Autons

.pathplanner/settings.json

@@ -1,18 +1,23 @@
 {
-  "robotWidth": 0.9,
-  "robotLength": 0.9,
+  "robotWidth": 0.92,
+  "robotLength": 0.82,
   "holonomicMode": true,
   "pathFolders": [
-    "ABCDE",
-    "HGF",
-    "Tests",
-    "Reroutes"
+    "Blue To Notes",
+    "Blue To Shoots",
+    "Blue To Subwoofers",
+    "Misc",
+    "Red To Notes",
+    "Red To Shoots",
+    "Red To Subwoofers",
+    "Utils"
   ],
   "autoFolders": [
-    "Tests"
+    "Blue Autons",
+    "Red Autons"
   ],
   "defaultMaxVel": 3.0,
-  "defaultMaxAccel": 3.0,
+  "defaultMaxAccel": 4.0,
   "defaultMaxAngVel": 540.0,
   "defaultMaxAngAccel": 720.0,
   "maxModuleSpeed": 4.5

build.gradle

@@ -38,6 +38,15 @@ deploy {
                 // getTargetTypeClass is a shortcut to get the class type using a string
 
                 frcJava(getArtifactTypeClass('FRCJavaArtifact')) {
+                    // Enable VisualVM connection
+                    // jvmArgs.add("-Dcom.sun.management.jmxremote=true")
+                    // jvmArgs.add("-Dcom.sun.management.jmxremote.port=1198")
+                    // jvmArgs.add("-Dcom.sun.management.jmxremote.local.only=false")
+                    // jvmArgs.add("-Dcom.sun.management.jmxremote.ssl=false")
+                    // jvmArgs.add("-Dcom.sun.management.jmxremote.authenticate=false")
+                    // jvmArgs.add("-Djava.rmi.server.hostname=10.6.94.2")
+                    jvmArgs.add("-XX:+HeapDumpOnOutOfMemoryError")
+                    jvmArgs.add("-XX:HeapDumpPath=/u/frc-usercode.hprof")
                 }
 
                 // Static files artifact

simgui-ds.json

@@ -1,24 +1,14 @@
 {
-  "Joysticks": {
-    "window": {
-      "visible": false
-    }
-  },
-  "System Joysticks": {
-    "window": {
-      "visible": false
-    }
-  },
   "keyboardJoysticks": [
     {
       "axisConfig": [
         {
-          "decKey": 65,
-          "incKey": 68
+          "decKey": 83,
+          "incKey": 87
         },
         {
-          "decKey": 87,
-          "incKey": 83
+          "decKey": 68,
+          "incKey": 65
         },
         {
           "decKey": 69,
@@ -30,10 +20,10 @@
       "axisCount": 3,
       "buttonCount": 4,
       "buttonKeys": [
-        90,
-        88,
-        67,
-        86
+        -1,
+        -1,
+        -1,
+        -1
       ],
       "povConfig": [
         {
@@ -99,5 +89,10 @@
       "povCount": 0
     }
   ],
+  "robotJoysticks": [
+    {
+      "guid": "Keyboard0"
+    }
+  ],
   "zeroDisconnectedJoysticks": false
 }

simgui.json

@@ -16,6 +16,7 @@
       "/FMSInfo": "FMSInfo",
       "/Pose": "Field2d",
       "/SmartDashboard/Autonomous": "String Chooser",
+      "/SmartDashboard/Field": "Field2d",
       "/SmartDashboard/Module 0": "Mechanism2d",
       "/SmartDashboard/Module 1": "Mechanism2d",
       "/SmartDashboard/Module 2": "Mechanism2d",
@@ -41,6 +42,17 @@
         "window": {
           "visible": true
         }
+      },
+      "/SmartDashboard/Field": {
+        "bottom": 1476,
+        "height": 8.210550308227539,
+        "left": 150,
+        "right": 2961,
+        "top": 79,
+        "width": 16.541748046875,
+        "window": {
+          "visible": true
+        }
       }
     }
   },

src/main/deploy/pathplanner/autos/ADEF.auto → src/main/deploy/pathplanner/autos/ADEF BLUE.auto

