modify paths to put intake down earlier

FRC830 · Mar 5, 2024 · 6a39bfd · 6a39bfd
1 parent 41b0093
commit 6a39bfd
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Showing 3 changed files with 53 additions and 22 deletions.
diff --git a/src/main/deploy/pathplanner/autos/Middle_4_Piece.auto b/src/main/deploy/pathplanner/autos/Middle_4_Piece.auto
@@ -12,9 +12,22 @@
     "data": {
       "commands": [
         {
-          "type": "named",
+          "type": "parallel",
           "data": {
-            "name": "SubShoot"
+            "commands": [
+              {
+                "type": "named",
+                "data": {
+                  "name": "SubShoot"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "SmartIntakeCommand"
+                }
+              }
+            ]
           }
         },
         {
@@ -23,12 +36,6 @@
             "pathName": "Preloaded_TopNote"
           }
         },
-        {
-          "type": "named",
-          "data": {
-            "name": "SmartIntakeCommand"
-          }
-        },
         {
           "type": "named",
           "data": {
@@ -41,12 +48,6 @@
             "pathName": "TopNote_MiddleNote"
           }
         },
-        {
-          "type": "named",
-          "data": {
-            "name": "SmartIntakeCommand"
-          }
-        },
         {
           "type": "named",
           "data": {
@@ -59,12 +60,6 @@
             "pathName": "MiddleNote_BottomNote"
           }
         },
-        {
-          "type": "named",
-          "data": {
-            "name": "SmartIntakeCommand"
-          }
-        },
         {
           "type": "named",
           "data": {

diff --git a/src/main/deploy/pathplanner/paths/MiddleNote_BottomNote.path b/src/main/deploy/pathplanner/paths/MiddleNote_BottomNote.path
@@ -30,7 +30,25 @@
   ],
   "rotationTargets": [],
   "constraintZones": [],
-  "eventMarkers": [],
+  "eventMarkers": [
+    {
+      "name": "New Event Marker",
+      "waypointRelativePos": 0.4,
+      "command": {
+        "type": "parallel",
+        "data": {
+          "commands": [
+            {
+              "type": "named",
+              "data": {
+                "name": "SmartIntakeCommand"
+              }
+            }
+          ]
+        }
+      }
+    }
+  ],
   "globalConstraints": {
     "maxVelocity": 3.0,
     "maxAcceleration": 3.0,

diff --git a/src/main/deploy/pathplanner/paths/TopNote_MiddleNote.path b/src/main/deploy/pathplanner/paths/TopNote_MiddleNote.path
@@ -30,7 +30,25 @@
   ],
   "rotationTargets": [],
   "constraintZones": [],
-  "eventMarkers": [],
+  "eventMarkers": [
+    {
+      "name": "New Event Marker",
+      "waypointRelativePos": 0.4,
+      "command": {
+        "type": "parallel",
+        "data": {
+          "commands": [
+            {
+              "type": "named",
+              "data": {
+                "name": "SmartIntakeCommand"
+              }
+            }
+          ]
+        }
+      }
+    }
+  ],
   "globalConstraints": {
     "maxVelocity": 3.0,
     "maxAcceleration": 3.0,