From 95c71a9b9cd84c9bda6d710c92077e3a77e27981 Mon Sep 17 00:00:00 2001 From: Elvis Osmanov Date: Mon, 1 Apr 2024 01:12:30 -0400 Subject: [PATCH] a bunch of auton paths --- .pathplanner/settings.json | 10 +-- .../autos/1 Piece Auton Bottom Subwoofer.auto | 25 ++++++ ...to => 1 Piece Auton Center Subwoofer.auto} | 6 +- .../autos/1 Piece Auton Top Subwoofer.auto | 25 ++++++ .../2 Piece Auton from Bottom Subwoofer.auto | 43 ++++++++++ .../2 Piece Auton from Center Subwoofer.auto | 43 ++++++++++ .../2 Piece Auton from Top Subwoofer.auto | 43 ++++++++++ ... to Bottom Center Note to Middle Note.auto | 61 +++++++++++++ ...bwoofer to Bottom Note to Center Note.auto | 61 +++++++++++++ ... Subwoofer to Center Note to Top Note.auto | 61 +++++++++++++ ... Subwoofer to Top Note to Center Note.auto | 61 +++++++++++++ ... Subwoofer to Top Note to Center Note.auto | 61 +++++++++++++ ...ote to Middle Bottom Center Line Note.auto | 85 +++++++++++++++++++ ...op Note to Center Note to Bottom Note.auto | 79 +++++++++++++++++ ...r Note to Middle Top Center Line Note.auto | 85 +++++++++++++++++++ ...o Center Note to Top Center Line Note.auto | 85 +++++++++++++++++++ ...r Line Note to Shooting at the Bottom.path | 52 ++++++++++++ ...ottom Note to Bottom Center Line Note.path | 70 +++++++++++++++ .../paths/Bottom Note to Center Note.path | 70 +++++++++++++++ ...ote to Middle Bottom Center Line Note.path | 70 +++++++++++++++ ...h => Bottom Subwoofer to Bottom Note.path} | 4 +- .../Bottom Subwoofer to Center Note.path | 4 +- ...enter Note to Bottom Center Line Note.path | 70 +++++++++++++++ .../paths/Center Note to Bottom Note.path | 70 +++++++++++++++ ...ote to Middle Bottom Center Line Note.path | 70 +++++++++++++++ ...r Note to Middle Top Center Line Note.path | 70 +++++++++++++++ .../Center Note to Top Center Line Note.path | 70 +++++++++++++++ .../paths/Center Note to Top Note.path | 70 +++++++++++++++ .../Center Subwoofer to Bottom Note.path | 4 +- .../Center Subwoofer to Center Note.path | 4 +- .../paths/Center Subwoofer to Top Note.path | 8 +- ...r Line Note to Shooting at the Bottom.path | 52 ++++++++++++ ...r Line Note to Shooting at the Center.path | 52 ++++++++++++ ...r Line Note to Shooting at the Center.path | 52 ++++++++++++ .../paths/Top Note to Center Note.path | 70 +++++++++++++++ ...p Note to Middle Top Center Line Note.path | 70 +++++++++++++++ .../Top Note to Top Center Line Note.path | 70 +++++++++++++++ .../paths/Top Subwoofer to Center Note.path | 4 +- .../paths/Top Subwoofer to Top Note.path | 8 +- 39 files changed, 1891 insertions(+), 27 deletions(-) create mode 100644 src/main/deploy/pathplanner/autos/1 Piece Auton Bottom Subwoofer.auto rename src/main/deploy/pathplanner/autos/{1 Piece Auton.auto => 1 Piece Auton Center Subwoofer.auto} (78%) create mode 100644 src/main/deploy/pathplanner/autos/1 Piece Auton Top Subwoofer.auto create mode 100644 src/main/deploy/pathplanner/autos/2 Piece Auton from Bottom Subwoofer.auto create mode 100644 src/main/deploy/pathplanner/autos/2 Piece Auton from Center Subwoofer.auto create mode 100644 src/main/deploy/pathplanner/autos/2 Piece Auton from Top Subwoofer.auto create mode 100644 src/main/deploy/pathplanner/autos/3 Piece Auton from Bottom Subwoofer to Bottom Center Note to Middle Note.auto create mode 100644 src/main/deploy/pathplanner/autos/3 Piece Auton from Center Subwoofer to Bottom Note to Center Note.auto create mode 100644 src/main/deploy/pathplanner/autos/3 Piece Auton from Center Subwoofer