@@ -2,10 +2,10 @@
   "version": 1.0,
   "startingPose": {
     "position": {
-      "x": 1.435487934219916,
-      "y": 6.595791855088175
+      "x": 1.3334750274411264,
+      "y": 7.002978151231599
     },
-    "rotation": 1.3048503501930353
+    "rotation": 41.18642861701727
   },
   "command": {
     "type": "sequential",
@@ -14,48 +14,48 @@
         {
           "type": "path",
           "data": {
-            "pathName": "Amp to A"
+            "pathName": "Blue Amp to A"
           }
         },
         {
           "type": "path",
           "data": {
-            "pathName": "A to D"
+            "pathName": "Blue A to D"
           }
         },
         {
           "type": "path",
           "data": {
-            "pathName": "D to Shoot"
+            "pathName": "Blue D to Shoot"
           }
         },
         {
           "type": "path",
           "data": {
-            "pathName": "D Shoot to E"
+            "pathName": "Blue D Shoot to E"
           }
         },
         {
           "type": "path",
           "data": {
-            "pathName": "E to Shoot"
+            "pathName": "Blue E to Shoot"
           }
         },
         {
           "type": "path",
           "data": {
-            "pathName": "E Shoot to F"
+            "pathName": "Blue E Shoot to F"
           }
         },
         {
           "type": "path",
           "data": {
-            "pathName": "F to Shoot"
+            "pathName": "Blue F to Shoot"
           }
         }
       ]
     }
   },
-  "folder": null,
+  "folder": "Blue Autons",
   "choreoAuto": false
 }

src/main/deploy/pathplanner/autos/BFED.auto → src/main/deploy/pathplanner/autos/ADEF RED.auto

@@ -2,8 +2,8 @@
   "version": 1.0,
   "startingPose": {
     "position": {
-      "x": 1.4053936459807443,
-      "y": 5.5301848373414
+      "x": 1.3334750274411264,
+      "y": 7.002978151231599
     },
     "rotation": 0
   },
@@ -14,48 +14,48 @@
         {
           "type": "path",
           "data": {
-            "pathName": "Center to B"
+            "pathName": "Red Amp to A"
           }
         },
         {
           "type": "path",
           "data": {
-            "pathName": "B to F"
+            "pathName": "Red A to D"
           }
         },
         {
           "type": "path",
           "data": {
-            "pathName": "F to Shoot ALT"
+            "pathName": "Red D to Shoot"
           }
         },
         {
           "type": "path",
           "data": {
-            "pathName": "F Shoot ALT to E"
+            "pathName": "Red D Shoot to E"
           }
         },
         {
           "type": "path",
           "data": {
-            "pathName": "E to Shoot"
+            "pathName": "Red E to Shoot"
           }
         },
         {
           "type": "path",
           "data": {
-            "pathName": "E Shoot to D"
+            "pathName": "Red E Shoot to F"
           }
         },
         {
           "type": "path",
           "data": {
-            "pathName": "D to Shoot"
+            "pathName": "Red F to Shoot"
           }
         }
       ]
     }
   },
-  "folder": null,
+  "folder": "Red Autons",
   "choreoAuto": false
 }

src/main/deploy/pathplanner/autos/BFGH.auto → src/main/deploy/pathplanner/autos/BCA BLUE.auto

@@ -2,10 +2,10 @@
   "version": 1.0,
   "startingPose": {
     "position": {
-      "x": 1.4053936459807443,
+      "x": 1.5588456716347956,
       "y": 5.5301848373414
     },
-    "rotation": 0
+    "rotation": 0.7711444982014979
   },
   "command": {
     "type": "sequential",
@@ -14,48 +14,42 @@
         {
           "type": "path",
           "data": {
-            "pathName": "Center to B"
+            "pathName": "Blue Center to B"
           }
         },
         {
           "type": "path",
           "data": {
-            "pathName": "B to F"
+            "pathName": "Blue B to Center"
           }
         },
         {
           "type": "path",
           "data": {
-            "pathName": "F to Shoot"
+            "pathName": "Blue Center to C"
           }
         },
         {
           "type": "path",
           "data": {
-            "pathName": "F Shoot to G"
+            "pathName": "Blue C to Shoot Before A"
           }
         },
         {
           "type": "path",
           "data": {
-            "pathName": "G to Shoot"
+            "pathName": "Blue Center to A"
           }
         },
         {
           "type": "path",
           "data": {
-            "pathName": "G Shoot to H"
-          }
-        },
-        {
-          "type": "path",
-          "data": {
-            "pathName": "H to Shoot"
+            "pathName": "Blue A to Center"
           }
         }
       ]
     }
   },
-  "folder": null,
+  "folder": "Blue Autons",
   "choreoAuto": false
 }

src/main/deploy/pathplanner/autos/BCA RED.auto

@@ -0,0 +1,55 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 1.5588456716347956,
+      "y": 5.5301848373414
+    },
+    "rotation": 0.7711444982014979
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Red Center to B"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Red B to Center"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Red Center to C"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Red C to Shoot Before A"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Red Center to A"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Red A to Center"
+          }
+        }
+      ]
+    }
+  },
+  "folder": "Red Autons",
+  "choreoAuto": false
+}