Merge branch 'main' into new-joystick-command

team401 · Nov 19, 2024 · 4be4d86 · 4be4d86
2 parents 67422ab + 7fd85f6
commit 4be4d86
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Showing 34 changed files with 1,249 additions and 198 deletions.
diff --git a/src/main/deploy/music/mii_channel.chrp b/src/main/deploy/music/mii_channel.chrp
diff --git a/src/main/deploy/pathplanner/autos/Amp Side - 2 Note.auto b/src/main/deploy/pathplanner/autos/Amp Side - 2 Note.auto
@@ -1,6 +1,12 @@
 {
   "version": 1.0,
-  "startingPose": null,
+  "startingPose": {
+    "position": {
+      "x": 0.7071301441350655,
+      "y": 6.711356821640298
+    },
+    "rotation": -118.17859010995917
+  },
   "command": {
     "type": "sequential",
     "data": {
@@ -18,15 +24,9 @@
           }
         },
         {
-          "type": "named",
-          "data": {
-            "name": "waitForAlignment"
-          }
-        },
-        {
-          "type": "named",
+          "type": "wait",
           "data": {
-            "name": "stopAlignToSpeaker"
+            "waitTime": 1.0
           }
         },
         {
@@ -40,9 +40,28 @@
                 }
               },
               {
-                "type": "named",
+                "type": "sequential",
                 "data": {
-                  "name": "intakeNote"
+                  "commands": [
+                    {
+                      "type": "wait",
+                      "data": {
+                        "waitTime": 0.5
+                      }
+                    },
+                    {
+                      "type": "named",
+                      "data": {
+                        "name": "intakeNote"
+                      }
+                    },
+                    {
+                      "type": "wait",
+                      "data": {
+                        "waitTime": 1.0
+                      }
+                    }
+                  ]
                 }
               }
             ]
@@ -51,25 +70,57 @@
         {
           "type": "named",
           "data": {
-            "name": "alignToSpeaker"
+            "name": "shootNoteAtSpeaker"
           }
         },
         {
-          "type": "named",
+          "type": "wait",
           "data": {
-            "name": "shootNoteAtSpeaker"
+            "waitTime": 1.0
           }
         },
         {
-          "type": "named",
+          "type": "parallel",
           "data": {
-            "name": "waitForAlignment"
+            "commands": [
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "C1-W1"
+                }
+              },
+              {
+                "type": "sequential",
+                "data": {
+                  "commands": [
+                    {
+                      "type": "wait",
+                      "data": {
+                        "waitTime": 1.5
+                      }
+                    },
+                    {
+                      "type": "named",
+                      "data": {
+                        "name": "intakeNote"
+                      }
+                    }
+                  ]
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "W1-Wing"
           }
         },
         {
           "type": "named",
           "data": {
-            "name": "stopAlignToSpeaker"
+            "name": "shootNoteAtSpeaker"
           }
         }
       ]

diff --git a/src/main/deploy/pathplanner/autos/Amp Side Preload.auto b/src/main/deploy/pathplanner/autos/Amp Side Preload.auto
@@ -0,0 +1,31 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 0.7218158264581296,
+      "y": 6.711356821640298
+    },
+    "rotation": -120.0
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "alignToSpeaker"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "shootNoteAtSpeaker"
+          }
+        }
+      ]
+    }
+  },
+  "folder": null,
+  "choreoAuto": false
+}
diff --git a/src/main/deploy/pathplanner/autos/Center - 4 Note.auto b/src/main/deploy/pathplanner/autos/Center - 4 Note.auto
@@ -24,15 +24,9 @@
           }
         },
         {
-          "type": "named",
-          "data": {
-            "name": "waitForAlignment"
-          }
-        },
-        {
-          "type": "named",
+          "type": "wait",
           "data": {
-            "name": "stopAlignToSpeaker"
+            "waitTime": 0.5
           }
         },
         {
@@ -46,36 +40,37 @@
                 }
               },
               {
-                "type": "named",
+                "type": "sequential",
                 "data": {
-                  "name": "intakeNote"
+                  "commands": [
+                    {
+                      "type": "wait",
+                      "data": {
+                        "waitTime": 0.75
+                      }
+                    },
+                    {
+                      "type": "named",
+                      "data": {
+                        "name": "intakeNote"
+                      }
+                    }
+                  ]
                 }
               }
             ]
           }
         },
-        {
-          "type": "named",
-          "data": {
-            "name": "alignToSpeaker"
-          }
-        },
         {
           "type": "named",
           "data": {
             "name": "shootNoteAtSpeaker"
           }
         },
         {
-          "type": "named",
-          "data": {
-            "name": "waitForAlignment"
-          }
-        },
-        {
-          "type": "named",
+          "type": "wait",
           "data": {
-            "name": "stopAlignToSpeaker"
+            "waitTime": 0.5
           }
         },
         {
@@ -89,36 +84,37 @@
                 }
               },
               {
-                "type": "named",
+                "type": "sequential",
                 "data": {
-                  "name": "intakeNote"
+                  "commands": [
+                    {
+                      "type": "wait",
+                      "data": {
+                        "waitTime": 0.75
+                      }
+                    },
+                    {
+                      "type": "named",
+                      "data": {
+                        "name": "intakeNote"
+                      }
+                    }
+                  ]
                 }
               }
             ]
           }
         },
-        {
-          "type": "named",
-          "data": {
-            "name": "alignToSpeaker"
-          }
-        },
         {
           "type": "named",
           "data": {
             "name": "shootNoteAtSpeaker"
           }
         },
         {
-          "type": "named",
-          "data": {
-            "name": "waitForAlignment"
-          }
-        },
-        {
-          "type": "named",
+          "type": "wait",
           "data": {
-            "name": "stopAlignToSpeaker"
+            "waitTime": 0.5
           }
         },
         {
@@ -132,37 +128,32 @@
                 }
               },
               {
-                "type": "named",
+                "type": "sequential",
                 "data": {
-                  "name": "intakeNote"
+                  "commands": [
+                    {
+                      "type": "wait",
+                      "data": {
+                        "waitTime": 0.75
+                      }
+                    },
+                    {
+                      "type": "named",
+                      "data": {
+                        "name": "intakeNote"
+                      }
+                    }
+                  ]
                 }
               }
             ]
           }
         },
-        {
-          "type": "named",
-          "data": {
-            "name": "alignToSpeaker"
-          }
-        },
         {
           "type": "named",
           "data": {
             "name": "shootNoteAtSpeaker"
           }
-        },
-        {
-          "type": "named",
-          "data": {
-            "name": "waitForAlignment"
-          }
-        },
-        {
-          "type": "named",
-          "data": {
-            "name": "stopAlignToSpeaker"
-          }
         }
       ]
     }

diff --git a/src/main/deploy/pathplanner/autos/Center Preload.auto b/src/main/deploy/pathplanner/autos/Center Preload.auto
@@ -0,0 +1,31 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 1.3533001663498863,
+      "y": 5.521816553472107
+    },
+    "rotation": 180.0
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "alignToSpeaker"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "shootNoteAtSpeaker"
+          }
+        }
+      ]
+    }
+  },
+  "folder": null,
+  "choreoAuto": false
+}