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\ No newline at end of file diff --git a/src/main/java/auto/AutoPathStorage.java b/src/main/java/auto/AutoPathStorage.java index 8c9486c0..293758f7 100644 --- a/src/main/java/auto/AutoPathStorage.java +++ b/src/main/java/auto/AutoPathStorage.java @@ -109,13 +109,13 @@ public class AutoPathStorage { public static Waypoint[] _9H_D_8H_C_CHARGE_RED; public static Waypoint[] _9H_D_8H_C_8M_BLUE; - public static Waypoint[] _9H_D_8H_C_CHARGE_BLUE; + public static Waypoint[] _POOF_9H_D_8H_C_CHARGE_BLUE; public static Waypoint[] _1H_A_2H_B_2M_RED; - public static Waypoint[] _1H_A_2H_B_CHARGE_RED; + public static Waypoint[] _POOF_1H_A_2H_B_CHARGE_RED; public static Waypoint[] _1H_A_2H_B_2M_BLUE; - public static Waypoint[] _1H_A_2H_B_CHARGE_BLUE; + public static Waypoint[] _POOF_1H_A_2H_B_CHARGE_BLUE; public static Waypoint[] _4H_MOBILITY; public static Waypoint[] _5H_MOBILITY; @@ -210,8 +210,7 @@ public class AutoPathStorage { public static PathPlannerTrajectory _8_C_8_RED; public static PathPlannerTrajectory _8_C_8_BLUE; public static PathPlannerTrajectory _8_C_CH_RED; - public static PathPlannerTrajectory _8_C_CH_BLUE; - + public static PathPlannerTrajectory _POOF_1_A_2; public static PathPlannerTrajectory _POOF_1_A_2_RED; public static PathPlannerTrajectory _POOF_2_B_2; @@ -223,9 +222,10 @@ public class AutoPathStorage { public static PathPlannerTrajectory _1_A_2_RED; public static PathPlannerTrajectory _2_B_2_BLUE; public static PathPlannerTrajectory _2_B_2_RED; - - public static PathPlannerTrajectory _2_B_CH_BLUE; - public static PathPlannerTrajectory _2_B_CH_RED; + + public static PathPlannerTrajectory _POOF_2_B_CH_BLUE; + public static PathPlannerTrajectory _POOF_2_B_CH_RED; + public static PathPlannerTrajectory _POOF_8_C_CH; public static PathPlannerTrajectory _D_6; public static PathPlannerTrajectory _D_7; @@ -311,10 +311,10 @@ public AutoPathStorage() { _2_B_2_RED = PathPlanner.loadPath("2_B_2_RED", AutoConstants.MAX_SPEED_METERS_PER_SECOND, AutoConstants.MAX_ACCELERATION_METERS_PER_SECOND_SQUARED); _8_C_8_BLUE = PathPlanner.loadPath("8_C_8_BLUE", AutoConstants.MAX_SPEED_METERS_PER_SECOND, AutoConstants.MAX_ACCELERATION_METERS_PER_SECOND_SQUARED); - _8_C_CH_BLUE = PathPlanner.loadPath("8_C_CH_BLUE", AutoConstants.MAX_SPEED_METERS_PER_SECOND, AutoConstants.MAX_ACCELERATION_METERS_PER_SECOND_SQUARED); _8_C_CH_RED = PathPlanner.loadPath("8_C_CH_RED", AutoConstants.MAX_SPEED_METERS_PER_SECOND, AutoConstants.MAX_ACCELERATION_METERS_PER_SECOND_SQUARED); - _2_B_CH_RED = PathPlanner.loadPath("2_B_CH_RED", AutoConstants.MAX_SPEED_METERS_PER_SECOND, AutoConstants.MAX_ACCELERATION_METERS_PER_SECOND_SQUARED); - _2_B_CH_BLUE = PathPlanner.loadPath("2_B_CH_BLUE", AutoConstants.MAX_SPEED_METERS_PER_SECOND, AutoConstants.MAX_ACCELERATION_METERS_PER_SECOND_SQUARED); + _POOF_2_B_CH_RED = PathPlanner.loadPath("_POOF_2_B_CH_RED", AutoConstants.MAX_SPEED_METERS_PER_SECOND, AutoConstants.MAX_ACCELERATION_METERS_PER_SECOND_SQUARED); + _POOF_2_B_CH_BLUE = PathPlanner.loadPath("_POOF_2_B_CH_BLUE", AutoConstants.MAX_SPEED_METERS_PER_SECOND, AutoConstants.MAX_ACCELERATION_METERS_PER_SECOND_SQUARED); + _POOF_8_C_CH = PathPlanner.loadPath("_POOF_8_C_CH", AutoConstants.MAX_SPEED_METERS_PER_SECOND, AutoConstants.MAX_ACCELERATION_METERS_PER_SECOND_SQUARED); _D_REACH_7 = PathPlanner.loadPath("_D_REACH_7", AutoConstants.MAX_SPEED_METERS_PER_SECOND, AutoConstants.MAX_ACCELERATION_METERS_PER_SECOND_SQUARED); @@ -809,52 +809,28 @@ public AutoPathStorage() { new Waypoint(_8_C, PlacementConstants.CUBE_INTAKE_INDEX, PlacementConstants.CLAW_INTAKE_SPEED_CUBE), }; - _9H_D_8H_C_8M_RED = new Waypoint[] { - new Waypoint(_9, PlacementConstants.CONE_HIGH_PLACEMENT_INDEX, PlacementConstants.CLAW_OUTTAKE_SPEED_CONE), - new Waypoint(_9_D_8_RED, PlacementConstants.AUTO_CUBE_HIGH_INDEX, PlacementConstants.AUTO_CLAW_OUTTAKE_SPEED_CUBE), - new Waypoint(_8_C_8_RED, PlacementConstants.AUTO_CUBE_MID_INDEX, PlacementConstants.AUTO_CLAW_OUTTAKE_SPEED_CUBE_FAST), - }; - _9H_D_8H_C_CHARGE_RED = new Waypoint[] { new Waypoint(_9, PlacementConstants.CONE_HIGH_PLACEMENT_INDEX, PlacementConstants.CLAW_OUTTAKE_SPEED_CONE), new Waypoint(_9_D_8_RED, PlacementConstants.AUTO_CUBE_HIGH_INDEX, PlacementConstants.CLAW_OUTTAKE_SPEED_CUBE), new Waypoint(_8_C_CH_RED, PlacementConstants.AUTO_CUBE_INTAKE_INDEX, PlacementConstants.CLAW_INTAKE_SPEED_CUBE), }; - _9H_D_8H_C_8M_BLUE = new Waypoint[] { + _POOF_9H_D_8H_C_CHARGE_BLUE = new Waypoint[] { new Waypoint(_9, PlacementConstants.CONE_HIGH_PLACEMENT_INDEX, PlacementConstants.CLAW_OUTTAKE_SPEED_CONE), - new Waypoint(_9_D_8_BLUE, PlacementConstants.AUTO_CUBE_HIGH_INDEX, PlacementConstants.AUTO_CLAW_OUTTAKE_SPEED_CUBE), - new Waypoint(_8_C_8_BLUE, PlacementConstants.AUTO_CUBE_MID_INDEX, PlacementConstants.AUTO_CLAW_OUTTAKE_SPEED_CUBE_FAST), + new Waypoint(_POOF_9_D_8, PlacementConstants.AUTO_CUBE_HIGH_INDEX, PlacementConstants.CLAW_OUTTAKE_SPEED_CUBE), + new Waypoint(_POOF_8_C_CH, PlacementConstants.AUTO_CUBE_INTAKE_INDEX, PlacementConstants.CLAW_INTAKE_SPEED_CUBE), }; - _9H_D_8H_C_CHARGE_BLUE = new Waypoint[] { - new Waypoint(_9, PlacementConstants.CONE_HIGH_PLACEMENT_INDEX, PlacementConstants.CLAW_OUTTAKE_SPEED_CONE), - new Waypoint(_9_D_8_BLUE, PlacementConstants.AUTO_CUBE_HIGH_INDEX, PlacementConstants.CLAW_OUTTAKE_SPEED_CUBE), - new Waypoint(_8_C_CH_BLUE, PlacementConstants.AUTO_CUBE_INTAKE_INDEX, PlacementConstants.CLAW_INTAKE_SPEED_CUBE), - }; - - _1H_A_2H_B_2M_BLUE = new Waypoint[] { + _POOF_1H_A_2H_B_CHARGE_BLUE = new Waypoint[] { new Waypoint(_1, PlacementConstants.CONE_HIGH_PLACEMENT_INDEX, PlacementConstants.CLAW_OUTTAKE_SPEED_CONE), new Waypoint(_1_A_2_BLUE, PlacementConstants.CUBE_HIGH_INDEX, PlacementConstants.CLAW_OUTTAKE_SPEED_CUBE), - new