
Large diffs are not rendered by default.
Oops, something went wrong.
52 changes: 52 additions & 0 deletions
52
src/main/deploy/pathplanner/paths/AMP to middle field.path
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,52 @@ | ||
| { | ||
| "version": 1.0, | ||
| "waypoints": [ | ||
| { | ||
| "anchor": { | ||
| "x": 1.86729904765713, | ||
| "y": 7.768725948900914 | ||
| }, | ||
| "prevControl": null, | ||
| "nextControl": { | ||
| "x": 3.174654748090113, | ||
| "y": 7.768725948900914 | ||
| }, | ||
| "isLocked": false, | ||
| "linkedName": null | ||
| }, | ||
| { | ||
| "anchor": { | ||
| "x": 7.770943341528902, | ||
| "y": 7.4309552554704394 | ||
| }, | ||
| "prevControl": { | ||
| "x": 6.742840686534915, | ||
| "y": 7.4309552554704394 | ||
| }, | ||
| "nextControl": null, | ||
| "isLocked": false, | ||
| "linkedName": null | ||
| } | ||
| ], | ||
| "rotationTargets": [], | ||
| "constraintZones": [], | ||
| "eventMarkers": [], | ||
| "globalConstraints": { | ||
| "maxVelocity": 3.0, | ||
| "maxAcceleration": 3.0, | ||
| "maxAngularVelocity": 540.0, | ||
| "maxAngularAcceleration": 720.0 | ||
| }, | ||
| "goalEndState": { | ||
| "velocity": 0, | ||
| "rotation": 0, | ||
| "rotateFast": false | ||
| }, | ||
| "reversed": false, | ||
| "folder": null, | ||
| "previewStartingState": { | ||
| "rotation": -90.0, | ||
| "velocity": 0 | ||
| }, | ||
| "useDefaultConstraints": true | ||
| } |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,52 @@ | ||
| { | ||
| "version": 1.0, | ||
| "waypoints": [ | ||
| { | ||
| "anchor": { | ||
| "x": 2.44, | ||
| "y": 6.99 | ||
| }, | ||
| "prevControl": null, | ||
| "nextControl": { | ||
| "x": 1.8496449190337936, | ||
| "y": 6.99 | ||
| }, | ||
| "isLocked": false, | ||
| "linkedName": null | ||
| }, | ||
| { | ||
| "anchor": { | ||
| "x": 1.8411258946523206, | ||
| "y": 7.762851675974441 | ||
| }, | ||
| "prevControl": { | ||
| "x": 1.8411258946523206, | ||
| "y": 7.316406933353292 | ||
| }, | ||
| "nextControl": null, | ||
| "isLocked": false, | ||
| "linkedName": null | ||
| } | ||
| ], | ||
| "rotationTargets": [], | ||
| "constraintZones": [], | ||
| "eventMarkers": [], | ||
| "globalConstraints": { | ||
| "maxVelocity": 3.0, | ||
| "maxAcceleration": 3.0, | ||
| "maxAngularVelocity": 540.0, | ||
| "maxAngularAcceleration": 720.0 | ||
| }, | ||
| "goalEndState": { | ||
| "velocity": 0, | ||
| "rotation": -89.18154453831147, | ||
| "rotateFast": false | ||
| }, | ||
| "reversed": false, | ||
| "folder": null, | ||
| "previewStartingState": { | ||
| "rotation": 0.8053549110409497, | ||
| "velocity": 0 | ||
| }, | ||
| "useDefaultConstraints": true | ||
| } |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,52 @@ | ||
| { | ||
| "version": 1.0, | ||
| "waypoints": [ | ||
| { | ||
| "anchor": { | ||
| "x": 1.5119055354389788, | ||
| "y": 2.558245860677768 | ||
| }, | ||
| "prevControl": null, | ||
| "nextControl": { | ||
| "x": 2.3769408427322216, | ||
| "y": 2.558245860677768 | ||
| }, | ||
| "isLocked": false, | ||
| "linkedName": null | ||
| }, | ||
| { | ||
| "anchor": { | ||
| "x": 6.2730037445763625, | ||
| "y": 1.5713680085678599 | ||
| }, | ||
| "prevControl": { | ||
| "x": 4.848492559239144, | ||
| "y": 1.7035391494754373 | ||
| }, | ||
| "nextControl": null, | ||
| "isLocked": false, | ||
| "linkedName": null | ||
| } | ||
| ], | ||
| "rotationTargets": [], | ||
| "constraintZones": [], | ||
| "eventMarkers": [], | ||
| "globalConstraints": { | ||
| "maxVelocity": 3.0, | ||
| "maxAcceleration": 3.0, | ||
| "maxAngularVelocity": 540.0, | ||
| "maxAngularAcceleration": 720.0 | ||
| }, | ||
| "goalEndState": { | ||
| "velocity": 0, | ||
| "rotation": 0.0, | ||
| "rotateFast": false | ||
| }, | ||
| "reversed": false, | ||
| "folder": null, | ||
| "previewStartingState": { | ||
| "rotation": 0, | ||
| "velocity": 0 | ||
| }, | ||
| "useDefaultConstraints": true | ||
| } |
Oops, something went wrong.