FRC-4509-MechBulls
diff --git a/‎.pathplanner/settings.json
+4-1 b/‎.pathplanner/settings.json
+4-1
diff --git a/‎field24.png
186 KB b/‎field24.png
186 KB
diff --git a/‎src/main/deploy/pathplanner/autos/C-4NOTE.auto ‎src/main/deploy/pathplanner/autos/AS-PL-00.auto
+35-22 b/‎src/main/deploy/pathplanner/autos/C-4NOTE.auto ‎src/main/deploy/pathplanner/autos/AS-PL-00.auto
+35-22
@@ -2,7 +2,10 @@
   "robotWidth": 0.92,
   "robotLength": 1.2,
   "holonomicMode": true,
-  "pathFolders": [],
+  "pathFolders": [
+    "speaker-ampside",
+    "speaker-center"
+  ],
   "autoFolders": [],
   "defaultMaxVel": 4.0,
   "defaultMaxAccel": 3.0,
 
@@ -2,10 +2,10 @@
   "version": 1.0,
   "startingPose": {
     "position": {
-      "x": 1.5144000463439524,
-      "y": 5.5555704093864335
+      "x": 0.765872873427322,
+      "y": 6.843527962547876
     },
-    "rotation": 180.0
+    "rotation": -120.62502060853139
   },
   "command": {
     "type": "sequential",
@@ -17,16 +17,41 @@
             "name": "setObjectiveSpeaker"
           }
         },
+        {
+          "type": "named",
+          "data": {
+            "name": "disableAimAssist"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "disableUseFedPoseIntention"
+          }
+        },
         {
           "type": "named",
           "data": {
             "name": "readyToShootMode"
           }
         },
         {
-          "type": "wait",
+          "type": "race",
           "data": {
-            "waitTime": 2.0
+            "commands": [
+              {
+                "type": "wait",
+                "data": {
+                  "waitTime": 5.0
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "waitForArmError"
+                }
+              }
+            ]
           }
         },
         {
@@ -44,7 +69,7 @@
         {
           "type": "named",
           "data": {
-            "name": "holdMode"
+            "name": "intakeMode"
           }
         },
         {
@@ -54,7 +79,7 @@
               {
                 "type": "path",
                 "data": {
-                  "pathName": "centerToCenterNote"
+                  "pathName": "speakerAmpsideToNote00"
                 }
               },
               {
@@ -64,13 +89,13 @@
                     {
                       "type": "wait",
                       "data": {
-                        "waitTime": 0.1
+                        "waitTime": 0.7
                       }
                     },
                     {
                       "type": "named",
                       "data": {
-                        "name": "intakeMode"
+                        "name": "enableAimAssist"
                       }
                     }
                   ]
@@ -110,7 +135,7 @@
               {
                 "type": "wait",
                 "data": {
-                  "waitTime": 2.6
+                  "waitTime": 3.0
                 }
               }
             ]
@@ -121,18 +146,6 @@
