diff --git a/.pathplanner/settings.json b/.pathplanner/settings.json index 2b97df66..bb24bfca 100644 --- a/.pathplanner/settings.json +++ b/.pathplanner/settings.json @@ -1,6 +1,6 @@ { - "robotWidth": 0.8382, - "robotLength": 0.8382, + "robotWidth": 0.79248, + "robotLength": 0.79248, "holonomicMode": true, "generateJSON": true, "generateCSV": false diff --git a/src/main/deploy/pathplanner/Over Chargepad theory.path b/src/main/deploy/pathplanner/Over Chargepad theory.path index b702a832..1bee1165 100644 --- a/src/main/deploy/pathplanner/Over Chargepad theory.path +++ b/src/main/deploy/pathplanner/Over Chargepad theory.path @@ -2,12 +2,12 @@ "waypoints": [ { "anchorPoint": { - "x": 1.6928156933236946, + "x": 1.76874, "y": 3.3115587598696563 }, "prevControl": null, "nextControl": { - "x": 3.2115650556087436, + "x": 3.287489362285049, "y": 3.7226488128189934 }, "holonomicAngle": 178.6980473274211, @@ -49,15 +49,15 @@ }, { "anchorPoint": { - "x": 1.6824291095390713, + "x": 1.75874, "y": 2.728938223833895 }, "prevControl": { - "x": 1.2634180536627295, + "x": 1.3397289441236582, "y": 2.577628675878549 }, "nextControl": { - "x": 2.9156992683870833, + "x": 2.9920101588480117, "y": 3.174285781195677 }, "holonomicAngle": 179.49741833327897, diff --git a/src/main/deploy/pathplanner/_1_A.path b/src/main/deploy/pathplanner/_1_A.path index c937c9de..3b161ff9 100644 --- a/src/main/deploy/pathplanner/_1_A.path +++ b/src/main/deploy/pathplanner/_1_A.path @@ -2,12 +2,12 @@ "waypoints": [ { "anchorPoint": { - "x": 1.703410612293437, + "x": 1.77874, "y": 0.49835628662367387 }, "prevControl": null, "nextControl": { - "x": 2.703410612293438, + "x": 2.778740000000001, "y": 0.49835628662367387 }, "holonomicAngle": 180.0, @@ -24,11 +24,11 @@ }, { "anchorPoint": { - "x": 6.55, + "x": 6.5, "y": 0.92 }, "prevControl": { - "x": 5.55, + "x": 5.5, "y": 0.92 }, "nextControl": null, diff --git a/src/main/deploy/pathplanner/_1_B.path b/src/main/deploy/pathplanner/_1_B.path index ece259d9..596dab28 100644 --- a/src/main/deploy/pathplanner/_1_B.path +++ b/src/main/deploy/pathplanner/_1_B.path @@ -2,12 +2,12 @@ "waypoints": [ { "anchorPoint": { - "x": 1.7, + "x": 1.77874, "y": 0.5 }, "prevControl": null, "nextControl": { - "x": 2.656693051805723, + "x": 2.735433051805723, "y": 0.46961717901637434 }, "holonomicAngle": 180.0, @@ -24,12 +24,12 @@ }, { "anchorPoint": { - "x": 6.73, - "y": 1.7899999999999998 + "x": 6.665801109570119, + "y": 1.7418622814878797 }, "prevControl": { - "x": 5.791114688496408, - "y": 0.4040892005489741 + "x": 5.482108925724973, + "y": 0.558170097642734 }, "nextControl": null, "holonomicAngle": 45.0, diff --git a/src/main/deploy/pathplanner/_1_CH.path b/src/main/deploy/pathplanner/_1_CH.path index 28c1dd99..50f87c8d 100644 --- a/src/main/deploy/pathplanner/_1_CH.path +++ b/src/main/deploy/pathplanner/_1_CH.path @@ -2,12 +2,12 @@ "waypoints": [ { "anchorPoint": { - "x": 1.6956512863271764, + "x": 1.77874, "y": 0.5218689715673578 }, "prevControl": null, "nextControl": { - "x": 2.138781489154012, + "x": 2.2218702028268353, "y": 0.6258689171287583 }, "holonomicAngle": 180.0, diff --git a/src/main/deploy/pathplanner/_2_A.path b/src/main/deploy/pathplanner/_2_A.path index 4f946278..d34dc151 100644 --- a/src/main/deploy/pathplanner/_2_A.path +++ b/src/main/deploy/pathplanner/_2_A.path @@ -2,13 +2,13 @@ "waypoints": [ { "anchorPoint": { - "x": 1.6820860760365588, - "y": 1.055433909664977 + "x": 1.77874, + "y": 1.06 }, "prevControl": null, "nextControl": { - "x": 5.452553466414836, - "y": 0.6115944656957432 + "x": 5.549207390378276, + "y": 0.6161605560307662 }, "holonomicAngle": 180.0, "isReversal": false, @@ -24,11 +24,11 @@ }, { "anchorPoint": { - "x": 6.55, + "x": 6.5, "y": 0.94 }, "prevControl": { - "x": 5.55, + "x": 5.5, "y": 0.94 }, "nextControl": null, diff --git a/src/main/deploy/pathplanner/_2_B.path b/src/main/deploy/pathplanner/_2_B.path index b0e6f461..38305af1 100644 --- a/src/main/deploy/pathplanner/_2_B.path +++ b/src/main/deploy/pathplanner/_2_B.path @@ -2,12 +2,12 @@ "waypoints": [ { "anchorPoint": { - "x": 1.7, + "x": 1.77874, "y": 1.06 }, "prevControl": null, "nextControl": { - "x": 4.000808558461665, + "x": 4.079548558461664, "y": 0.5254097747174611 }, "holonomicAngle": 180.0, @@ -24,12 +24,12 @@ }, { "anchorPoint": { - "x": 6.73, - "y": 1.79 + "x": 6.67, + "y": 1.74 }, "prevControl": { - "x": 6.178706742564297, - "y": 0.7364836075379808 + "x": 6.118706742564297, + "y": 0.6864836075379808 }, "nextControl": null, "holonomicAngle": 45.0, diff --git a/src/main/deploy/pathplanner/_2_CH.path b/src/main/deploy/pathplanner/_2_CH.path index 095dcc56..3be7b0ae 100644 --- a/src/main/deploy/pathplanner/_2_CH.path +++ b/src/main/deploy/pathplanner/_2_CH.path @@ -2,12 +2,12 @@ "waypoints": [ { "anchorPoint": { - "x": 1.71, + "x": 1.77874, "y": 1.075 }, "prevControl": null, "nextControl": { - "x": 1.71, + "x": 1.77874, "y": 1.5533238396254438 }, "holonomicAngle": 180.0, diff --git a/src/main/deploy/pathplanner/_3_A.path b/src/main/deploy/pathplanner/_3_A.path index dae00f6e..15662436 100644 --- a/src/main/deploy/pathplanner/_3_A.path +++ b/src/main/deploy/pathplanner/_3_A.path @@ -2,12 +2,12 @@ "waypoints": [ { "anchorPoint": { - "x": 1.6956512863271764, + "x": 1.77874, "y": 1.6342162153979862 }, "prevControl": null, "nextControl": { - "x": 2.048346753883229, + "x": 2.1314354675560527, "y": 0.5896950230204459 }, "holonomicAngle": 180.0, @@ -24,11 +24,11 @@ }, { "anchorPoint": { - "x": 6.55, + "x": 6.5, "y": 0.9152600699952629 }, "prevControl": { - "x": 5.55, + "x": 5.5, "y": 0.9152600699952629 }, "nextControl": null, diff --git a/src/main/deploy/pathplanner/_3_B.path