to Center Note to Top Note.auto create mode 100644 src/main/deploy/pathplanner/autos/3 Piece Auton from Center Subwoofer to Top Note to Center Note.auto create mode 100644 src/main/deploy/pathplanner/autos/3 Piece Auton from Top Subwoofer to Top Note to Center Note.auto create mode 100644 src/main/deploy/pathplanner/autos/4 Piece Auton from Center Subwoofer to Center Note to Bottom Note to Middle Bottom Center Line Note.auto create mode 100644 src/main/deploy/pathplanner/autos/4 Piece Auton from Center Subwoofer to Top Note to Center Note to Bottom Note.auto create mode 100644 src/main/deploy/pathplanner/autos/4 Piece Auton from Center Subwoofer to Top Note to Center Note to Middle Top Center Line Note.auto create mode 100644 src/main/deploy/pathplanner/autos/4 Piece Auton from Center Subwoofer to Top Note to Center Note to Top Center Line Note.auto create mode 100644 src/main/deploy/pathplanner/paths/Bottom Center Line Note to Shooting at the Bottom.path create mode 100644 src/main/deploy/pathplanner/paths/Bottom Note to Bottom Center Line Note.path create mode 100644 src/main/deploy/pathplanner/paths/Bottom Note to Center Note.path create mode 100644 src/main/deploy/pathplanner/paths/Bottom Note to Middle Bottom Center Line Note.path rename src/main/deploy/pathplanner/paths/{Copy of Bottom Subwoofer to Center Note.path => Bottom Subwoofer to Bottom Note.path} (95%) create mode 100644 src/main/deploy/pathplanner/paths/Center Note to Bottom Center Line Note.path create mode 100644 src/main/deploy/pathplanner/paths/Center Note to Bottom Note.path create mode 100644 src/main/deploy/pathplanner/paths/Center Note to Middle Bottom Center Line Note.path create mode 100644 src/main/deploy/pathplanner/paths/Center Note to Middle Top Center Line Note.path create mode 100644 src/main/deploy/pathplanner/paths/Center Note to Top Center Line Note.path create mode 100644 src/main/deploy/pathplanner/paths/Center Note to Top Note.path create mode 100644 src/main/deploy/pathplanner/paths/Middle Bottom Center Line Note to Shooting at the Bottom.path create mode 100644 src/main/deploy/pathplanner/paths/Middle Top Center Line Note to Shooting at the Center.path create mode 100644 src/main/deploy/pathplanner/paths/Top Center Line Note to Shooting at the Center.path create mode 100644 src/main/deploy/pathplanner/paths/Top Note to Center Note.path create mode 100644 src/main/deploy/pathplanner/paths/Top Note to Middle Top Center Line Note.path create mode 100644 src/main/deploy/pathplanner/paths/Top Note to Top Center Line Note.path diff --git a/.pathplanner/settings.json b/.pathplanner/settings.json index f73da8b7..f834bb4c 100644 --- a/.pathplanner/settings.json +++ b/.pathplanner/settings.json @@ -1,15 +1,13 @@ { - "robotWidth": 0.82, - "robotLength": 0.82, + "robotWidth": 0.8, + "robotLength": 0.8, "holonomicMode": true, "pathFolders": [ + "Continuations", "Starting Paths" ], "autoFolders": [ - "bottom", - "center", - "MAIN", - "top" + "New Autons" ], "defaultMaxVel": 4.0, "defaultMaxAccel": 3.0, diff --git a/src/main/deploy/pathplanner/autos/1 Piece Auton Bottom Subwoofer.auto b/src/main/deploy/pathplanner/autos/1 Piece Auton Bottom Subwoofer.auto new file mode 100644 index 00000000..62914037 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/1 Piece Auton Bottom Subwoofer.auto @@ -0,0 +1,25 @@ +{ + "version": 1.0, + "startingPose": { + "position": { + "x": 0.5985054075371309, + "y": 4.394832649314422 + }, + "rotation": 120.0 + }, + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "shoot" + } + } + ] + } + }, + "folder": "New Autons", + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/1 Piece Auton.auto b/src/main/deploy/pathplanner/autos/1 Piece Auton Center Subwoofer.auto similarity index 78% rename from src/main/deploy/pathplanner/autos/1 Piece Auton.auto rename to src/main/deploy/pathplanner/autos/1 Piece Auton Center Subwoofer.auto index a1ef2791..0919063e 100644 --- a/src/main/deploy/pathplanner/autos/1 Piece Auton.auto +++ b/src/main/deploy/pathplanner/autos/1 Piece Auton Center Subwoofer.auto @@ -2,8 +2,8 @@ "version": 1.0, "startingPose": { "position": { - "x": 1.35, - "y": 5.55 + "x": 1.2786251888293252, + "y": 5.582775200638121 }, "rotation": 180.0 }, @@ -20,6 +20,6 @@ ] } }, - "folder": "center", + "folder": "New Autons", "choreoAuto": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/1 Piece Auton Top Subwoofer.auto b/src/main/deploy/pathplanner/autos/1 Piece Auton Top Subwoofer.auto new file mode 100644 index 00000000..2562011b --- /dev/null +++ b/src/main/deploy/pathplanner/autos/1 Piece Auton Top Subwoofer.auto @@ -0,0 +1,25 @@ +{ + "version": 1.0, + "startingPose": { + "position": { + "x": 0.6075736712876936, + "y": 6.67 + }, + "rotation": -120.0 + }, + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "shoot" + } + } + ] + } + }, + "folder": "New Autons", + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/2 Piece Auton from Bottom Subwoofer.auto b/src/main/deploy/pathplanner/autos/2 Piece Auton from Bottom Subwoofer.auto new file mode 100644 index 00000000..e77889e7 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/2 Piece Auton from Bottom Subwoofer.auto @@ -0,0 +1,43 @@ +{ + "version": 1.0, + "startingPose": { + "position": { + "x": 0.5985054075371309, + "y": 4.394832649314422 + }, + "rotation": 120.0 + }, + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "shoot" + } + }, + { + "type": "path", + "data": { + "pathName": "Bottom Subwoofer to Bottom Note" + } + }, + { + "type": "named", + "data": { + "name": "actuateInFast" + } + }, + { + "type": "named", + "data": { + "name": "shoot" + } + } + ] + } + }, + "folder": "New Autons", + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/2 Piece Auton from Center Subwoofer.auto b/src/main/deploy/pathplanner/autos/2 Piece Auton from Center Subwoofer.auto new file mode 100644 index 00000000..3fb6b0bd --- /dev/null +++ b/src/main/deploy/pathplanner/autos/2 Piece Auton from Center Subwoofer.auto @@ -0,0 +1,43 @@ +{ + "version": 1.0, + "startingPose": { + "position": { + "x": 1.3070140425995143, + "y": 5.55593454044051 + }, + "rotation": 180.0 + }, + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "shoot" + } + }, + { + "type": "path", + "data": { + "pathName": "Center Subwoofer to Center Note" + } + }, + { + "type": "named", + "data": { + "name": "actuateInFast" + } + }, + { + "type": "named", + "data": { + "name": "shoot" + } + } + ] + } + }, + "folder": "New Autons", + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/2 Piece Auton from Top Subwoofer.auto b/src/main/deploy/pathplanner/autos/2 Piece Auton from Top Subwoofer.auto new file mode 100644 index 00000000..e33b4e46 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/2 Piece Auton from Top Subwoofer.auto @@ -0,0 +1,43 @@ +{ + "version": 1.0, + "startingPose": { + "position": { + "x": 0.5985054075371309, + "y": 4.394832649314422 + }, + "rotation": -120.0 + }, + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "shoot" + } + }, + { + "type": "path", + "data": { + "pathName": "Top