Merge branch 'develop'

lasarobotics · Jun 27, 2024 · ac24eb2 · ac24eb2
2 parents da047d0 + 6a84ab6
commit ac24eb2
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Showing 64 changed files with 436 additions and 244 deletions.
diff --git a/.gitignore b/.gitignore
@@ -178,4 +178,7 @@ simgui-ds.json
 src/main/java/frc/robot/BuildConstants.java
 
 # Battery Tracker
-previous_battery.txt
+previous_battery.txt
+
+# Odometer
+*-odometer.txt
diff --git a/.pathplanner/settings.json b/.pathplanner/settings.json
@@ -19,7 +19,7 @@
     "pose estimation testing autos"
   ],
   "defaultMaxVel": 5.1,
-  "defaultMaxAccel": 4.0,
+  "defaultMaxAccel": 3.0,
   "defaultMaxAngVel": 2160.0,
   "defaultMaxAngAccel": 2160.0,
   "maxModuleSpeed": 4.5

diff --git a/VERSION b/VERSION
@@ -1 +1 @@
-2024.1.1
+2024.1.2
diff --git a/build.gradle b/build.gradle
@@ -97,14 +97,14 @@ dependencies {
   nativeRelease wpi.java.vendor.jniRelease(wpi.platforms.desktop)
   simulationRelease wpi.sim.enableRelease()
 
-  implementation 'com.github.lasarobotics:PurpleLib:2024.4.6'
+  implementation 'com.github.lasarobotics:PurpleLib:cf9cba2e03'
 
   implementation 'org.apache.commons:commons-math3:3.+'
 
-  testImplementation 'org.junit.jupiter:junit-jupiter:5.10.1'
+  testImplementation 'org.junit.jupiter:junit-jupiter:5.10.2'
   testImplementation 'org.mockito:mockito-core:3.+'
 
-  testRuntimeOnly 'org.junit.jupiter:junit-jupiter-engine:5.+'
+  testRuntimeOnly 'org.junit.jupiter:junit-jupiter-engine:5.10.2'
 
   annotationProcessor "org.littletonrobotics.akit.junction:junction-autolog:$AdvantageKitJSON.version"
 }

diff --git a/logs/sim_2024-06-06_18-30-56.hoot b/logs/sim_2024-06-06_18-30-56.hoot
diff --git a/src/main/deploy/pathplanner/autos/sideways auto.auto b/src/main/deploy/pathplanner/autos/sideways auto.auto
@@ -16,6 +16,48 @@
           "data": {
             "pathName": "go sideways"
           }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "sideways opposite "
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "go sideways"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "sideways opposite "
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "go sideways"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "sideways opposite "
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "go sideways"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "sideways opposite "
+          }
         }
       ]
     }

diff --git a/src/main/deploy/pathplanner/paths/Anywhere_Center.path b/src/main/deploy/pathplanner/paths/Anywhere_Center.path
@@ -39,7 +39,7 @@
   "eventMarkers": [],
   "globalConstraints": {
     "maxVelocity": 5.1,
-    "maxAcceleration": 4.0,
+    "maxAcceleration": 3.0,
     "maxAngularVelocity": 2160.0,
     "maxAngularAcceleration": 2160.0
   },

diff --git a/src/main/deploy/pathplanner/paths/Center_CloseBottom.path b/src/main/deploy/pathplanner/paths/Center_CloseBottom.path
@@ -33,7 +33,7 @@
   "eventMarkers": [],
   "globalConstraints": {
     "maxVelocity": 5.1,
-    "maxAcceleration": 4.0,
+    "maxAcceleration": 3.0,
     "maxAngularVelocity": 2160.0,
     "maxAngularAcceleration": 2160.0
   },