           "data": {
             "name": "shootMode"
           }
-        },
-        {
-          "type": "wait",
-          "data": {
-            "waitTime": 0.4
-          }
-        },
-        {
-          "type": "named",
-          "data": {
-            "name": "holdMode"
-          }
         }
       ]
     }
Original file line number	Diff line number	Diff line change
`@@ -2,10 +2,10 @@`
`2`	`2`	`"version": 1.0,`
`3`	`3`	`"startingPose": {`
`4`	`4`	`"position": {`
`5`		`- "x": 1.5144000463439524,`
`6`		`- "y": 5.5555704093864335`
	`5`	`+ "x": 0.765872873427322,`
	`6`	`+ "y": 6.843527962547876`
`7`	`7`	`},`
`8`		`- "rotation": 180.0`
	`8`	`+ "rotation": -120.62502060853139`
`9`	`9`	`},`
`10`	`10`	`"command": {`
`11`	`11`	`"type": "sequential",`
`@@ -17,16 +17,41 @@`
`17`	`17`	`"name": "setObjectiveSpeaker"`
`18`	`18`	`}`
`19`	`19`	`},`
	`20`	`+ {`
	`21`	`+ "type": "named",`
	`22`	`+ "data": {`
	`23`	`+ "name": "disableAimAssist"`
	`24`	`+ }`
	`25`	`+ },`
	`26`	`+ {`
	`27`	`+ "type": "named",`
	`28`	`+ "data": {`
	`29`	`+ "name": "disableUseFedPoseIntention"`
	`30`	`+ }`
	`31`	`+ },`
`20`	`32`	`{`
`21`	`33`	`"type": "named",`
`22`	`34`	`"data": {`
`23`	`35`	`"name": "readyToShootMode"`
`24`	`36`	`}`
`25`	`37`	`},`
`26`	`38`	`{`
`27`		`- "type": "wait",`
	`39`	`+ "type": "race",`
`28`	`40`	`"data": {`
`29`		`- "waitTime": 2.0`
	`41`	`+ "commands": [`
	`42`	`+ {`
	`43`	`+ "type": "wait",`
	`44`	`+ "data": {`
	`45`	`+ "waitTime": 5.0`
	`46`	`+ }`
	`47`	`+ },`
	`48`	`+ {`
	`49`	`+ "type": "named",`
	`50`	`+ "data": {`
	`51`	`+ "name": "waitForArmError"`
	`52`	`+ }`
	`53`	`+ }`
	`54`	`+ ]`
`30`	`55`	`}`
`31`	`56`	`},`
`32`	`57`	`{`
`@@ -44,7 +69,7 @@`
`44`	`69`	`{`
`45`	`70`	`"type": "named",`
`46`	`71`	`"data": {`
`47`		`- "name": "holdMode"`
	`72`	`+ "name": "intakeMode"`
`48`	`73`	`}`
`49`	`74`	`},`
`50`	`75`	`{`
`@@ -54,7 +79,7 @@`
`54`	`79`	`{`
`55`	`80`	`"type": "path",`
`56`	`81`	`"data": {`
`57`		`- "pathName": "centerToCenterNote"`
	`82`	`+ "pathName": "speakerAmpsideToNote00"`
`58`	`83`	`}`
`59`	`84`	`},`
`60`	`85`	`{`
`@@ -64,13 +89,13 @@`
`64`	`89`	`{`
`65`	`90`	`"type": "wait",`
`66`	`91`	`"data": {`
`67`		`- "waitTime": 0.1`
	`92`	`+ "waitTime": 0.7`
`68`	`93`	`}`
`69`	`94`	`},`
`70`	`95`	`{`
`71`	`96`	`"type": "named",`
`72`	`97`	`"data": {`
`73`		`- "name": "intakeMode"`
	`98`	`+ "name": "enableAimAssist"`
`74`	`99`	`}`
`75`	`100`	`}`
`76`	`101`	`]`
`@@ -110,7 +135,7 @@`
`110`	`135`	`{`
`111`	`136`	`"type": "wait",`
`112`	`137`	`"data": {`
`113`		`- "waitTime": 2.6`
	`138`	`+ "waitTime": 3.0`
`114`	`139`	`}`
`115`	`140`	`}`
`116`	`141`	`]`
`@@ -121,18 +146,6 @@`
`121`	`146`	`"data": {`
`122`	`147`	`"name": "shootMode"`
`123`	`148`	`}`
`124`		`- },`
`125`		`- {`
`126`		`- "type": "wait",`
`127`		`- "data": {`
`128`		`- "waitTime": 0.4`
`129`		`- }`
`130`		`- },`
`131`		`- {`
`132`		`- "type": "named",`
`133`		`- "data": {`
`134`		`- "name": "holdMode"`
`135`		`- }`
`136`	`149`	`}`
`137`	`150`	`]`
`138`	`151`	`}`