auto align fixes and auto testing

ExamWeHaltLitMaTowel · ExamWeHaltLitMaTowel · commit ad3b72fa08a4 · 2025-03-29T18:35:28.000-05:00
diff --git a/src/main/deploy/pathplanner/autos/3 coral auto.auto b/src/main/deploy/pathplanner/autos/3 coral auto.auto
@@ -73,7 +73,7 @@
       ]
     }
   },
-  "resetOdom": true,
+  "resetOdom": false,
   "folder": null,
   "choreoAuto": false
 }
diff --git a/src/main/deploy/pathplanner/paths/11a to intake (top).path b/src/main/deploy/pathplanner/paths/11a to intake (top).path
@@ -33,8 +33,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 4.633,
-    "maxAcceleration": 1.5,
+    "maxVelocity": 5.25,
+    "maxAcceleration": 4.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/11b to intake (top).path b/src/main/deploy/pathplanner/paths/11b to intake (top).path
@@ -33,8 +33,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 4.633,
-    "maxAcceleration": 1.5,
+    "maxVelocity": 5.25,
+    "maxAcceleration": 4.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/3a to intake (bottom).path b/src/main/deploy/pathplanner/paths/3a to intake (bottom).path
@@ -33,8 +33,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 4.633,
-    "maxAcceleration": 1.5,
+    "maxVelocity": 5.25,
+    "maxAcceleration": 4.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/3b to intake (bottom).path b/src/main/deploy/pathplanner/paths/3b to intake (bottom).path
@@ -33,8 +33,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 4.633,
-    "maxAcceleration": 1.5,
+    "maxVelocity": 5.25,
+    "maxAcceleration": 4.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/5a to intake (bottom).path b/src/main/deploy/pathplanner/paths/5a to intake (bottom).path
@@ -33,8 +33,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 4.633,
-    "maxAcceleration": 1.5,
+    "maxVelocity": 5.25,
+    "maxAcceleration": 4.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/5b to intake (bottom).path b/src/main/deploy/pathplanner/paths/5b to intake (bottom).path
@@ -33,8 +33,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 4.633,
-    "maxAcceleration": 1.5,
+    "maxVelocity": 5.25,
+    "maxAcceleration": 4.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/7a to intake (bottom).path b/src/main/deploy/pathplanner/paths/7a to intake (bottom).path
@@ -33,8 +33,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 4.633,
-    "maxAcceleration": 1.5,
+    "maxVelocity": 5.25,
+    "maxAcceleration": 4.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/7a to intake (top).path b/src/main/deploy/pathplanner/paths/7a to intake (top).path
@@ -33,8 +33,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 4.633,
-    "maxAcceleration": 1.5,
+    "maxVelocity": 5.25,
+    "maxAcceleration": 4.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/7b to intake (bottom).path b/src/main/deploy/pathplanner/paths/7b to intake (bottom).path
@@ -33,8 +33,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 4.633,
-    "maxAcceleration": 1.5,
+    "maxVelocity": 5.25,
+    "maxAcceleration": 4.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/7b to intake (top).path b/src/main/deploy/pathplanner/paths/7b to intake (top).path
@@ -33,8 +33,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 4.633,
-    "maxAcceleration": 1.5,
+    "maxVelocity": 5.25,
+    "maxAcceleration": 4.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/9a to intake (top).path b/src/main/deploy/pathplanner/paths/9a to intake (top).path
@@ -33,8 +33,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 4.633,
-    "maxAcceleration": 1.5,
+    "maxVelocity": 5.25,
+    "maxAcceleration": 4.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/9b to intake (top).path b/src/main/deploy/pathplanner/paths/9b to intake (top).path
@@ -33,8 +33,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 4.633,
-    "maxAcceleration": 1.5,
+    "maxVelocity": 5.25,
+    "maxAcceleration": 4.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/New Path.path b/src/main/deploy/pathplanner/paths/New Path.path
@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 2.0,
+        "y": 7.0
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 3.0,
+        "y": 7.0
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 14.374835526315787,
+        "y": 2.9185032894736844
+      },
+      "prevControl": {
+        "x": 13.374835526315787,
+        "y": 2.9185032894736844
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 5.25,
+    "maxAcceleration": 4.5,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": -51.76617482255312
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "useDefaultConstraints": true
+}
diff --git a/src/main/deploy/pathplanner/paths/intake to 11a (top).path b/src/main/deploy/pathplanner/paths/intake to 11a (top).path
@@ -33,8 +33,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 4.633,
-    "maxAcceleration": 1.5,
+    "maxVelocity": 5.25,
+    "maxAcceleration": 4.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/intake to 3b (bottom).path b/src/main/deploy/pathplanner/paths/intake to 3b (bottom).path
@@ -33,8 +33,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 4.633,
-    "maxAcceleration": 1.5,
+    "maxVelocity": 5.25,
+    "maxAcceleration": 4.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/intake to 5a (bottom).path b/src/main/deploy/pathplanner/paths/intake to 5a (bottom).path
@@ -33,8 +33,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 4.633,
-    "maxAcceleration": 1.5,
+    "maxVelocity": 5.25,
+    "maxAcceleration": 4.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/intake to 5b (bottom).path b/src/main/deploy/pathplanner/paths/intake to 5b (bottom).path
@@ -33,8 +33,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 4.633,
-    "maxAcceleration": 1.5,