diff --git a/src/main/deploy/pathplanner/paths/Center_CloseBottom2.path b/src/main/deploy/pathplanner/paths/Center_CloseBottom2.path
@@ -33,7 +33,7 @@
   "eventMarkers": [],
   "globalConstraints": {
     "maxVelocity": 5.1,
-    "maxAcceleration": 4.0,
+    "maxAcceleration": 3.0,
     "maxAngularVelocity": 2160.0,
     "maxAngularAcceleration": 2160.0
   },

diff --git a/src/main/deploy/pathplanner/paths/Center_CloseTop.path b/src/main/deploy/pathplanner/paths/Center_CloseTop.path
@@ -33,7 +33,7 @@
   "eventMarkers": [],
   "globalConstraints": {
     "maxVelocity": 5.1,
-    "maxAcceleration": 4.0,
+    "maxAcceleration": 3.0,
     "maxAngularVelocity": 2160.0,
     "maxAngularAcceleration": 2160.0
   },

diff --git a/src/main/deploy/pathplanner/paths/Center_CloseTop2.path b/src/main/deploy/pathplanner/paths/Center_CloseTop2.path
@@ -33,7 +33,7 @@
   "eventMarkers": [],
   "globalConstraints": {
     "maxVelocity": 5.1,
-    "maxAcceleration": 4.0,
+    "maxAcceleration": 3.0,
     "maxAngularVelocity": 2160.0,
     "maxAngularAcceleration": 2160.0
   },

diff --git a/src/main/deploy/pathplanner/paths/CloseBottom_Center.path b/src/main/deploy/pathplanner/paths/CloseBottom_Center.path
@@ -64,7 +64,7 @@
   "eventMarkers": [],
   "globalConstraints": {
     "maxVelocity": 5.1,
-    "maxAcceleration": 4.0,
+    "maxAcceleration": 3.0,
     "maxAngularVelocity": 2160.0,
     "maxAngularAcceleration": 2160.0
   },

diff --git a/src/main/deploy/pathplanner/paths/CloseBottom_Center2.path b/src/main/deploy/pathplanner/paths/CloseBottom_Center2.path
@@ -33,7 +33,7 @@
   "eventMarkers": [],
   "globalConstraints": {
     "maxVelocity": 5.1,
-    "maxAcceleration": 4.0,
+    "maxAcceleration": 3.0,
     "maxAngularVelocity": 2160.0,
     "maxAngularAcceleration": 2160.0
   },

diff --git a/src/main/deploy/pathplanner/paths/CloseBottom_CloseMid.path b/src/main/deploy/pathplanner/paths/CloseBottom_CloseMid.path
@@ -33,7 +33,7 @@
   "eventMarkers": [],
   "globalConstraints": {
     "maxVelocity": 5.1,
-    "maxAcceleration": 4.0,
+    "maxAcceleration": 3.0,
     "maxAngularVelocity": 2160.0,
     "maxAngularAcceleration": 2160.0
   },

diff --git a/src/main/deploy/pathplanner/paths/CloseBottom_SpeakerShot.path b/src/main/deploy/pathplanner/paths/CloseBottom_SpeakerShot.path
@@ -33,7 +33,7 @@
   "eventMarkers": [],
   "globalConstraints": {
     "maxVelocity": 5.1,
-    "maxAcceleration": 4.0,
+    "maxAcceleration": 3.0,
     "maxAngularVelocity": 2160.0,
     "maxAngularAcceleration": 2160.0
   },

diff --git a/src/main/deploy/pathplanner/paths/CloseMid_Center.path b/src/main/deploy/pathplanner/paths/CloseMid_Center.path
@@ -33,7 +33,7 @@
   "eventMarkers": [],
   "globalConstraints": {
     "maxVelocity": 5.1,
-    "maxAcceleration": 4.0,
+    "maxAcceleration": 3.0,
     "maxAngularVelocity": 2160.0,
     "maxAngularAcceleration": 2160.0
   },