b/src/main/deploy/pathplanner/_3_B.path index 9de38692..f7b69ddb 100644 --- a/src/main/deploy/pathplanner/_3_B.path +++ b/src/main/deploy/pathplanner/_3_B.path @@ -2,12 +2,12 @@ "waypoints": [ { "anchorPoint": { - "x": 1.7, + "x": 1.77874, "y": 1.63 }, "prevControl": null, "nextControl": { - "x": 2.4177548123077686, + "x": 2.496494812307769, "y": 0.6693237516405423 }, "holonomicAngle": 180.0, @@ -24,12 +24,12 @@ }, { "anchorPoint": { - "x": 6.73, - "y": 1.79 + "x": 6.67, + "y": 1.74 }, "prevControl": { - "x": 5.727776281538643, - "y": 0.44865565369181826 + "x": 5.667776281538642, + "y": 0.3986556536918182 }, "nextControl": null, "holonomicAngle": 45.0, diff --git a/src/main/deploy/pathplanner/_3_CH.path b/src/main/deploy/pathplanner/_3_CH.path index 98d15d37..0bdfa3f2 100644 --- a/src/main/deploy/pathplanner/_3_CH.path +++ b/src/main/deploy/pathplanner/_3_CH.path @@ -2,12 +2,12 @@ "waypoints": [ { "anchorPoint": { - "x": 1.7, + "x": 1.77874, "y": 1.6251727418709072 }, "prevControl": null, "nextControl": { - "x": 1.9735299586505202, + "x": 2.05226995865052, "y": 2.0823645832539865 }, "holonomicAngle": 180.0, diff --git a/src/main/deploy/pathplanner/_4_B.path b/src/main/deploy/pathplanner/_4_B.path index c09b8506..6a249759 100644 --- a/src/main/deploy/pathplanner/_4_B.path +++ b/src/main/deploy/pathplanner/_4_B.path @@ -2,12 +2,12 @@ "waypoints": [ { "anchorPoint": { - "x": 1.7, + "x": 1.77874, "y": 2.19 }, "prevControl": null, "nextControl": { - "x": 2.494508933333412, + "x": 2.573248933333412, "y": 0.26636461625591495 }, "holonomicAngle": 180.0, @@ -24,12 +24,12 @@ }, { "anchorPoint": { - "x": 6.73, - "y": 1.79 + "x": 6.67, + "y": 1.74 }, "prevControl": { - "x": 5.094554783077083, - "y": 0.6981065470251588 + "x": 5.034554783077082, + "y": 0.6481065470251588 }, "nextControl": null, "holonomicAngle": 45.0, diff --git a/src/main/deploy/pathplanner/_4_CH.path b/src/main/deploy/pathplanner/_4_CH.path index eb44b345..349d6db8 100644 --- a/src/main/deploy/pathplanner/_4_CH.path +++ b/src/main/deploy/pathplanner/_4_CH.path @@ -2,12 +2,12 @@ "waypoints": [ { "anchorPoint": { - "x": 1.7, + "x": 1.77874, "y": 2.19 }, "prevControl": null, "nextControl": { - "x": 2.0006190579746637, + "x": 2.0793590579746635, "y": 2.4697175263941613 }, "holonomicAngle": 180.0, diff --git a/src/main/deploy/pathplanner/_4_M.path b/src/main/deploy/pathplanner/_4_M.path index 201771c2..8532d11e 100644 --- a/src/main/deploy/pathplanner/_4_M.path +++ b/src/main/deploy/pathplanner/_4_M.path @@ -2,12 +2,12 @@ "waypoints": [ { "anchorPoint": { - "x": 1.7, + "x": 1.77874, "y": 2.19 }, "prevControl": null, "nextControl": { - "x": 1.932137922651527, + "x": 2.010877922651527, "y": 2.422137922651527 }, "holonomicAngle": 180.0, diff --git a/src/main/deploy/pathplanner/_5_B.path b/src/main/deploy/pathplanner/_5_B.path