Add new auto paths and update settings for path planning and robot di…

…mensions

functional three piece

FlexAdvKitBeta/AdvantageScope Swerve Calibration.json

@@ -1,10 +1,10 @@
 {
   "hubs": [
     {
-      "x": 139,
-      "y": 95,
-      "width": 1100,
-      "height": 650,
+      "x": 138,
+      "y": 94,
+      "width": 1104,
+      "height": 654,
       "state": {
         "sidebar": {
           "width": 300,
@@ -459,5 +459,5 @@
     }
   ],
   "satellites": [],
-  "version": "4.0.0-beta-3"
+  "version": "4.1.0"
 }

FlexAdvKitBeta/src/main/deploy/choreo/proj.chor

@@ -9,64 +9,64 @@
  "config":{
   "frontLeft":{
    "x":{
-    "exp":"11 in",
-    "val":0.2794
+    "exp":"9.75 in",
+    "val":0.24765
    },
    "y":{
-    "exp":"11 in",
-    "val":0.2794
+    "exp":"9.75 in",
+    "val":0.24765
    }
   },
   "backLeft":{
    "x":{
-    "exp":"-11 in",
-    "val":-0.2794
+    "exp":"-9.75 in",
+    "val":-0.24765
    },
    "y":{
-    "exp":"11 in",
-    "val":0.2794
+    "exp":"9.75 in",
+    "val":0.24765
    }
   },
   "mass":{
-   "exp":"150 lbs",
-   "val":68.0388555
+   "exp":"115 lbs",
+   "val":52.16312255
   },
   "inertia":{
-   "exp":"6 kg m ^ 2",
-   "val":6.0
+   "exp":"2 kg m ^ 2",
+   "val":2.0
   },
   "gearing":{
-   "exp":"6.5",
-   "val":6.5
+   "exp":"5.142857142857142",
+   "val":5.142857142857142
   },
   "radius":{
-   "exp":"2 in",
-   "val":0.0508
+   "exp":"2.194 in",
+   "val":0.055727599999999995
   },
   "vmax":{
-   "exp":"6000 RPM",
-   "val":628.3185307179587
+   "exp":"3000 RPM",
+   "val":314.1592653589793
   },
   "tmax":{
-   "exp":"1.2 N * m",
-   "val":1.2
+   "exp":"0.5 N * m",
+   "val":0.5
   },
   "cof":{
-   "exp":"1.5",
-   "val":1.5
+   "exp":"1.19",
+   "val":1.19
   },
   "bumper":{
    "front":{
-    "exp":"16 in",
-    "val":0.4064
+    "exp":"19.5 in",
+    "val":0.4953
    },
    "side":{
-    "exp":"16 in",
-    "val":0.4064
+    "exp":"16.25 in",
+    "val":0.41275
    },
    "back":{
-    "exp":"16 in",
-    "val":0.4064
+    "exp":"19.5 in",
+    "val":0.4953
    }
   },
   "differentialTrackWidth":{

FlexAdvKitBeta/src/main/deploy/pathplanner/autos/3Piece.auto

@@ -0,0 +1,12 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": []
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": true
+}

FlexAdvKitBeta/src/main/deploy/pathplanner/autos/Forward.auto

@@ -0,0 +1,19 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Forward"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": true
+}

FlexAdvKitBeta/src/main/deploy/pathplanner/paths/Example Path.path

@@ -8,24 +8,40 @@
       },
       "prevControl": null,
       "nextControl": {
-        "x": 3.013282910175676,
-        "y": 6.5274984191074985
+        "x": 2.7671758370498094,
+        "y": 6.180035899502349
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 5.166769560390973,
-        "y": 5.0964860911203305
+        "x": 4.604764701683467,
+        "y": 4.122214464115091
       },
       "prevControl": {
-        "x": 4.166769560390973,
-        "y": 6.0964860911203305
+        "x": 4.281114356699413,
+        "y": 4.300295004571826
       },
       "nextControl": {
-        "x": 6.166769560390973,
-        "y": 4.0964860911203305
+        "x": 5.61310871873312,
+        "y": 3.5673982857749618
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 7.0,
+        "y": 2.8925766268080317
+      },
+      "prevControl": {
+        "x": 6.69180462659209,
+        "y": 3.3862861371701434
+      },
+      "nextControl": {
+        "x": 7.273504656701004,
+        "y": 2.4544394521694968
       },
       "isLocked": false,
       "linkedName": null
@@ -36,8 +52,8 @@
         "y": 1.0
       },
       "prevControl": {
-        "x": 6.75,
-        "y": 2.5
+        "x": 7.0335721456920615,
+        "y": 1.8747505799602564
       },
       "nextControl": null,
       "isLocked": false,

FlexAdvKitBeta/src/main/deploy/pathplanner/paths/ForwardAuto.path

@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 1.0,
+        "y": 7.0
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 1.772678179111184,
+        "y": 7.011088339115795
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 3.0,
+        "y": 7.0
+      },
+      "prevControl": {
+        "x": 2.372716908050121,
+        "y": 7.008368243449518
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 2.0,
+    "maxAcceleration": 2.0,
+    "maxAngularVelocity": 540.0,
+    "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
+}

FlexAdvKitBeta/src/main/deploy/pathplanner/settings.json

@@ -4,18 +4,18 @@
   "holonomicMode": true,
   "pathFolders": [],
   "autoFolders": [],
-  "defaultMaxVel": 3.0,
-  "defaultMaxAccel": 3.0,
+  "defaultMaxVel": 2.0,
+  "defaultMaxAccel": 2.0,
   "defaultMaxAngVel": 540.0,
   "defaultMaxAngAccel": 720.0,
   "robotMass": 74.088,
   "robotMOI": 6.883,
   "robotWheelbase": 0.546,
   "robotTrackwidth": 0.546,
-  "driveWheelRadius": 0.048,
+  "driveWheelRadius": 0.0557,
   "driveGearing": 5.143,
   "maxDriveSpeed": 5.45,
   "driveMotorType": "krakenX60FOC",
-  "driveCurrentLimit": 60.0,
-  "wheelCOF": 1.2
+  "driveCurrentLimit": 120.0,
+  "wheelCOF": 1.19
 }