diff --git a/src/main/deploy/pathplanner/paths/CloseMid_CloseTop.path b/src/main/deploy/pathplanner/paths/CloseMid_CloseTop.path
@@ -33,7 +33,7 @@
   "eventMarkers": [],
   "globalConstraints": {
     "maxVelocity": 5.1,
-    "maxAcceleration": 4.0,
+    "maxAcceleration": 3.0,
     "maxAngularVelocity": 2160.0,
     "maxAngularAcceleration": 2160.0
   },

diff --git a/src/main/deploy/pathplanner/paths/CloseMid_FarMid.path b/src/main/deploy/pathplanner/paths/CloseMid_FarMid.path
@@ -33,7 +33,7 @@
   "eventMarkers": [],
   "globalConstraints": {
     "maxVelocity": 5.1,
-    "maxAcceleration": 4.0,
+    "maxAcceleration": 3.0,
     "maxAngularVelocity": 2160.0,
     "maxAngularAcceleration": 2160.0
   },

diff --git a/src/main/deploy/pathplanner/paths/CloseMid_FarTop.path b/src/main/deploy/pathplanner/paths/CloseMid_FarTop.path
@@ -33,7 +33,7 @@
   "eventMarkers": [],
   "globalConstraints": {
     "maxVelocity": 5.1,
-    "maxAcceleration": 4.0,
+    "maxAcceleration": 3.0,
     "maxAngularVelocity": 2160.0,
     "maxAngularAcceleration": 2160.0
   },

diff --git a/src/main/deploy/pathplanner/paths/CloseMid_SpeakerShot.path b/src/main/deploy/pathplanner/paths/CloseMid_SpeakerShot.path
@@ -33,7 +33,7 @@
   "eventMarkers": [],
   "globalConstraints": {
     "maxVelocity": 5.1,
-    "maxAcceleration": 4.0,
+    "maxAcceleration": 3.0,
     "maxAngularVelocity": 2160.0,
     "maxAngularAcceleration": 2160.0
   },

diff --git a/src/main/deploy/pathplanner/paths/CloseTop_Center.path b/src/main/deploy/pathplanner/paths/CloseTop_Center.path
@@ -33,7 +33,7 @@
   "eventMarkers": [],
   "globalConstraints": {
     "maxVelocity": 5.1,
-    "maxAcceleration": 4.0,
+    "maxAcceleration": 3.0,
     "maxAngularVelocity": 2160.0,
     "maxAngularAcceleration": 2160.0
   },

diff --git a/src/main/deploy/pathplanner/paths/CloseTop_CloseMid.path b/src/main/deploy/pathplanner/paths/CloseTop_CloseMid.path
@@ -33,7 +33,7 @@
   "eventMarkers": [],
   "globalConstraints": {
     "maxVelocity": 5.1,
-    "maxAcceleration": 4.0,
+    "maxAcceleration": 3.0,
     "maxAngularVelocity": 2160.0,
     "maxAngularAcceleration": 2160.0
   },

diff --git a/src/main/deploy/pathplanner/paths/CloseTop_FarTop.path b/src/main/deploy/pathplanner/paths/CloseTop_FarTop.path
@@ -33,7 +33,7 @@
   "eventMarkers": [],
   "globalConstraints": {
     "maxVelocity": 5.1,
-    "maxAcceleration": 4.0,
+    "maxAcceleration": 3.0,
     "maxAngularVelocity": 2160.0,
     "maxAngularAcceleration": 2160.0
   },

diff --git a/src/main/deploy/pathplanner/paths/CloseTop_FarTop2.path b/src/main/deploy/pathplanner/paths/CloseTop_FarTop2.path
@@ -33,7 +33,7 @@
   "eventMarkers": [],
   "globalConstraints": {
     "maxVelocity": 5.1,
-    "maxAcceleration": 4.0,
+    "maxAcceleration": 3.0,
     "maxAngularVelocity": 2160.0,
     "maxAngularAcceleration": 2160.0
   },

