FairportRobotics
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Castor2026
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This commit is contained in:
TheRealGreydon 2026-10-15 18:40:12 -04:00
parent 850f091148
commit fc06699ea8
2 changed files with 55 additions and 1 deletions
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54
src/main/deploy/pathplanner/paths/New Path.path Normal file
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@ -0,0 +1,54 @@
{
"version": "2025.0",
"waypoints": [
{
"anchor": {
"x": 1.347817403708987,
"y": 6.0
},
"prevControl": null,
"nextControl": {
"x": -0.16600570613409404,
"y": 5.982268188302426
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": -0.9164479315263911,
"y": 6.0
},
"prevControl": {
"x": -1.916447931526393,
"y": 6.0
},
"nextControl": null,
"isLocked": false,
"linkedName": null
}
],
"rotationTargets": [],
"constraintZones": [],
"pointTowardsZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 3.0,
"maxAcceleration": 3.0,
"maxAngularVelocity": 360.0,
"maxAngularAcceleration": 720.0,
"nominalVoltage": 12.0,
"unlimited": false
},
"goalEndState": {
"velocity": 0,
"rotation": 0.0
},
"reversed": false,
"folder": null,
"idealStartingState": {
"velocity": 0,
"rotation": 0.0
},
"useDefaultConstraints": true
}

2
src/main/java/frc/robot/subsystems/DriveSubsystem.java
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@ -161,7 +161,7 @@ public class DriveSubsystem extends TestableSubsystem {
driveSystem::getRobotPose2d,
driveSystem::setPose2d,
driveSystem::getRobotRelativeSpeeds,
(speeds, feedforwards) -> {driveSystem.setChassisSpeed(ChassisSpeeds.fromRobotRelativeSpeeds(-speeds.vxMetersPerSecond, -speeds.vyMetersPerSecond, -speeds.omegaRadiansPerSecond, driveSystem.getRobotHeading()), new Translation2d());},
(speeds, feedforwards) -> {driveSystem.setChassisSpeed(ChassisSpeeds.fromRobotRelativeSpeeds(speeds.vxMetersPerSecond, speeds.vyMetersPerSecond, speeds.omegaRadiansPerSecond, driveSystem.getRobotHeading()), new Translation2d());},
new PPHolonomicDriveController(
new PIDConstants(5, 0, 0),
new PIDConstants(Math.PI, 0, 0)),