index db2804fe..e10b7f43 100644 --- a/src/main/deploy/pathplanner/_5_B.path +++ b/src/main/deploy/pathplanner/_5_B.path @@ -2,12 +2,12 @@ "waypoints": [ { "anchorPoint": { - "x": 1.7, + "x": 1.77874, "y": 2.733103819702347 }, "prevControl": null, "nextControl": { - "x": 1.941775481235089, + "x": 2.0205154812350887, "y": 0.26636461625591495 }, "holonomicAngle": 180.0, @@ -24,12 +24,12 @@ }, { "anchorPoint": { - "x": 6.73, - "y": 1.79 + "x": 6.67, + "y": 1.74 }, "prevControl": { - "x": 5.4383750717387604, - "y": 0.5126823642459369 + "x": 5.37837507173876, + "y": 0.4626823642459369 }, "nextControl": null, "holonomicAngle": 45.0, diff --git a/src/main/deploy/pathplanner/_5_C.path b/src/main/deploy/pathplanner/_5_C.path index 7d03f7ca..f7ea05f9 100644 --- a/src/main/deploy/pathplanner/_5_C.path +++ b/src/main/deploy/pathplanner/_5_C.path @@ -2,12 +2,12 @@ "waypoints": [ { "anchorPoint": { - "x": 1.7, + "x": 1.77874, "y": 2.73 }, "prevControl": null, "nextControl": { - "x": 1.5254881553846633, + "x": 1.6042281553846633, "y": 5.428079255230436 }, "holonomicAngle": 180.0, @@ -24,12 +24,12 @@ }, { "anchorPoint": { - "x": 6.73, - "y": 3.71 + "x": 6.6802465537310285, + "y": 3.7780555888978355 }, "prevControl": { - "x": 6.188301007692503, - "y": 4.881206142922727 + "x": 6.138547561423531, + "y": 4.949261731820565 }, "nextControl": null, "holonomicAngle": -45.0, diff --git a/src/main/deploy/pathplanner/_5_CH.path b/src/main/deploy/pathplanner/_5_CH.path index 33b688a0..cd00ee42 100644 --- a/src/main/deploy/pathplanner/_5_CH.path +++ b/src/main/deploy/pathplanner/_5_CH.path @@ -2,12 +2,12 @@ "waypoints": [ { "anchorPoint": { - "x": 1.7, + "x": 1.77874, "y": 2.73 }, "prevControl": null, "nextControl": { - "x": 2.0808153536160567, + "x": 2.1595553536160565, "y": 2.73 }, "holonomicAngle": 180.0, diff --git a/src/main/deploy/pathplanner/_5_M.path b/src/main/deploy/pathplanner/_5_M.path index 8409073a..cadaf368 100644 --- a/src/main/deploy/pathplanner/_5_M.path +++ b/src/main/deploy/pathplanner/_5_M.path @@ -2,12 +2,12 @@ "waypoints": [ { "anchorPoint": { - "x": 1.7, + "x": 1.77874, "y": 2.750258053707598 }, "prevControl": null, "nextControl": { - "x": 2.7, + "x": 2.77874, "y": 2.750258053707598 }, "holonomicAngle": 180.0, diff --git a/src/main/deploy/pathplanner/_6_C.path b/src/main/deploy/pathplanner/_6_C.path index ecb4d170..fe685faa 100644 --- a/src/main/deploy/pathplanner/_6_C.path +++ b/src/main/deploy/pathplanner/_6_C.path @@ -2,12 +2,12 @@ "waypoints": [ { "anchorPoint": { - "x": 1.7, + "x": 1.77874, "y": 3.303488219712418 }, "prevControl": null, "nextControl": { - "x": 1.6310250717949233, + "x": 1.7097650717949233, "y": 5.380107929589409 }, "holonomicAngle": 180.0, @@ -24,12 +24,12 @@ }, { "anchorPoint": { - "x": 6.73, - "y": 3.71 + "x": 6.68, + "y": 3.78 }, "prevControl": { - "x": 