diff --git a/src/main/deploy/pathplanner/paths/CloseTop_SpeakerShot.path b/src/main/deploy/pathplanner/paths/CloseTop_SpeakerShot.path
@@ -33,7 +33,7 @@
   "eventMarkers": [],
   "globalConstraints": {
     "maxVelocity": 5.1,
-    "maxAcceleration": 4.0,
+    "maxAcceleration": 3.0,
     "maxAngularVelocity": 2160.0,
     "maxAngularAcceleration": 2160.0
   },

diff --git a/src/main/deploy/pathplanner/paths/FarBottom_RightStage.path b/src/main/deploy/pathplanner/paths/FarBottom_RightStage.path
@@ -33,7 +33,7 @@
   "eventMarkers": [],
   "globalConstraints": {
     "maxVelocity": 5.1,
-    "maxAcceleration": 4.0,
+    "maxAcceleration": 3.0,
     "maxAngularVelocity": 2160.0,
     "maxAngularAcceleration": 2160.0
   },

diff --git a/src/main/deploy/pathplanner/paths/FarMidBottom_RightStage.path b/src/main/deploy/pathplanner/paths/FarMidBottom_RightStage.path
@@ -33,7 +33,7 @@
   "eventMarkers": [],
   "globalConstraints": {
     "maxVelocity": 5.1,
-    "maxAcceleration": 4.0,
+    "maxAcceleration": 3.0,
     "maxAngularVelocity": 2160.0,
     "maxAngularAcceleration": 2160.0
   },

diff --git a/src/main/deploy/pathplanner/paths/FarMidBottom_RightStage2.path b/src/main/deploy/pathplanner/paths/FarMidBottom_RightStage2.path
@@ -33,7 +33,7 @@
   "eventMarkers": [],
   "globalConstraints": {
     "maxVelocity": 5.1,
-    "maxAcceleration": 4.0,
+    "maxAcceleration": 3.0,
     "maxAngularVelocity": 2160.0,
     "maxAngularAcceleration": 2160.0
   },

diff --git a/src/main/deploy/pathplanner/paths/FarMidTop_LeftStage.path b/src/main/deploy/pathplanner/paths/FarMidTop_LeftStage.path
@@ -33,7 +33,7 @@
   "eventMarkers": [],
   "globalConstraints": {
     "maxVelocity": 5.1,
-    "maxAcceleration": 4.0,
+    "maxAcceleration": 3.0,
     "maxAngularVelocity": 2160.0,
     "maxAngularAcceleration": 2160.0
   },

diff --git a/src/main/deploy/pathplanner/paths/FarMid_LeftStage.path b/src/main/deploy/pathplanner/paths/FarMid_LeftStage.path
@@ -33,7 +33,7 @@
   "eventMarkers": [],
   "globalConstraints": {
     "maxVelocity": 5.1,
-    "maxAcceleration": 4.0,
+    "maxAcceleration": 3.0,
     "maxAngularVelocity": 2160.0,
     "maxAngularAcceleration": 2160.0
   },

diff --git a/src/main/deploy/pathplanner/paths/FarTop_LeftStage.path b/src/main/deploy/pathplanner/paths/FarTop_LeftStage.path
@@ -33,7 +33,7 @@
   "eventMarkers": [],
   "globalConstraints": {
     "maxVelocity": 5.1,
-    "maxAcceleration": 4.0,
+    "maxAcceleration": 3.0,
     "maxAngularVelocity": 2160.0,
     "maxAngularAcceleration": 2160.0
   },

diff --git a/src/main/deploy/pathplanner/paths/First Note (Left_CloseTop_CloseMid_FarMid).path b/src/main/deploy/pathplanner/paths/First Note (Left_CloseTop_CloseMid_FarMid).path
@@ -33,7 +33,7 @@
   "eventMarkers": [],
   "globalConstraints": {
     "maxVelocity": 5.1,
-    "maxAcceleration": 4.0,
+    "maxAcceleration": 3.0,
     "maxAngularVelocity": 2160.0,
     "maxAngularAcceleration": 2160.0
   },

