Merge branch 'main' of https://github.com/frc6941/2024-competition-robot

into advkit
frc6941 · Mar 3, 2024 · 3007d9b · 3007d9b
2 parents dc1e056 + f3a45c8
commit 3007d9b
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Showing 12 changed files with 43 additions and 43 deletions.
diff --git a/src/main/deploy/pathplanner/autos/L A+B+C.auto b/src/main/deploy/pathplanner/autos/L A+B+C.auto
@@ -3,7 +3,7 @@
   "startingPose": {
     "position": {
       "x": 0.71,
-      "y": 6.63
+      "y": 6.69
     },
     "rotation": 60.0
   },

diff --git a/src/main/deploy/pathplanner/paths/L - NA.path b/src/main/deploy/pathplanner/paths/L - NA.path
@@ -16,28 +16,28 @@
     },
     {
       "anchor": {
-        "x": 2.967562641007635,
-        "y": 7.7
+        "x": 2.9279631351140876,
+        "y": 7.9259298417074
       },
       "prevControl": {
-        "x": 2.474995891168253,
-        "y": 7.663513574085972
+        "x": 2.4353963852747054,
+        "y": 7.889443415793371
       },
       "nextControl": {
-        "x": 3.48592288287249,
-        "y": 7.738397054952952
+        "x": 3.4463233769789428,
+        "y": 7.964326896660352
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
         "x": 8.7,
-        "y": 7.8
+        "y": 7.93
       },
       "prevControl": {
         "x": 8.081008072650242,
-        "y": 7.83751466226362
+        "y": 7.9675146622636195
       },
       "nextControl": null,
       "isLocked": false,
@@ -51,7 +51,7 @@
       "rotateFast": false
     },
     {
-      "waypointRelativePos": 0.55,
+      "waypointRelativePos": 0.5,
       "rotationDegrees": 15.0,
       "rotateFast": true
     },

diff --git a/src/main/deploy/pathplanner/paths/N1-NA.path b/src/main/deploy/pathplanner/paths/N1-NA.path
@@ -45,7 +45,7 @@
   "reversed": false,
   "folder": "Blue Mid ",
   "previewStartingState": {
-    "rotation": 27.0,
+    "rotation": 28.0,
     "velocity": 0
   },
   "useDefaultConstraints": true

diff --git a/src/main/deploy/pathplanner/paths/N1-NC.path b/src/main/deploy/pathplanner/paths/N1-NC.path
@@ -16,28 +16,28 @@
     },
     {
       "anchor": {
-        "x": 5.286573172131114,
-        "y": 4.383847630639424
+        "x": 5.2699045499613835,
+        "y": 4.442187808233485
       },
       "prevControl": {
-        "x": 3.7237379288135686,
-        "y": 4.833846883579105
+        "x": 3.7070693066438376,
+        "y": 4.892187061173167
       },
       "nextControl": {
-        "x": 6.159998632654571,
-        "y": 4.132355474691035
+        "x": 6.14333001048484,
+        "y": 4.190695652285097
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
         "x": 8.7,
-        "y": 4.18
+        "y": 4.24
       },
       "prevControl": {
         "x": 7.6899999999999995,
-        "y": 4.18
+        "y": 4.24
       },
       "nextControl": null,
       "isLocked": false,

diff --git a/src/main/deploy/pathplanner/paths/N2-N1.path b/src/main/deploy/pathplanner/paths/N2-N1.path
@@ -3,12 +3,12 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 2.91,
+        "x": 2.89,
         "y": 5.56
       },
       "prevControl": null,
       "nextControl": {
-        "x": 2.1344559159706558,
+        "x": 2.1144559159706557,
         "y": 5.551943103886209
       },
       "isLocked": false,

diff --git a/src/main/deploy/pathplanner/paths/NA - SA.path b/src/main/deploy/pathplanner/paths/NA - SA.path
@@ -4,24 +4,24 @@
     {
       "anchor": {
         "x": 8.7,
-        "y": 7.8
+        "y": 7.87
       },
       "prevControl": null,
       "nextControl": {
         "x": 8.975032265800573,
-        "y": 7.783331377830269
+        "y": 7.853331377830269
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 4.2689118319413115,
-        "y": 6.892475267184037
+        "x": 3.803065799024999,
+        "y": 6.717454734401855
       },
       "prevControl": {
-        "x": 4.457532593452396,
-        "y": 7.269716790206207
+        "x": 3.9916865605360816,
+        "y": 7.094696257424025
       },
       "nextControl": null,
       "isLocked": false,