+    "maxVelocity": 5.25,
+    "maxAcceleration": 4.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/intake to 7a (bottom).path b/src/main/deploy/pathplanner/paths/intake to 7a (bottom).path
@@ -33,8 +33,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 4.633,
-    "maxAcceleration": 1.5,
+    "maxVelocity": 5.25,
+    "maxAcceleration": 4.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/intake to 7a (top).path b/src/main/deploy/pathplanner/paths/intake to 7a (top).path
@@ -33,8 +33,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 4.633,
-    "maxAcceleration": 1.5,
+    "maxVelocity": 5.25,
+    "maxAcceleration": 4.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/intake to 7b (bottom).path b/src/main/deploy/pathplanner/paths/intake to 7b (bottom).path
@@ -33,8 +33,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 4.633,
-    "maxAcceleration": 1.5,
+    "maxVelocity": 5.25,
+    "maxAcceleration": 4.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/intake to 7b (top).path b/src/main/deploy/pathplanner/paths/intake to 7b (top).path
@@ -33,8 +33,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 4.633,
-    "maxAcceleration": 1.5,
+    "maxVelocity": 5.25,
+    "maxAcceleration": 4.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/intake to 9a (bottom).path b/src/main/deploy/pathplanner/paths/intake to 9a (bottom).path
@@ -33,8 +33,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 4.633,
-    "maxAcceleration": 1.5,
+    "maxVelocity": 5.25,
+    "maxAcceleration": 4.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/intake to 9a (top aa).path b/src/main/deploy/pathplanner/paths/intake to 9a (top aa).path
@@ -33,8 +33,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 4.633,
-    "maxAcceleration": 1.5,
+    "maxVelocity": 5.25,
+    "maxAcceleration": 4.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/intake to 9a (top).path b/src/main/deploy/pathplanner/paths/intake to 9a (top).path
@@ -33,8 +33,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 4.633,
-    "maxAcceleration": 1.5,
+    "maxVelocity": 5.25,
+    "maxAcceleration": 4.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/intake to 9b (top).path b/src/main/deploy/pathplanner/paths/intake to 9b (top).path
@@ -33,8 +33,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 4.633,
-    "maxAcceleration": 1.5,
+    "maxVelocity": 5.25,
+    "maxAcceleration": 4.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/leave (bottom).path b/src/main/deploy/pathplanner/paths/leave (bottom).path
@@ -33,8 +33,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 4.633,
-    "maxAcceleration": 1.5,
+    "maxVelocity": 5.25,
+    "maxAcceleration": 4.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/leave (top).path b/src/main/deploy/pathplanner/paths/leave (top).path
@@ -33,8 +33,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 4.633,
-    "maxAcceleration": 1.5,
+    "maxVelocity": 5.25,
+    "maxAcceleration": 4.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/middle to 1a.path b/src/main/deploy/pathplanner/paths/middle to 1a.path
@@ -33,8 +33,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 4.633,
-    "maxAcceleration": 1.5,
+    "maxVelocity": 5.25,
+    "maxAcceleration": 4.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/preload to 11a (top).path b/src/main/deploy/pathplanner/paths/preload to 11a (top).path
@@ -33,8 +33,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 4.633,
-    "maxAcceleration": 1.5,
+    "maxVelocity": 5.25,
+    "maxAcceleration": 4.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/preload to 11b (top).path b/src/main/deploy/pathplanner/paths/preload to 11b (top).path
@@ -33,8 +33,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 4.633,
-    "maxAcceleration": 1.5,
+    "maxVelocity": 5.25,
+    "maxAcceleration": 4.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/preload to 1b (bottom).path b/src/main/deploy/pathplanner/paths/preload to 1b (bottom).path
@@ -33,8 +33,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 4.633,
-    "maxAcceleration": 1.5,
+    "maxVelocity": 5.25,
+    "maxAcceleration": 4.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/preload to 3a (bottom).path b/src/main/deploy/pathplanner/paths/preload to 3a (bottom).path
diff --git a/src/main/deploy/pathplanner/paths/preload to 3b (bottom).path b/src/main/deploy/pathplanner/paths/preload to 3b (bottom).path
diff --git a/src/main/deploy/pathplanner/paths/preload to 5a (bottom).path b/src/main/deploy/pathplanner/paths/preload to 5a (bottom).path
diff --git a/src/main/deploy/pathplanner/paths/preload to 5b (bottom).path b/src/main/deploy/pathplanner/paths/preload to 5b (bottom).path
diff --git a/src/main/deploy/pathplanner/settings.json b/src/main/deploy/pathplanner/settings.json
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
diff --git a/src/main/java/frc/robot/HeadHoncho.java b/src/main/java/frc/robot/HeadHoncho.java
diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
diff --git a/src/main/java/frc/robot/subsystems/drivetrain/DriveSubsystem.java b/src/main/java/frc/robot/subsystems/drivetrain/DriveSubsystem.java
diff --git a/src/main/java/frc/robot/subsystems/endeffector/EndEffectorSubsystem.java b/src/main/java/frc/robot/subsystems/endeffector/EndEffectorSubsystem.java
diff --git a/src/main/java/frc/robot/subsystems/lift/LiftSubsystem.java b/src/main/java/frc/robot/subsystems/lift/LiftSubsystem.java
diff --git a/vendordeps/Phoenix6-25.3.1.json b/vendordeps/Phoenix6-25.3.1.json

Original file line number	Diff line number	Diff line change
`@@ -73,7 +73,7 @@`
`73`	`73`	`]`
`74`	`74`	`}`
`75`	`75`	`},`
`76`		`- "resetOdom": true,`
	`76`	`+ "resetOdom": false,`
`77`	`77`	`"folder": null,`
`78`	`78`	`"choreoAuto": false`
`79`	`79`	`}`