Autos/Deletes

Author: sophiep29

.vscode/settings.json

@@ -58,5 +58,6 @@
     "edu.wpi.first.math.**.struct.*",
   ],
   "java.dependency.enableDependencyCheckup": false,
-  "java.debug.settings.onBuildFailureProceed": true
+  "java.debug.settings.onBuildFailureProceed": true,
+  "java.jdt.ls.vmargs": "-XX:+UseParallelGC -XX:GCTimeRatio=4 -XX:AdaptiveSizePolicyWeight=90 -Dsun.zip.disableMemoryMapping=true -Xmx2G -Xms100m -Xlog:disable"
 }

src/main/deploy/pathplanner/autos/center to back depot side.auto

@@ -11,25 +11,45 @@
           }
         },
         {
-          "type": "deadline",
+          "type": "parallel",
           "data": {
             "commands": [
               {
-                "type": "path",
+                "type": "deadline",
                 "data": {
-                  "pathName": "1 Depot side center"
+                  "commands": [
+                    {
+                      "type": "path",
+                      "data": {
+                        "pathName": "1 Depot side center"
+                      }
+                    },
+                    {
+                      "type": "named",
+                      "data": {
+                        "name": "intake"
+                      }
+                    }
+                  ]
                 }
               },
               {
-                "type": "named",
-                "data": {
-                  "name": "hopper deploy"
-                }
-              },
-              {
-                "type": "named",
+                "type": "sequential",
                 "data": {
-                  "name": "intake"
+                  "commands": [
+                    {
+                      "type": "wait",
+                      "data": {
+                        "waitTime": 1.0
+                      }
+                    },
+                    {
+                      "type": "named",
+                      "data": {
+                        "name": "hopper deploy"
+                      }
+                    }
+                  ]
                 }
               }
             ]

src/main/deploy/pathplanner/paths/1 Depot side center.path

@@ -16,12 +16,12 @@
     },
     {
       "anchor": {
-        "x": 7.74248120300752,
-        "y": 4.862545112781954
+        "x": 7.753707692307692,
+        "y": 5.793184615384616
       },
       "prevControl": {
-        "x": 7.636977443609023,
-        "y": 8.001281954887219
+        "x": 7.802546153846153,
+        "y": 7.760676923076924
       },
       "nextControl": null,
       "isLocked": false,
@@ -34,21 +34,7 @@
       "rotationDegrees": -58.149754025069136
     }
   ],
-  "constraintZones": [
-    {
-      "name": "Constraints Zone",
-      "minWaypointRelativePos": 0.6399186643835615,
-      "maxWaypointRelativePos": 1.0,
-      "constraints": {
-        "maxVelocity": 1.5,
-        "maxAcceleration": 1.5,
-        "maxAngularVelocity": 540.0,
-        "maxAngularAcceleration": 720.0,
-        "nominalVoltage": 12.0,
-        "unlimited": false
-      }
-    }
-  ],
+  "constraintZones": [],
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {

src/main/deploy/pathplanner/paths/2 Center back depot.path

@@ -3,13 +3,13 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 7.735228859581072,
-        "y": 4.791419705197828
+        "x": 7.649053846153848,
+        "y": 5.96063076923077
       },
       "prevControl": null,
       "nextControl": {
-        "x": 8.002614429790537,
-        "y": 7.880426687354538
+        "x": 7.537423076923078,
+        "y": 7.593230769230768
       },
       "isLocked": false,
       "linkedName": null