[Robot] Made autos easier to align

SouthwestRoboticsProgramming · Mar 31, 2024 · 24205ab · 24205ab
1 parent d74bd61
commit 24205ab
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Showing 5 changed files with 21 additions and 22 deletions.
diff --git a/Robot/src/main/deploy/pathplanner/autos/Amp Standard.auto b/Robot/src/main/deploy/pathplanner/autos/Amp Standard.auto
@@ -2,10 +2,10 @@
   "version": 1.0,
   "startingPose": {
     "position": {
-      "x": 1.2991794154609702,
-      "y": 6.737082927847566
+      "x": 1.4076040330792177,
+      "y": 6.501863470968227
     },
-    "rotation": -136.30933403146403
+    "rotation": 180.0
   },
   "command": {
     "type": "sequential",

diff --git a/Robot/src/main/deploy/pathplanner/autos/Source Standard.auto b/Robot/src/main/deploy/pathplanner/autos/Source Standard.auto
@@ -2,10 +2,10 @@
   "version": 1.0,
   "startingPose": {
     "position": {
-      "x": 1.2796798990272578,
-      "y": 4.32889264828411
+      "x": 1.407720094244745,
+      "y": 4.59350280539662
     },
-    "rotation": 134.2986105099582
+    "rotation": 180.0
   },
   "command": {
     "type": "sequential",

diff --git a/Robot/src/main/deploy/pathplanner/paths/Amp Start Standard.path b/Robot/src/main/deploy/pathplanner/paths/Amp Start Standard.path
@@ -3,13 +3,13 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 1.2991794154609702,
-        "y": 6.737082927847566
+        "x": 1.4076040330792177,
+        "y": 6.501863470968227
       },
       "prevControl": null,
       "nextControl": {
-        "x": 1.7671678098700632,
-        "y": 6.844330268232984
+        "x": 1.8755875765107892,
+        "y": 6.609131977057278
       },
       "isLocked": false,
       "linkedName": null
@@ -45,7 +45,7 @@
   "reversed": false,
   "folder": "Amp",
   "previewStartingState": {
-    "rotation": -137.1565626747148,
+    "rotation": 180.0,
     "velocity": 0
   },
   "useDefaultConstraints": false

diff --git a/Robot/src/main/deploy/pathplanner/paths/Source Start Standard.path b/Robot/src/main/deploy/pathplanner/paths/Source Start Standard.path
@@ -3,25 +3,25 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 1.2796798990272578,
-        "y": 4.32889264828411
+        "x": 1.407720094244745,
+        "y": 4.59350280539662
       },
       "prevControl": null,
       "nextControl": {
-        "x": 1.5721726455329406,
-        "y": 4.845629833777482
+        "x": 1.7095824797561336,
+        "y": 4.289415849488453
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 2.361903061098285,
-        "y": 4.4361399886695265
+        "x": 2.313000848986035,
+        "y": 4.149085996179173
       },
       "prevControl": {
-        "x": 1.8256663591711995,
-        "y": 4.855379591994339
+        "x": 1.8966889508351727,
+        "y": 4.046177437085702
       },
       "nextControl": null,
       "isLocked": false,
@@ -39,13 +39,13 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": 147.17145820858747,
+    "rotation": 179.04515874612775,
     "rotateFast": true
   },
   "reversed": false,
   "folder": "Source",
   "previewStartingState": {
-    "rotation": 130.85537625889575,
+    "rotation": 180.0,
     "velocity": 0
   },
   "useDefaultConstraints": true

diff --git a/Robot/src/main/java/com/swrobotics/robot/RobotContainer.java b/Robot/src/main/java/com/swrobotics/robot/RobotContainer.java
@@ -186,7 +186,6 @@ private static List<AutoEntry> buildPathPlannerAutos() {
 
         List<PathPlannerAuto> options = new ArrayList<>();
         for (String autoName : autoNames) {
-            System.out.println(autoName);
             PathPlannerAuto auto = new PathPlannerAuto(autoName);
 
             options.add(auto);