diff --git a/src/main/deploy/pathplanner/paths/Leave from speaker.path b/src/main/deploy/pathplanner/paths/Leave from speaker.path
@@ -33,7 +33,7 @@
   "eventMarkers": [],
   "globalConstraints": {
     "maxVelocity": 5.1,
-    "maxAcceleration": 4.0,
+    "maxAcceleration": 3.0,
     "maxAngularVelocity": 2160.0,
     "maxAngularAcceleration": 2160.0
   },

diff --git a/src/main/deploy/pathplanner/paths/LeftStage_FarMidTop.path b/src/main/deploy/pathplanner/paths/LeftStage_FarMidTop.path
@@ -33,7 +33,7 @@
   "eventMarkers": [],
   "globalConstraints": {
     "maxVelocity": 5.1,
-    "maxAcceleration": 4.0,
+    "maxAcceleration": 3.0,
     "maxAngularVelocity": 2160.0,
     "maxAngularAcceleration": 2160.0
   },

diff --git a/src/main/deploy/pathplanner/paths/Left_CloseMid.path b/src/main/deploy/pathplanner/paths/Left_CloseMid.path
@@ -33,7 +33,7 @@
   "eventMarkers": [],
   "globalConstraints": {
     "maxVelocity": 5.1,
-    "maxAcceleration": 4.0,
+    "maxAcceleration": 3.0,
     "maxAngularVelocity": 2160.0,
     "maxAngularAcceleration": 2160.0
   },

diff --git a/src/main/deploy/pathplanner/paths/Left_CloseTop.path b/src/main/deploy/pathplanner/paths/Left_CloseTop.path
@@ -33,7 +33,7 @@
   "eventMarkers": [],
   "globalConstraints": {
     "maxVelocity": 5.1,
-    "maxAcceleration": 4.0,
+    "maxAcceleration": 3.0,
     "maxAngularVelocity": 2160.0,
     "maxAngularAcceleration": 2160.0
   },

diff --git a/src/main/deploy/pathplanner/paths/Left_CloseTop2.path b/src/main/deploy/pathplanner/paths/Left_CloseTop2.path
@@ -33,7 +33,7 @@
   "eventMarkers": [],
   "globalConstraints": {
     "maxVelocity": 5.1,
-    "maxAcceleration": 4.0,
+    "maxAcceleration": 3.0,
     "maxAngularVelocity": 2160.0,
     "maxAngularAcceleration": 2160.0
   },

diff --git a/src/main/deploy/pathplanner/paths/Left_FarTop.path b/src/main/deploy/pathplanner/paths/Left_FarTop.path
@@ -39,7 +39,7 @@
   "eventMarkers": [],
   "globalConstraints": {
     "maxVelocity": 5.1,
-    "maxAcceleration": 4.0,
+    "maxAcceleration": 3.0,
     "maxAngularVelocity": 2160.0,
     "maxAngularAcceleration": 2160.0
   },

diff --git a/src/main/deploy/pathplanner/paths/RightStage_FarMidBottom.path b/src/main/deploy/pathplanner/paths/RightStage_FarMidBottom.path
@@ -33,7 +33,7 @@
   "eventMarkers": [],
   "globalConstraints": {
     "maxVelocity": 5.1,
-    "maxAcceleration": 4.0,
+    "maxAcceleration": 3.0,
     "maxAngularVelocity": 2160.0,
     "maxAngularAcceleration": 2160.0
   },

diff --git a/src/main/deploy/pathplanner/paths/Right_CloseBottom.path b/src/main/deploy/pathplanner/paths/Right_CloseBottom.path
@@ -33,7 +33,7 @@
   "eventMarkers": [],
   "globalConstraints": {
     "maxVelocity": 5.1,
-    "maxAcceleration": 4.0,
+    "maxAcceleration": 3.0,
     "maxAngularVelocity": 2160.0,
     "maxAngularAcceleration": 2160.0
   },