Subwoofer to Top Note" + } + }, + { + "type": "named", + "data": { + "name": "actuateInFast" + } + }, + { + "type": "named", + "data": { + "name": "shoot" + } + } + ] + } + }, + "folder": "New Autons", + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/3 Piece Auton from Bottom Subwoofer to Bottom Center Note to Middle Note.auto b/src/main/deploy/pathplanner/autos/3 Piece Auton from Bottom Subwoofer to Bottom Center Note to Middle Note.auto new file mode 100644 index 00000000..2668c88d --- /dev/null +++ b/src/main/deploy/pathplanner/autos/3 Piece Auton from Bottom Subwoofer to Bottom Center Note to Middle Note.auto @@ -0,0 +1,61 @@ +{ + "version": 1.0, + "startingPose": { + "position": { + "x": 0.5985054075371309, + "y": 4.394832649314422 + }, + "rotation": 120.0 + }, + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "shoot" + } + }, + { + "type": "path", + "data": { + "pathName": "Bottom Subwoofer to Bottom Note" + } + }, + { + "type": "named", + "data": { + "name": "actuateInFast" + } + }, + { + "type": "named", + "data": { + "name": "shoot" + } + }, + { + "type": "path", + "data": { + "pathName": "Bottom Note to Center Note" + } + }, + { + "type": "named", + "data": { + "name": "actuateInFast" + } + }, + { + "type": "named", + "data": { + "name": "shoot" + } + } + ] + } + }, + "folder": "New Autons", + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/3 Piece Auton from Center Subwoofer to Bottom Note to Center Note.auto b/src/main/deploy/pathplanner/autos/3 Piece Auton from Center Subwoofer to Bottom Note to Center Note.auto new file mode 100644 index 00000000..63ee4312 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/3 Piece Auton from Center Subwoofer to Bottom Note to Center Note.auto @@ -0,0 +1,61 @@ +{ + "version": 1.0, + "startingPose": { + "position": { + "x": 1.3070140425995143, + "y": 5.55593454044051 + }, + "rotation": -120.0 + }, + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "shoot" + } + }, + { + "type": "path", + "data": { + "pathName": "Center Subwoofer to Bottom Note" + } + }, + { + "type": "named", + "data": { + "name": "actuateInFast" + } + }, + { + "type": "named", + "data": { + "name": "shoot" + } + }, + { + "type": "path", + "data": { + "pathName": "Bottom Note to Center Note" + } + }, + { + "type": "named", + "data": { + "name": "actuateInFast" + } + }, + { + "type": "named", + "data": { + "name": "shoot" + } + } + ] + } + }, + "folder": "New Autons", + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/3 Piece Auton from Center Subwoofer to Center Note to Top Note.auto b/src/main/deploy/pathplanner/autos/3 Piece Auton from Center Subwoofer to Center Note to Top Note.auto new file mode 100644 index 00000000..c846a040 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/3 Piece Auton from Center Subwoofer to Center Note to Top Note.auto @@ -0,0 +1,61 @@ +{ + "version": 1.0, + "startingPose": { + "position": { + "x": 1.3070140425995143, + "y": 5.55593454044051 + }, + "rotation": -120.0 + }, + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "shoot" + } + }, + { + "type": "path", + "data": { + "pathName": "Center Subwoofer to Center Note" + } + }, + { + "type": "named", + "data": { + "name": "actuateInFast" + } + }, + { + "type": "named", + "data": { + "name": "shoot" + } + }, + { + "type": "path", + "data": { + "pathName": "Center Note to Top Note" + } + }, + { + "type": "named", + "data": { + "name": "actuateInFast" + } + }, + { + "type": "named", + "data": { + "name": "shoot" + } + } + ] + } + }, + "folder": "New