diff --git a/src/main/deploy/pathplanner/autos/1-Leave-Delayed.auto b/src/main/deploy/pathplanner/autos/1-Leave-Delayed.auto new file mode 100644 index 0000000..c7112f0 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/1-Leave-Delayed.auto @@ -0,0 +1,44 @@ +{ + "version": 1.0, + "startingPose": { + "position": { + "x": 0.75, + "y": 6.75 + }, + "rotation": 60.0 + }, + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "Shoot" + } + }, + { + "type": "wait", + "data": { + "waitTime": 12.0 + } + } + ] + } + }, + { + "type": "path", + "data": { + "pathName": "MoveOut-Left" + } + } + ] + } + }, + "folder": null, + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/2-Center-Stays.auto b/src/main/deploy/pathplanner/autos/2-Center-Stays.auto new file mode 100644 index 0000000..dc116ac --- /dev/null +++ b/src/main/deploy/pathplanner/autos/2-Center-Stays.auto @@ -0,0 +1,63 @@ +{ + "version": 1.0, + "startingPose": { + "position": { + "x": 1.3470318873095533, + "y": 5.5216374597852385 + }, + "rotation": 0 + }, + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "Shoot" + } + }, + { + "type": "deadline", + "data": { + "commands": [ + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "wait", + "data": { + "waitTime": 2.0 + } + }, + { + "type": "path", + "data": { + "pathName": "CenterNote-Center" + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "Intake" + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "Shoot" + } + } + ] + } + }, + "folder": null, + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/2-Right-Leave.auto b/src/main/deploy/pathplanner/autos/2-Right-Leave.auto new file mode 100644 index 0000000..9c80858 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/2-Right-Leave.auto @@ -0,0 +1,56 @@ +{ + "version": 1.0, + "startingPose": { + "position": { + "x": 0.7516461186768542, + "y": 4.35 + }, + "rotation": -60.0 + }, + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "Shoot" + } + }, + { + "type": "deadline", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "Middle5thNote-Right" + } + }, + { + "type": "named", + "data": { + "name": "Intake" + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "Shoot" + } + }, + { + "type": "path", + "data": { + "pathName": "MoveOut-Right" + } + } + ] + } + }, + "folder": null, + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/4-Note-Center.auto b/src/main/deploy/pathplanner/autos/4-Center-Stays.auto similarity index 91% rename from src/main/deploy/pathplanner/autos/4-Note-Center.auto rename to src/main/deploy/pathplanner/autos/4-Center-Stays.auto index f2b1dc8..6e755e0 100644 --- a/src/main/deploy/pathplanner/autos/4-Note-Center.auto +++ b/src/main/deploy/pathplanner/autos/4-Center-Stays.auto @@ -18,15 +18,9 @@ } }, { - "type": "parallel", + "type": "deadline", "data": { "commands": [ - { - "type": "named", - "data": { - "name": "Intake" - } - }, { "type": "sequential", "data": { @@ -40,11 +34,17 @@ { "type": "path", "data": { - "pathName": "CenterNote" + "pathName": "CenterNote-Center" } } ] } + }, + { + "type": "named", + "data": { + "name": "Intake" + } } ] } @@ -56,15 +56,9 @@ } }, { - "type": "parallel", + "type": "deadline", "data": { "commands": [ - { - "type": "named", - "data": { - "name": "Intake" - } - }, { "type": "sequential", "data": { @@ -78,11 +72,17 @@ { "type": "path", "data": { - "pathName": "LeftNote" + "pathName": "LeftNote-Center" } } ] } + }, + { + "type": "named", + "data": { + "name": "Intake" + } } ] } @@ -94,15 +94,9 @@ } }, { - "type": "parallel", + "type": "deadline", "data": { "commands": [ - { - "type": "named", - "data": { - "name": "Intake" - } - }, { "type": "sequential", "data": { @@ -116,11 +110,17 @@ { "type": "path", "data": { - "pathName": "RightNote" + "pathName": "RightNote-Center" } } ] } + }, + { + "type": "named", + "data": { + "name": "Intake" + } } ] } diff --git a/src/main/deploy/pathplanner/paths/CenterNote.path b/src/main/deploy/pathplanner/paths/CenterNote-Center.path similarity index 100% rename from src/main/deploy/pathplanner/paths/CenterNote.path rename to src/main/deploy/pathplanner/paths/CenterNote-Center.path diff --git a/src/main/deploy/pathplanner/paths/LeftNote.path b/src/main/deploy/pathplanner/paths/LeftNote-Center.path similarity index 100% rename from src/main/deploy/pathplanner/paths/LeftNote.path rename to src/main/deploy/pathplanner/paths/LeftNote-Center.path diff --git a/src/main/deploy/pathplanner/paths/Middle5thNote-Right.path b/src/main/deploy/pathplanner/paths/Middle5thNote-Right.path new file mode 100644 index 0000000..6bcd6d6 --- /dev/null +++ b/src/main/deploy/pathplanner/paths/Middle5thNote-Right.path @@ -0,0 +1,74 @@ +{ + "version": 1.0, + "waypoints": [ + { + "anchor": { + "x": 0.75, + "y": 4.35 + }, + "prevControl": null, + "nextControl": { + "x": 1.2709445330007911, + "y": 1.3955767409633761 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 8.043316855864482, + "y": 0.7104198823782273 + }, + "prevControl": { + "x": 7.043316855864482, + "y": 0.7104198823782273 + }, + "nextControl": { + "x": 9.04331685586447, + "y": 0.7104198823782273 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 0.75, + "y": 4.35 + }, + "prevControl": { + "x": 1.2709445330007911, + "y": 1.3955767409633757 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [ + { + "waypointRelativePos": 0.85, + "rotationDegrees": 0, + "rotateFast": false + } + ], + "constraintZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 3.0, + "maxAcceleration": 3.0, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0 + }, + "goalEndState": { + "velocity": 0, + "rotation": -60.46371417686636, + "rotateFast": false + }, + "reversed": false, + "folder": null, + "previewStartingState": { + "rotation": -60.067304943288455, + "velocity": 0 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/MoveOut-Left.path b/src/main/deploy/pathplanner/paths/MoveOut-Left.path new file mode 100644 index 0000000..e0e41d1 --- /dev/null +++ b/src/main/deploy/pathplanner/paths/MoveOut-Left.path @@ -0,0 +1,68 @@ +{ + "version": 1.0, + "waypoints": [ + { + "anchor": { + "x": 0.75, + "y": 6.75 + }, + "prevControl": null, + "nextControl": { + "x": 1.9850139700279412, + "y": 7.637013735565933 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 4.589886872086828, + "y": 7.114065766591227 + }, + "prevControl": { + "x": 3.029411851614082, + "y": 7.114065766591227 + }, + "nextControl": { + "x": 6.150361892559576, + "y": 7.114065766591227 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 7.0, + "y": 7.5 + }, + "prevControl": { + "x": 6.0, + "y": 7.5 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [], + "constraintZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 3.0, + "maxAcceleration": 3.0, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0 + }, + "goalEndState": { + "velocity": 0, + "rotation": 0, + "rotateFast": false + }, + "reversed": false, + "folder": null, + "previewStartingState": { + "rotation": 60.155776139721404, + "velocity": 0 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/MoveOut-Right.path b/src/main/deploy/pathplanner/paths/MoveOut-Right.path new file mode 100644 index 0000000..21963f3 --- /dev/null +++ b/src/main/deploy/pathplanner/paths/MoveOut-Right.path @@ -0,0 +1,68 @@ +{ + "version": 1.0, + "waypoints": [ + { + "anchor": { + "x": 0.75, + "y": 4.35 + }, + "prevControl": null, + "nextControl": { + "x": 1.2709445330007911, + "y": 1.3955767409633757 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 5.517379496297456, + "y": 1.3419042222699844 + }, + "prevControl": { + "x": 4.517379496297456, + "y": 1.3419042222699844 + }, + "nextControl": { + "x": 6.517379496297445, + "y": 1.3419042222699844 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 7.0, + "y": 2.45 + }, + "prevControl": { + "x": 6.506652859459566, + "y": 1.8481164885406705 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [], + "constraintZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 3.0, + "maxAcceleration": 3.0, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0 + }, + "goalEndState": { + "velocity": 0, + "rotation": 0, + "rotateFast": false + }, + "reversed": false, + "folder": null, + "previewStartingState": { + "rotation": -58.43376145805557, + "velocity": 0 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/RightNote.path b/src/main/deploy/pathplanner/paths/RightNote-Center.path similarity index 100% rename from src/main/deploy/pathplanner/paths/RightNote.path rename to src/main/deploy/pathplanner/paths/RightNote-Center.path diff --git a/src/main/deploy/pathplanner/paths/testing1.path b/src/main/deploy/pathplanner/paths/testing1.path index a42101e..242eac5 100644 --- a/src/main/deploy/pathplanner/paths/testing1.path +++ b/src/main/deploy/pathplanner/paths/testing1.path @@ -16,16 +16,16 @@ }, { "anchor": { - "x": 4.507662348658031, - "y": 6.622747997269045 + "x": 4.0, + "y": 7.0 }, "prevControl": { - "x": 3.507662348658031, - "y": 6.622747997269045 + "x": 3.0, + "y": 7.0 }, "nextControl": { - "x": 5.507662348658035, - "y": 6.622747997269045 + "x": 4.999999999999995, + "y": 7.0 }, "isLocked": false, "linkedName": null @@ -33,11 +33,11 @@ { "anchor": { "x": 4.0, - "y": 3.478762134829234 + "y": 5.999101228971689 }, "prevControl": { - "x": 4.984859948443303, - "y": 3.2438044592401236 + "x": 4.999999999999998, + "y": 5.999101228971689 }, "nextControl": null, "isLocked": false,