diff --git a/src/main/deploy/pathplanner/paths/NC-SC.path b/src/main/deploy/pathplanner/paths/NC-SC.path
@@ -4,12 +4,12 @@
     {
       "anchor": {
         "x": 8.7,
-        "y": 4.18
+        "y": 4.24
       },
       "prevControl": null,
       "nextControl": {
         "x": 7.549177337178205,
-        "y": 4.205053564224776
+        "y": 4.265053564224776
       },
       "isLocked": false,
       "linkedName": null

diff --git a/src/main/deploy/pathplanner/paths/S-N2.path b/src/main/deploy/pathplanner/paths/S-N2.path
@@ -16,11 +16,11 @@
     },
     {
       "anchor": {
-        "x": 2.894589789179579,
+        "x": 2.89,
         "y": 5.56
       },
       "prevControl": {
-        "x": 2.706031894019108,
+        "x": 2.701442104839529,
         "y": 5.56
       },
       "nextControl": null,

diff --git a/src/main/deploy/pathplanner/paths/SA-NB.path b/src/main/deploy/pathplanner/paths/SA-NB.path
@@ -3,25 +3,25 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 4.2689118319413115,
-        "y": 6.892475267184037
+        "x": 3.8,
+        "y": 6.72
       },
       "prevControl": null,
       "nextControl": {
-        "x": 4.903194862227287,
-        "y": 6.450756779686148
+        "x": 4.434283030285975,
+        "y": 6.278281512502111
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 8.278590851597945,
-        "y": 5.784011892896883
+        "x": 8.4,
+        "y": 5.9
       },
       "prevControl": {
-        "x": 7.878543919524387,
-        "y": 5.600657049029834
+        "x": 7.999953067926442,
+        "y": 5.716645156132952
       },
       "nextControl": null,
       "isLocked": false,
@@ -45,7 +45,7 @@
   "reversed": false,
   "folder": "Blue Left",
   "previewStartingState": {
-    "rotation": 27.0,
+    "rotation": 23.0,
     "velocity": 0
   },
   "useDefaultConstraints": true

diff --git a/src/main/java/net/ironpulse/Constants.java b/src/main/java/net/ironpulse/Constants.java
@@ -219,7 +219,7 @@ public static class IndexerConstants {
     public static class IntakerConstants {
         public static final int INTAKE_MOTOR_ID = 30;
 
-        public static final Measure<Voltage> intakeVoltage = Volts.of(-7.5);
+        public static final Measure<Voltage> intakeVoltage = Volts.of(-8.5);
     }
 
     public static class ShooterConstants {

diff --git a/src/main/java/net/ironpulse/commands/autos/AutoShootCommand.java b/src/main/java/net/ironpulse/commands/autos/AutoShootCommand.java
@@ -14,5 +14,5 @@ public AutoShootCommand(
                 new WaitCommand(0.8), // FIXME
                 new AutoDeliverNoteCommand(indexerSubsystem, beamBreakSubsystem)
         );
-    }
+    } 
 }
diff --git a/src/main/java/net/ironpulse/subsystems/indicator/IndicatorIO.java b/src/main/java/net/ironpulse/subsystems/indicator/IndicatorIO.java
@@ -15,7 +15,7 @@ public interface IndicatorIO {
      */
     enum Patterns {
         NORMAL(null),
-        FINISH_INTAKE(new BlinkingPattern(Color.kGreen, 0.1)),
+        FINISH_INTAKE(new BlinkingPattern(Color.kGreen, 0.05)),
         SHOOTING(new ScannerPattern(Color.kRed, 2)), // unused
         FINISH_SHOOT(new BlinkingPattern(Color.kRed, 0.5)),
         SHOULD_AMPLIFY(new RainbowPattern()),
-Original file line number
+Diff line change
@@ Expand Up / @@ -14,5 +14,5 @@ public AutoShootCommand( @@
                     new WaitCommand(0.8), // FIXME
                     new AutoDeliverNoteCommand(indexerSubsystem, beamBreakSubsystem)
             );
-        }
+        }
     }