Autons", + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/3 Piece Auton from Center Subwoofer to Top Note to Center Note.auto b/src/main/deploy/pathplanner/autos/3 Piece Auton from Center Subwoofer to Top Note to Center Note.auto new file mode 100644 index 00000000..fedd2b81 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/3 Piece Auton from Center Subwoofer to Top Note to Center Note.auto @@ -0,0 +1,61 @@ +{ + "version": 1.0, + "startingPose": { + "position": { + "x": 1.3070140425995143, + "y": 5.55593454044051 + }, + "rotation": -120.0 + }, + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "shoot" + } + }, + { + "type": "path", + "data": { + "pathName": "Center Subwoofer to Top Note" + } + }, + { + "type": "named", + "data": { + "name": "actuateInFast" + } + }, + { + "type": "named", + "data": { + "name": "shoot" + } + }, + { + "type": "path", + "data": { + "pathName": "Top Note to Center Note" + } + }, + { + "type": "named", + "data": { + "name": "actuateInFast" + } + }, + { + "type": "named", + "data": { + "name": "shoot" + } + } + ] + } + }, + "folder": "New Autons", + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/3 Piece Auton from Top Subwoofer to Top Note to Center Note.auto b/src/main/deploy/pathplanner/autos/3 Piece Auton from Top Subwoofer to Top Note to Center Note.auto new file mode 100644 index 00000000..c2c21232 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/3 Piece Auton from Top Subwoofer to Top Note to Center Note.auto @@ -0,0 +1,61 @@ +{ + "version": 1.0, + "startingPose": { + "position": { + "x": 0.6075736712876936, + "y": 6.67 + }, + "rotation": -120.0 + }, + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "shoot" + } + }, + { + "type": "path", + "data": { + "pathName": "Top Subwoofer to Top Note" + } + }, + { + "type": "named", + "data": { + "name": "actuateInFast" + } + }, + { + "type": "named", + "data": { + "name": "shoot" + } + }, + { + "type": "path", + "data": { + "pathName": "Top Note to Center Note" + } + }, + { + "type": "named", + "data": { + "name": "actuateInFast" + } + }, + { + "type": "named", + "data": { + "name": "shoot" + } + } + ] + } + }, + "folder": "New Autons", + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/4 Piece Auton from Center Subwoofer to Center Note to Bottom Note to Middle Bottom Center Line Note.auto b/src/main/deploy/pathplanner/autos/4 Piece Auton from Center Subwoofer to Center Note to Bottom Note to Middle Bottom Center Line Note.auto new file mode 100644 index 00000000..ea7602f9 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/4 Piece Auton from Center Subwoofer to Center Note to Bottom Note to Middle Bottom Center Line Note.auto @@ -0,0 +1,85 @@ +{ + "version": 1.0, + "startingPose": { + "position": { + "x": 1.3070140425995143, + "y": 5.55593454044051 + }, + "rotation": 180.0 + }, + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "shoot" + } + }, + { + "type": "path", + "data": { + "pathName": "Center Subwoofer to Center Note" + } + }, + { + "type": "named", + "data": { + "name": "actuateInFast" + } + }, + { + "type": "named", + "data": { + "name": "shoot" + } + }, + { + "type": "path", + "data": { + "pathName": "Center Note to Bottom Note" + } + }, + { + "type": "named", + "data": { + "name": "actuateInFast" + } + }, + { + "type": "named", + "data": { + "name": "shoot" + } + }, + { + "type": "path", + "data": { + "pathName": "Center Note to