6.197895272820708, - "y": 4.698915105486823 + "x": 6.1478952728207075, + "y": 4.768915105486823 }, "nextControl": null, "holonomicAngle": -45.0, diff --git a/src/main/deploy/pathplanner/_6_CH.path b/src/main/deploy/pathplanner/_6_CH.path index 43782d92..61c74ba9 100644 --- a/src/main/deploy/pathplanner/_6_CH.path +++ b/src/main/deploy/pathplanner/_6_CH.path @@ -2,12 +2,12 @@ "waypoints": [ { "anchorPoint": { - "x": 1.7, + "x": 1.77874, "y": 3.3 }, "prevControl": null, "nextControl": { - "x": 1.9953559616926482, + "x": 2.074095961692648, "y": 3.004644038307352 }, "holonomicAngle": 180.0, diff --git a/src/main/deploy/pathplanner/_6_M.path b/src/main/deploy/pathplanner/_6_M.path index 05c1f3f5..421b14ad 100644 --- a/src/main/deploy/pathplanner/_6_M.path +++ b/src/main/deploy/pathplanner/_6_M.path @@ -2,12 +2,12 @@ "waypoints": [ { "anchorPoint": { - "x": 1.7, + "x": 1.77874, "y": 3.3 }, "prevControl": null, "nextControl": { - "x": 1.955867107830604, + "x": 2.0346071078306043, "y": 3.0441328921693955 }, "holonomicAngle": 180.0, diff --git a/src/main/deploy/pathplanner/_7_C.path b/src/main/deploy/pathplanner/_7_C.path index b70e6a56..0a89e0df 100644 --- a/src/main/deploy/pathplanner/_7_C.path +++ b/src/main/deploy/pathplanner/_7_C.path @@ -2,12 +2,12 @@ "waypoints": [ { "anchorPoint": { - "x": 1.7, + "x": 1.77874, "y": 3.86 }, "prevControl": null, "nextControl": { - "x": 3.271644408718052, + "x": 3.3503844087180523, "y": 5.073091445486836 }, "holonomicAngle": 180.0, @@ -24,12 +24,12 @@ }, { "anchorPoint": { - "x": 6.73, - "y": 3.71 + "x": 6.68, + "y": 3.78 }, "prevControl": { - "x": 5.750156630822039, - "y": 4.589355827430044 + "x": 5.700156630822038, + "y": 4.659355827430044 }, "nextControl": null, "holonomicAngle": -45.0, diff --git a/src/main/deploy/pathplanner/_7_CH.path b/src/main/deploy/pathplanner/_7_CH.path index 27f9d723..4e620947 100644 --- a/src/main/deploy/pathplanner/_7_CH.path +++ b/src/main/deploy/pathplanner/_7_CH.path @@ -2,12 +2,12 @@ "waypoints": [ { "anchorPoint": { - "x": 1.7, + "x": 1.77874, "y": 3.86 }, "prevControl": null, "nextControl": { - "x": 2.7, + "x": 2.77874, "y": 3.86 }, "holonomicAngle": 180.0, diff --git a/src/main/deploy/pathplanner/_7_D.path b/src/main/deploy/pathplanner/_7_D.path index 64ccc319..80dc4c20 100644 --- a/src/main/deploy/pathplanner/_7_D.path +++ b/src/main/deploy/pathplanner/_7_D.path @@ -2,12 +2,12 @@ "waypoints": [ { "anchorPoint": { - "x": 1.7, + "x": 1.77874, "y": 3.861803584607299 }, "prevControl": null, "nextControl": { - "x": 2.094612487097316, + "x": 2.1733524870973158, "y": 5.095439339814851 }, "holonomicAngle": 180.0, @@ -24,11 +24,11 @@ }, { "anchorPoint": { - "x": 6.55, + "x": 6.5, "y": 4.590332982703894 }, "prevControl": { - "x": 5.55, + "x": 5.5, "y": 4.590332982703894 }, "nextControl": null, diff --git