Waypoint(_2_B_2_BLUE, PlacementConstants.AUTO_CUBE_MID_INDEX, PlacementConstants.AUTO_CLAW_OUTTAKE_SPEED_CUBE_FAST), + new Waypoint(_POOF_2_B_CH_BLUE, PlacementConstants.AUTO_CUBE_INTAKE_INDEX, PlacementConstants.CLAW_INTAKE_SPEED_CUBE), }; - _1H_A_2H_B_2M_RED = new Waypoint[] { + _POOF_1H_A_2H_B_CHARGE_RED = new Waypoint[] { new Waypoint(_1, PlacementConstants.CONE_HIGH_PLACEMENT_INDEX, PlacementConstants.CLAW_OUTTAKE_SPEED_CONE), - new Waypoint(_1_A_2_RED, PlacementConstants.CUBE_HIGH_INDEX, PlacementConstants.CLAW_OUTTAKE_SPEED_CUBE), - new Waypoint(_2_B_2_RED, PlacementConstants.AUTO_CUBE_MID_INDEX, PlacementConstants.AUTO_CLAW_OUTTAKE_SPEED_CUBE_FAST), - }; - - _1H_A_2H_B_CHARGE_BLUE = new Waypoint[] { - new Waypoint(_1, PlacementConstants.CONE_HIGH_PLACEMENT_INDEX, PlacementConstants.CLAW_OUTTAKE_SPEED_CONE), - new Waypoint(_1_A_2_BLUE, PlacementConstants.CUBE_HIGH_INDEX, PlacementConstants.CLAW_OUTTAKE_SPEED_CUBE), - new Waypoint(_2_B_CH_BLUE, PlacementConstants.AUTO_CUBE_INTAKE_INDEX, PlacementConstants.CLAW_INTAKE_SPEED_CUBE), - }; - - _1H_A_2H_B_CHARGE_RED = new Waypoint[] { - new Waypoint(_1, PlacementConstants.CONE_HIGH_PLACEMENT_INDEX, PlacementConstants.CLAW_OUTTAKE_SPEED_CONE), - new Waypoint(_1_A_2_RED, PlacementConstants.CUBE_HIGH_INDEX, PlacementConstants.CLAW_OUTTAKE_SPEED_CUBE), - new Waypoint(_2_B_CH_RED, PlacementConstants.AUTO_CUBE_INTAKE_INDEX, PlacementConstants.CLAW_INTAKE_SPEED_CUBE), + new Waypoint(_POOF_1_A_2_RED, PlacementConstants.CUBE_HIGH_INDEX, PlacementConstants.CLAW_OUTTAKE_SPEED_CUBE), + new Waypoint(_POOF_2_B_CH_RED, PlacementConstants.AUTO_CUBE_INTAKE_INDEX, PlacementConstants.CLAW_INTAKE_SPEED_CUBE), }; _MOBILITY_CHARGE_TEST_ONLY = new Waypoint[] { @@ -865,36 +841,42 @@ public AutoPathStorage() { new Waypoint(_1, PlacementConstants.CONE_HIGH_PLACEMENT_INDEX, PlacementConstants.CLAW_OUTTAKE_SPEED_CONE), new Waypoint(_POOF_1_A_2_RED, PlacementConstants.CUBE_HIGH_INDEX, PlacementConstants.AUTO_CLAW_OUTTAKE_SPEED_CUBE), new Waypoint(_POOF_2_B_2_RED, PlacementConstants.AUTO_CUBE_MID_INDEX, PlacementConstants.AUTO_CLAW_OUTTAKE_SPEED_CUBE_FAST), + new Waypoint(_2_B, PlacementConstants.STOWED_INDEX, PlacementConstants.CLAW_STOPPED_SPEED) }; _POOF_1H_A_2H_B_2MID_BLUE = new Waypoint[] { new Waypoint(_1, PlacementConstants.CONE_HIGH_PLACEMENT_INDEX, PlacementConstants.CLAW_OUTTAKE_SPEED_CONE), new Waypoint(_1_A_2_BLUE, PlacementConstants.CUBE_HIGH_INDEX, PlacementConstants.CLAW_OUTTAKE_SPEED_CUBE), new Waypoint(_POOF_2_B_2, PlacementConstants.AUTO_CUBE_MID_INDEX, PlacementConstants.AUTO_CLAW_OUTTAKE_SPEED_CUBE_FAST), + new Waypoint(_2_B, PlacementConstants.STOWED_INDEX, PlacementConstants.CLAW_STOPPED_SPEED) }; _POOF_9H_D_8H_C_8MID = new Waypoint[] { new Waypoint(_9, PlacementConstants.CONE_HIGH_PLACEMENT_INDEX, PlacementConstants.CLAW_OUTTAKE_SPEED_CONE), new Waypoint(_POOF_9_D_8, PlacementConstants.CUBE_HIGH_INDEX, PlacementConstants.CLAW_OUTTAKE_SPEED_CUBE), - new