Middle Bottom Center Line Note" + } + }, + { + "type": "named", + "data": { + "name": "actuateIn" + } + }, + { + "type": "path", + "data": { + "pathName": "Middle Bottom Center Line Note to Shooting at the Bottom" + } + }, + { + "type": "named", + "data": { + "name": "shoot" + } + } + ] + } + }, + "folder": "New Autons", + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/4 Piece Auton from Center Subwoofer to Top Note to Center Note to Bottom Note.auto b/src/main/deploy/pathplanner/autos/4 Piece Auton from Center Subwoofer to Top Note to Center Note to Bottom Note.auto new file mode 100644 index 00000000..1b71ef6d --- /dev/null +++ b/src/main/deploy/pathplanner/autos/4 Piece Auton from Center Subwoofer to Top Note to Center Note to Bottom Note.auto @@ -0,0 +1,79 @@ +{ + "version": 1.0, + "startingPose": { + "position": { + "x": 1.3070140425995143, + "y": 5.55593454044051 + }, + "rotation": 180.0 + }, + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "shoot" + } + }, + { + "type": "path", + "data": { + "pathName": "Center Subwoofer to Top Note" + } + }, + { + "type": "named", + "data": { + "name": "actuateInFast" + } + }, + { + "type": "named", + "data": { + "name": "shoot" + } + }, + { + "type": "path", + "data": { + "pathName": "Top Note to Center Note" + } + }, + { + "type": "named", + "data": { + "name": "actuateInFast" + } + }, + { + "type": "named", + "data": { + "name": "shoot" + } + }, + { + "type": "path", + "data": { + "pathName": "Center Note to Bottom Note" + } + }, + { + "type": "named", + "data": { + "name": "actuateInFast" + } + }, + { + "type": "named", + "data": { + "name": "shoot" + } + } + ] + } + }, + "folder": "New Autons", + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/4 Piece Auton from Center Subwoofer to Top Note to Center Note to Middle Top Center Line Note.auto b/src/main/deploy/pathplanner/autos/4 Piece Auton from Center Subwoofer to Top Note to Center Note to Middle Top Center Line Note.auto new file mode 100644 index 00000000..a02c43fb --- /dev/null +++ b/src/main/deploy/pathplanner/autos/4 Piece Auton from Center Subwoofer to Top Note to Center Note to Middle Top Center Line Note.auto @@ -0,0 +1,85 @@ +{ + "version": 1.0, + "startingPose": { + "position": { + "x": 1.3070140425995143, + "y": 5.55593454044051 + }, + "rotation": 180.0 + }, + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "shoot" + } + }, + { + "type": "path", + "data": { + "pathName": "Center Subwoofer to Top Note" + } + }, + { + "type": "named", + "data": { + "name": "actuateInFast" + } + }, + { + "type": "named", + "data": { + "name": "shoot" + } + }, + { + "type": "path", + "data": { + "pathName": "Top Note to Center Note" + } + }, + { + "type": "named", + "data": { + "name": "actuateInFast" + } + }, + { + "type": "named", + "data": { + "name": "shoot" + } + }, + { + "type": "path", + "data": { + "pathName": "Center Note to Middle Top Center Line Note" + } + }, + { + "type": "named", + "data": { + "name": "actuateIn" + } + }, + { + "type": "path", + "data": { + "pathName": "Middle Top Center Line Note to Shooting at the Center" + } + }, + { + "type": "named", + "data": { + "name": "shoot" + } + } + ] + } + }, + "folder": "New Autons", + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/4 Piece Auton from Center Subwoofer to Top Note to Center Note to Top Center Line Note.auto b/src/main/deploy/pathplanner/autos/4 Piece Auton from Center Subwoofer to Top Note to Center Note to Top Center Line Note.auto new file mode 