a/src/main/deploy/pathplanner/_8_C.path b/src/main/deploy/pathplanner/_8_C.path index b52b0133..abb4c3d8 100644 --- a/src/main/deploy/pathplanner/_8_C.path +++ b/src/main/deploy/pathplanner/_8_C.path @@ -2,12 +2,12 @@ "waypoints": [ { "anchorPoint": { - "x": 1.7, + "x": 1.77874, "y": 4.44 }, "prevControl": null, "nextControl": { - "x": 2.974222189743683, + "x": 3.052962189743683, "y": 4.526218333179126 }, "holonomicAngle": 180.0, @@ -24,12 +24,12 @@ }, { "anchorPoint": { - "x": 6.73, - "y": 3.71 + "x": 6.68, + "y": 3.78 }, "prevControl": { - "x": 5.967632909743777, - "y": 4.794857756768878 + "x": 5.9176329097437765, + "y": 4.8648577567688776 }, "nextControl": null, "holonomicAngle": -45.0, diff --git a/src/main/deploy/pathplanner/_8_CH.path b/src/main/deploy/pathplanner/_8_CH.path index 5638dea3..88bd561d 100644 --- a/src/main/deploy/pathplanner/_8_CH.path +++ b/src/main/deploy/pathplanner/_8_CH.path @@ -2,12 +2,12 @@ "waypoints": [ { "anchorPoint": { - "x": 1.7, + "x": 1.77874, "y": 4.44 }, "prevControl": null, "nextControl": { - "x": 2.7, + "x": 2.77874, "y": 4.44 }, "holonomicAngle": 180.0, diff --git a/src/main/deploy/pathplanner/_8_D.path b/src/main/deploy/pathplanner/_8_D.path index 71d8bdeb..f2fd1fba 100644 --- a/src/main/deploy/pathplanner/_8_D.path +++ b/src/main/deploy/pathplanner/_8_D.path @@ -2,12 +2,12 @@ "waypoints": [ { "anchorPoint": { - "x": 1.7, + "x": 1.77874, "y": 4.44 }, "prevControl": null, "nextControl": { - "x": 2.705780943476782, + "x": 2.7845209434767817, "y": 4.6264030825934 }, "holonomicAngle": 180.0, @@ -24,11 +24,11 @@ }, { "anchorPoint": { - "x": 6.55, + "x": 6.5, "y": 4.59597318043689 }, "prevControl": { - "x": 5.55, + "x": 5.5, "y": 4.59597318043689 }, "nextControl": null, diff --git a/src/main/deploy/pathplanner/_9_C.path b/src/main/deploy/pathplanner/_9_C.path index f3e621ef..7c6b4174 100644 --- a/src/main/deploy/pathplanner/_9_C.path +++ b/src/main/deploy/pathplanner/_9_C.path @@ -2,12 +2,12 @@ "waypoints": [ { "anchorPoint": { - "x": 1.7, + "x": 1.77874, "y": 5.03 }, "prevControl": null, "nextControl": { - "x": 2.7, + "x": 2.77874, "y": 5.03 }, "holonomicAngle": 180.0, @@ -24,12 +24,12 @@ }, { "anchorPoint": { - "x": 6.73, - "y": 3.71 + "x": 6.68, + "y": 3.78 }, "prevControl": { - "x": 5.718182016410437, - "y": 4.900394673179138 + "x": 5.668182016410436, + "y": 4.970394673179138 }, "nextControl": null, "holonomicAngle": -45.0, diff --git a/src/main/deploy/pathplanner/_9_CH.path b/src/main/deploy/pathplanner/_9_CH.path index 8bfedb58..0af31b42 100644 --- a/src/main/deploy/pathplanner/_9_CH.path +++ b/src/main/deploy/pathplanner/_9_CH.path @@ -2,12 +2,12 @@ "waypoints": [ { "anchorPoint": { - "x": 1.7, + "x": 1.77874, "y": 5.03 }, "prevControl": null, "nextControl": { - "x": 2.700000000000001, + "x": 2.778740000000001, "y": 5.03 }, "holonomicAngle": 180.0, diff --git a/src/main/deploy/pathplanner/_9_D.path b/src/main/deploy/pathplanner/_9_D.path index 7b7f1d21..0a634308 100644 --- a/src/main/deploy/pathplanner/_9_D.path +++ b/src/main/deploy/pathplanner/_9_D.path @@ -2,12 +2,12 @@ "waypoints": [ { "anchorPoint": { - "x": 1.7, + "x": 1.77874, "y": 5.030387514107206 }, "prevControl": null, "nextControl": { - "x": 2.6999999999999997, + "x": 2.77874, "y": 5.030387514107206 }, "holonomicAngle": 180.0, @@ -24,11 +24,11 @@ }, { "anchorPoint": { - "x": 6.55, + "x": 6.5, "y": 4.6 }, "prevControl": { - "x": 5.55, + "x": 5.5, "y": 4.6 }, "nextControl": null, diff --git a/src/main/deploy/pathplanner/_9_D_REACH.path b/src/main/deploy/pathplanner/_9_D_REACH.path index 590915ba..d566263d 100644 --- a/src/main/deploy/pathplanner/_9_D_REACH.path +++ b/src/main/deploy/pathplanner/_9_D_REACH.path @@ -2,12 +2,12 @@ "waypoints": [ { "anchorPoint": { - 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diff --git a/src/main/deploy/pathplanner/_A_2.path b/src/main/deploy/pathplanner/_A_2.path index 211b8844..34ae579b 100644 --- a/src/main/deploy/pathplanner/_A_2.path +++ b/src/main/deploy/pathplanner/_A_2.path @@ -2,12 +2,12 @@ "waypoints": [ { "anchorPoint": { - "x": 6.55, + "x": 6.6, "y": 0.92 }, "prevControl": null, "nextControl": { - "x": 5.55, + "x": 5.6, "y": 0.92 }, "holonomicAngle": 0, @@ -24,11 +24,11 @@ }, { "anchorPoint": { - "x": 1.7108555493706743, + "x": 1.78874, "y": 1.075 }, "prevControl": { - "x": 2.7108555493706743, + "x": 2.7887399999999998, "y": 1.0749999999999997 }, "nextControl": null, diff --git a/src/main/deploy/pathplanner/_A_3.path b/src/main/deploy/pathplanner/_A_3.path index 84be90c1..597e516f 100644 --- a/src/main/deploy/pathplanner/_A_3.path +++ b/src/main/deploy/pathplanner/_A_3.path @@ -24,11 +24,11 @@ }, { "anchorPoint": { - "x": 1.7, + "x": 1.77874, "y": 1.63 }, "prevControl": { - "x": 1.9588190451025207, + "x": 2.0375590451025207, "y": 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null, "nextControl": { - "x": 6.092358356410448, + "x": 6.042358356410448, "y": 1.5136190829226213 }, "holonomicAngle": 0, diff --git a/src/main/deploy/pathplanner/_B_4.path b/src/main/deploy/pathplanner/_B_4.path index 4fa6e6da..cb9e739c 100644 --- a/src/main/deploy/pathplanner/_B_4.path +++ b/src/main/deploy/pathplanner/_B_4.path @@ -2,13 +2,13 @@ "waypoints": [ { "anchorPoint": { - "x": 6.73, - "y": 1.79 + "x": 6.67, + "y": 1.74 }, "prevControl": null, "nextControl": { - "x": 5.557345302845467, - "y": 0.3644214857410469 + "x": 4.607323812922171, + "y": 0.23346031618105717 }, "holonomicAngle": 45.0, "isReversal": false, @@ -24,12 +24,12 @@ }, { "anchorPoint": { - "x": 1.7, + "x": 1.77874, "y": 2.19 }, "prevControl": { - "x": 1.8420989046154426, - "y": 0.46784418394822924 + "x": 2.2466235340334757, + "y": 0.45415072046167065 }, "nextControl": null, "holonomicAngle": 180.0, diff --git a/src/main/deploy/pathplanner/_B_5.path b/src/main/deploy/pathplanner/_B_5.path index 4f2a4065..3f7c734e 100644 --- a/src/main/deploy/pathplanner/_B_5.path +++ b/src/main/deploy/pathplanner/_B_5.path @@ -2,13 +2,13 @@ "waypoints": [ { "anchorPoint": { - "x": 6.73, - "y": 1.79 + "x": 6.67, + "y": 1.74 }, "prevControl": null, "nextControl": { - "x": 5.056177722564262, - "y": 0.39109006292258525 + "x": 4.996177722564261, + "y": 0.3410900629225852 }, "holonomicAngle": 45.0, "isReversal": false, @@ -24,11 +24,11 @@ }, { "anchorPoint": { - "x": 1.7, + "x": 1.77874, "y": 2.73 }, "prevControl": { - "x": 1.611836541538512, + "x": 1.6905765415385121, "y": 0.304741676768737 }, "nextControl": null, diff --git a/src/main/deploy/pathplanner/_C_5.path b/src/main/deploy/pathplanner/_C_5.path index e497e0a1..887100f4 100644 --- a/src/main/deploy/pathplanner/_C_5.path +++ b/src/main/deploy/pathplanner/_C_5.path @@ -2,13 +2,13 @@ "waypoints": [ { "anchorPoint": { - "x": 6.73, - "y": 3.71 + "x": 6.68, + "y": 3.78 }, "prevControl": null, "nextControl": { - "x": 5.535890978974534, - "y": 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\ No newline at end of file diff --git a/src/main/java/auto/SwerveTrajectory.java b/src/main/java/auto/SwerveTrajectory.java index d2b7c42b..434332a4 100644 --- a/src/main/java/auto/SwerveTrajectory.java +++ b/src/main/java/auto/SwerveTrajectory.java @@ -11,7 +11,6 @@ import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.kinematics.ChassisSpeeds; import edu.wpi.first.math.trajectory.TrapezoidProfile; -import edu.wpi.first.math.trajectory.Trajectory.State; import edu.wpi.first.wpilibj.DriverStation; import edu.wpi.first.wpilibj.Timer; import hardware.Swerve; diff --git a/src/main/java/calc/Constants.java b/src/main/java/calc/Constants.java index 48203b1f..cffab7df 100644 --- a/src/main/java/calc/Constants.java +++ b/src/main/java/calc/Constants.java @@ -437,7 +437,8 @@ public static final class PlacementConstants { // The length of the robot public static final double ROBOT_LENGTH_METERS = Units.inchesToMeters(25); // Length of the bumpers on the robot - public static final double BUMPER_LENGTH_METERS = Units.inchesToMeters(4); + // Remember that the bumpers are on TWO SIDES of the robot + public static final double BUMPER_LENGTH_METERS = Units.inchesToMeters(3.1); public static final double CONE_BASE_DIAMETER = Units.inchesToMeters(6.629); diff --git a/src/main/java/hardware/Arm.java b/src/main/java/hardware/Arm.java index 56e6602a..845d0193 100644 --- a/src/main/java/hardware/Arm.java +++ b/src/main/java/hardware/Arm.java @@ -1,7 +1,5 @@ package hardware; -import java.util.ArrayList; - import com.revrobotics.AbsoluteEncoder; import com.revrobotics.CANSparkMax; import com.revrobotics.CANSparkMax.ControlType;