Waypoint(_POOF_8_C_8, PlacementConstants.AUTO_CUBE_MID_INDEX, PlacementConstants.AUTO_CLAW_OUTTAKE_SPEED_CUBE ), + new Waypoint(_POOF_8_C_8, PlacementConstants.AUTO_CUBE_MID_INDEX, PlacementConstants.AUTO_CLAW_OUTTAKE_SPEED_CUBE), + new Waypoint(_8_D, PlacementConstants.STOWED_INDEX, PlacementConstants.CLAW_STOPPED_SPEED) }; _POOF_1H_A_2H_B_2LOW_RED = new Waypoint[] { new Waypoint(_1, PlacementConstants.CONE_HIGH_PLACEMENT_INDEX, PlacementConstants.CLAW_OUTTAKE_SPEED_CONE), new Waypoint(_POOF_1_A_2_RED, PlacementConstants.CUBE_HIGH_INDEX, PlacementConstants.AUTO_CLAW_OUTTAKE_SPEED_CUBE), new Waypoint(_POOF_2_B_2_RED, PlacementConstants.STOWED_INDEX, PlacementConstants.AUTO_CLAW_OUTTAKE_SPEED_CUBE_FAST), + new Waypoint(_2_B, PlacementConstants.STOWED_INDEX, PlacementConstants.CLAW_STOPPED_SPEED) }; _POOF_1H_A_2H_B_2LOW_BLUE = new Waypoint[] { new Waypoint(_1, PlacementConstants.CONE_HIGH_PLACEMENT_INDEX, PlacementConstants.CLAW_OUTTAKE_SPEED_CONE), new Waypoint(_1_A_2_BLUE, PlacementConstants.CUBE_HIGH_INDEX, PlacementConstants.CLAW_OUTTAKE_SPEED_CUBE), new Waypoint(_POOF_2_B_2, PlacementConstants.STOWED_INDEX, PlacementConstants.AUTO_CLAW_OUTTAKE_SPEED_CUBE_FAST), + new Waypoint(_2_B, PlacementConstants.STOWED_INDEX, PlacementConstants.CLAW_STOPPED_SPEED) }; _POOF_9H_D_8H_C_8LOW = new Waypoint[] { new Waypoint(_9, PlacementConstants.CONE_HIGH_PLACEMENT_INDEX, PlacementConstants.CLAW_OUTTAKE_SPEED_CONE), new Waypoint(_POOF_9_D_8, PlacementConstants.CUBE_HIGH_INDEX, PlacementConstants.CLAW_OUTTAKE_SPEED_CUBE), - new Waypoint(_POOF_8_C_8, PlacementConstants.STOWED_INDEX, PlacementConstants.AUTO_CLAW_OUTTAKE_SPEED_CUBE ), + new Waypoint(_POOF_8_C_8, PlacementConstants.STOWED_INDEX, PlacementConstants.AUTO_CLAW_OUTTAKE_SPEED_CUBE), + new Waypoint(_8_D, PlacementConstants.STOWED_INDEX, PlacementConstants.CLAW_STOPPED_SPEED) }; _SPIN = new Waypoint[] { @@ -917,14 +899,14 @@ public AutoPathStorage() { new AutoPose("6H_MOBILITY_CHARGE", _6H_MOBILITY_CHARGE), new AutoPose("4H_ONLY", _6H_ONLY), - new AutoPose("1H_A_2H_B_2M_BLUE_", _1H_A_2H_B_2M_BLUE), - new AutoPose("1H_A_2H_B_2M_RED_", _1H_A_2H_B_2M_RED), + new AutoPose("POOF 9D8 C CHARGE RED", _9H_D_8H_C_CHARGE_RED), + new AutoPose("POOF 9D8 C CHARGE BLUE", _POOF_9H_D_8H_C_CHARGE_BLUE), - new AutoPose("9H_D_8H_C_CHARGE_RED_", _9H_D_8H_C_CHARGE_RED), - new AutoPose("9H_D_8H_C_CHARGE_BLUE_", _9H_D_8H_C_CHARGE_BLUE), + new AutoPose("POOF 1A2 B CHARGE RED", _POOF_1H_A_2H_B_CHARGE_RED), + new AutoPose("POOF 1A2 B CHARGE BLUE", _POOF_1H_A_2H_B_CHARGE_BLUE), - new AutoPose("1H_A_2H_B_CHARGE_RED_", _1H_A_2H_B_CHARGE_RED), - new AutoPose("1H_A_2H_B_CHARGE_BLUE_", _1H_A_2H_B_CHARGE_BLUE), + new AutoPose("1H_A_2H_B_2M_BLUE_", _1H_A_2H_B_2M_BLUE), + new AutoPose("1H_A_2H_B_2M_RED_", _1H_A_2H_B_2M_RED), // AutoPoses for the bottom of the field: new AutoPose("1H_A_2H_CHARGE_RED_", _1H_A_2H_CHARGE_RED),