100644 index 00000000..7d09f11a --- /dev/null +++ b/src/main/deploy/pathplanner/autos/4 Piece Auton from Center Subwoofer to Top Note to Center Note to Top Center Line Note.auto @@ -0,0 +1,85 @@ +{ + "version": 1.0, + "startingPose": { + "position": { + "x": 1.3070140425995143, + "y": 5.55593454044051 + }, + "rotation": 180.0 + }, + "command": { + 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a/src/main/deploy/pathplanner/paths/Bottom Center Line Note to Shooting at the Bottom.path b/src/main/deploy/pathplanner/paths/Bottom Center Line Note to Shooting at the Bottom.path new file mode 100644 index 00000000..4958729d --- /dev/null +++ b/src/main/deploy/pathplanner/paths/Bottom Center Line Note to Shooting at the Bottom.path @@ -0,0 +1,52 @@ +{ + "version": 1.0, + "waypoints": [ + { + "anchor": { + "x": 7.880321199238891, + "y": 0.7765954128399487 + }, + "prevControl": null, + "nextControl": { + "x": 6.529149900405065, + "y": 0.7947319403410744 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 1.2967617163304503, + "y": 4.2588086930559825 + }, + "prevControl": { + "x": 1.305829980081013, + "y": 4.077443418044731 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [], + "constraintZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 4.0, + "maxAcceleration": 3.0, + 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Note.path similarity index 95% rename from src/main/deploy/pathplanner/paths/Copy of Bottom Subwoofer to Center Note.path rename to src/main/deploy/pathplanner/paths/Bottom Subwoofer to Bottom Note.path index 3332b500..01fbcd8f 100644 --- a/src/main/deploy/pathplanner/paths/Copy of Bottom Subwoofer to Center Note.path +++ b/src/main/deploy/pathplanner/paths/Bottom Subwoofer to Bottom Note.path @@ -50,9 +50,9 @@ } ], "globalConstraints": { - "maxVelocity": 3.0, + "maxVelocity": 4.0, "maxAcceleration": 3.0, - "maxAngularVelocity": 180.0, + "maxAngularVelocity": 360.0, "maxAngularAcceleration": 360.0 }, "goalEndState": { diff --git a/src/main/deploy/pathplanner/paths/Bottom Subwoofer to Center Note.path b/src/main/deploy/pathplanner/paths/Bottom Subwoofer to Center Note.path index a7167207..07cc6535 100644 --- a/src/main/deploy/pathplanner/paths/Bottom Subwoofer to Center Note.path +++ b/src/main/deploy/pathplanner/paths/Bottom Subwoofer to Center Note.path @@ -50,9 +50,9 @@ } ], 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+ "waypointRelativePos": 0.6, + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "actuateOut" + } + } + ] + } + } + } + ], + "globalConstraints": { + "maxVelocity": 4.0, + "maxAcceleration": 3.0, + "maxAngularVelocity": 360.0, + "maxAngularAcceleration": 360.0 + }, + "goalEndState": { + "velocity": 0, + "rotation": 180.0, + "rotateFast": false + }, + "reversed": false, + "folder": "Continuations", + "previewStartingState": { + "rotation": 179.79988025467347, + "velocity": 0 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Center Note to Top Note.path b/src/main/deploy/pathplanner/paths/Center Note to Top Note.path new file mode 100644 index 00000000..a24171f6 --- /dev/null +++ b/src/main/deploy/pathplanner/paths/Center Note to Top Note.path @@ -0,0 +1,70 @@ +{ + "version": 1.0, + "waypoints": [ + { + "anchor": { + "x": 2.38, + "y": 5.56 + }, + "prevControl": 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true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Center Subwoofer to Bottom Note.path b/src/main/deploy/pathplanner/paths/Center Subwoofer to Bottom Note.path index 