Add Some Test Paths to Debug

Team-501-The-PowerKnights · Mar 15, 2024 · 1461cde · 1461cde
1 parent 5e4a68f
commit 1461cde
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Showing 4 changed files with 82 additions and 5 deletions.
diff --git a/src/main/deploy/pathplanner/autos/Angle Test Auto.auto b/src/main/deploy/pathplanner/autos/Angle Test Auto.auto
@@ -0,0 +1,25 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 0.7792735585471178,
+      "y": 6.728691171668058
+    },
+    "rotation": 60.01836063115068
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Angle Test Path"
+          }
+        }
+      ]
+    }
+  },
+  "folder": null,
+  "choreoAuto": false
+}
diff --git a/src/main/deploy/pathplanner/paths/Angle Test Path.path b/src/main/deploy/pathplanner/paths/Angle Test Path.path
@@ -0,0 +1,52 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 0.7939330164374621,
+        "y": 6.714031713777714
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 1.673500489858123,
+        "y": 6.626074966435648
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 1.9373707318843216,
+        "y": 7.256431655720455
+      },
+      "prevControl": {
+        "x": 0.9373707318843216,
+        "y": 7.256431655720455
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 1.0,
+    "maxAcceleration": 1.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 60.642246457208735,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": null,
+  "previewStartingState": {
+    "rotation": 60.25511870305777,
+    "velocity": 0
+  },
+  "useDefaultConstraints": true
+}
diff --git a/src/main/deploy/pathplanner/paths/West Test Path.path b/src/main/deploy/pathplanner/paths/West Test Path.path
@@ -16,11 +16,11 @@
     },
     {
       "anchor": {
-        "x": 4.502775862694583,
+        "x": 3.0954679052215255,
         "y": 7.0
       },
       "prevControl": {
-        "x": 3.502775862694583,
+        "x": 2.0954679052215255,
         "y": 7.0
       },
       "nextControl": null,
@@ -32,8 +32,8 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
+    "maxVelocity": 1.0,
+    "maxAcceleration": 1.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0
   },

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -305,7 +305,7 @@ private enum AutoSelection {
     // @formatter:off
     doNothing("doNothing", null),
     //
-    doTest("doTest", "West Test Path"),
+    doTest("doTest", "Angle Test Auto"),
     //
     doSimpleBackward("doSimpleBackward", null),
     doSimpleForward("doSimpleForward", null);