feat:New Auton Paths

SaintsRobotics · Mar 2, 2024 · 6f12826 · 6f12826
1 parent b0f6234
commit 6f12826
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Showing 18 changed files with 1,170 additions and 191 deletions.
diff --git a/src/main/deploy/pathplanner/autos/3NoteBot.auto b/src/main/deploy/pathplanner/autos/3NoteBot.auto
@@ -0,0 +1,31 @@
+{
+  "version": 1.0,
+  "startingPose": null,
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "3NotesBottom_1"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "3NoteBot_2"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "3NoteBot_3"
+          }
+        }
+      ]
+    }
+  },
+  "folder": null,
+  "choreoAuto": false
+}
diff --git a/src/main/deploy/pathplanner/autos/3NoteMid.auto b/src/main/deploy/pathplanner/autos/3NoteMid.auto
@@ -0,0 +1,37 @@
+{
+  "version": 1.0,
+  "startingPose": null,
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "2Mid_1"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "2mid_2"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "2mid_3"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "2mid_4"
+          }
+        }
+      ]
+    }
+  },
+  "folder": null,
+  "choreoAuto": false
+}
diff --git a/...in/deploy/pathplanner/autos/3Note_Up.auto → ...ain/deploy/pathplanner/autos/3NoteUp.auto b/...in/deploy/pathplanner/autos/3Note_Up.auto → ...ain/deploy/pathplanner/autos/3NoteUp.auto
@@ -8,7 +8,7 @@
         {
           "type": "path",
           "data": {
-            "pathName": "Shoot_Top1"
+            "pathName": "3Note_Up"
           }
         }
       ]

diff --git a/...loy/pathplanner/autos/Bottom_Disrupt.auto → ...ploy/pathplanner/autos/BottomDisrupt.auto b/...loy/pathplanner/autos/Bottom_Disrupt.auto → ...ploy/pathplanner/autos/BottomDisrupt.auto
diff --git a/src/main/deploy/pathplanner/autos/Sample.auto b/src/main/deploy/pathplanner/autos/Sample.auto
@@ -0,0 +1,19 @@
+{
+  "version": 1.0,
+  "startingPose": null,
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Sample"
+          }
+        }
+      ]
+    }
+  },
+  "folder": null,
+  "choreoAuto": false
+}
diff --git a/src/main/deploy/pathplanner/autos/TopDisrupt.auto b/src/main/deploy/pathplanner/autos/TopDisrupt.auto
@@ -0,0 +1,19 @@
+{
+  "version": 1.0,
+  "startingPose": null,
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "TopDisrupt1"
+          }
+        }
+      ]
+    }
+  },
+  "folder": null,
+  "choreoAuto": false
+}
diff --git a/src/main/deploy/pathplanner/paths/2Mid_1.path b/src/main/deploy/pathplanner/paths/2Mid_1.path
@@ -0,0 +1,99 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 1.339330858774288,
+        "y": 5.537039516855769
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 2.0016193128071067,
+        "y": 5.5524415739263
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 2.3173614827529843,
+        "y": 5.537039516855769
+      },
+      "prevControl": {
+        "x": 1.3173614827529843,
+        "y": 5.537039516855769
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": "Mid1_end"
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "eventMarkers": [
+    {
+      "name": "shoot",
+      "waypointRelativePos": 0,
+      "command": {
+        "type": "parallel",
+        "data": {
+          "commands": [
+            {
+              "type": "wait",
+              "data": {
+                "waitTime": 0.5
+              }
+            },
+            {
+              "type": "named",
+              "data": {
+                "name": "shoot"
+              }
+            }
+          ]
+        }
+      }
+    },
+    {
+      "name": "intake",
+      "waypointRelativePos": 1.0,
+      "command": {
+        "type": "parallel",
+        "data": {
+          "commands": [
+            {
+              "type": "wait",
+              "data": {
+                "waitTime": 0.5
+              }
+            },
+            {
+              "type": "named",
+              "data": {
+                "name": "intake"
+              }
+            }
+          ]
+        }
+      }
+    }
+  ],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 0.9093804491991806,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": null,
+  "previewStartingState": {
+    "rotation": 0.7345210342548477,
+    "velocity": 0
+  },
+  "useDefaultConstraints": true
+}
diff --git a/src/main/deploy/pathplanner/paths/2mid_2.path b/src/main/deploy/pathplanner/paths/2mid_2.path
@@ -0,0 +1,76 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 2.3173614827529843,
+        "y": 5.537039516855769
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 1.5087534865506418,
+        "y": 5.506235402714682
+      },
+      "isLocked": false,
+      "linkedName": "Mid1_end"
+    },
+    {
+      "anchor": {
+        "x": 0.7617537186293887,
+        "y": 6.707595854216099
+      },
+      "prevControl": {
+        "x": 1.477949372409065,
+        "y": 6.707595854216073
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": "4mid_2end"
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "eventMarkers": [
+    {
+      "name": "shoot",
+      "waypointRelativePos": 1.0,
+      "command": {
+        "type": "parallel",
+        "data": {
+          "commands": [
+            {
+              "type": "wait",
+              "data": {
+                "waitTime": 0.5
+              }
+            },
+            {
+              "type": "named",
+              "data": {
+                "name": "shoot"
+              }
+            }
+          ]
+        }
+      }
+    }
+  ],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": -0.8814039965842145,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": null,
+  "previewStartingState": {
+    "rotation": 0,
+    "velocity": 0
+  },
+  "useDefaultConstraints": true
+}
diff --git a/src/main/deploy/pathplanner/paths/2mid_3.path b/src/main/deploy/pathplanner/paths/2mid_3.path
@@ -0,0 +1,76 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 0.7617537186293887,
+        "y": 6.707595854216099
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 4.974216327419523,
+        "y": 7.454595622136836
+      },
+      "isLocked": false,
+      "linkedName": "4mid_2end"
+    },
+    {
+      "anchor": {
+        "x": 7.654174257691856,
+        "y": 5.7834724299842595
+      },
+      "prevControl": {
+        "x": 5.628803752917074,
+        "y": 6.653688654469242
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": "4mid_3end"
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "eventMarkers": [
+    {
+      "name": "intake",
+      "waypointRelativePos": 1.0,
+      "command": {
+        "type": "parallel",
+        "data": {
+          "commands": [
+            {
+              "type": "wait",
+              "data": {
+                "waitTime": 0.5
+              }
+            },
+            {
+              "type": "named",
+              "data": {
+                "name": "intake"
+              }
+            }
+          ]
+        }
+      }
+    }
+  ],
+  "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": 59.62087398863165,
+    "velocity": 0
+  },
+  "useDefaultConstraints": true
+}