2421d065..5fa42b0d 100644 --- a/src/main/deploy/pathplanner/paths/Center Subwoofer to Bottom Note.path +++ b/src/main/deploy/pathplanner/paths/Center Subwoofer to Bottom Note.path @@ -50,9 +50,9 @@ } ], "globalConstraints": { - "maxVelocity": 3.0, + "maxVelocity": 4.0, "maxAcceleration": 3.0, - "maxAngularVelocity": 180.0, + "maxAngularVelocity": 360.0, "maxAngularAcceleration": 360.0 }, "goalEndState": { diff --git a/src/main/deploy/pathplanner/paths/Center Subwoofer to Center Note.path b/src/main/deploy/pathplanner/paths/Center Subwoofer to Center Note.path index 970ea66c..afcf2cc4 100644 --- a/src/main/deploy/pathplanner/paths/Center Subwoofer to Center Note.path +++ b/src/main/deploy/pathplanner/paths/Center Subwoofer to Center Note.path @@ -50,9 +50,9 @@ } ], "globalConstraints": { - "maxVelocity": 3.0, + "maxVelocity": 4.0, "maxAcceleration": 3.0, - "maxAngularVelocity": 180.0, + "maxAngularVelocity": 360.0, "maxAngularAcceleration": 360.0 }, "goalEndState": { diff --git a/src/main/deploy/pathplanner/paths/Center Subwoofer to Top Note.path b/src/main/deploy/pathplanner/paths/Center Subwoofer to Top Note.path index e4e70b79..ad68d51c 100644 --- a/src/main/deploy/pathplanner/paths/Center Subwoofer to Top Note.path +++ b/src/main/deploy/pathplanner/paths/Center Subwoofer to Top Note.path @@ -20,8 +20,8 @@ "y": 6.997424345725884 }, "prevControl": { - "x": 2.3117382821230588, - "y": 6.997424345725884 + "x": 2.140110245132771, + "y": 6.80699080696407 }, "nextControl": null, "isLocked": false, @@ -50,9 +50,9 @@ } ], "globalConstraints": { - "maxVelocity": 3.0, + "maxVelocity": 4.0, "maxAcceleration": 3.0, - "maxAngularVelocity": 180.0, + "maxAngularVelocity": 360.0, "maxAngularAcceleration": 360.0 }, "goalEndState": { diff --git a/src/main/deploy/pathplanner/paths/Middle Bottom Center Line Note to Shooting at the Bottom.path b/src/main/deploy/pathplanner/paths/Middle Bottom Center Line Note to Shooting at the Bottom.path new file mode 100644 index 00000000..9c3fb29f --- /dev/null +++ b/src/main/deploy/pathplanner/paths/Middle Bottom Center Line Note to Shooting at the Bottom.path @@ -0,0 +1,52 @@ +{ + "version": 1.0, + "waypoints": [ + { + "anchor": { + "x": 7.8893894629894525, + "y": 2.4542242066940285 + }, + "prevControl": null, + "nextControl": { + "x": 4.361834864017091, + "y": 0.2959774340607067 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 1.4418539363359355, + "y": 4.431105704317248 + }, + "prevControl": { + "x": 1.051918595061744, + "y": 3.841668560530679 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [], + "constraintZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 4.0, + "maxAcceleration": 3.0, + "maxAngularVelocity": 360.0, + "maxAngularAcceleration": 360.0 + }, + "goalEndState": { + "velocity": 0, + "rotation": 152.06285717346137, + "rotateFast": false + }, + "reversed": false, + "folder": "Continuations", + "previewStartingState": { + "rotation": 179.79988025467347, + "velocity": 0 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Middle Top Center Line Note to Shooting at the Center.path b/src/main/deploy/pathplanner/paths/Middle Top Center Line Note to Shooting at the Center.path new file mode 100644 index 00000000..59c55f7d --- /dev/null +++ b/src/main/deploy/pathplanner/paths/Middle Top Center Line Note to Shooting at the Center.path @@ -0,0 +1,52 @@ +{ + "version": 1.0, + "waypoints": [ + { + "anchor": { + "x": 7.8893894629894525, + "y": 5.746003948148247 + }, + "prevControl": null, + "nextControl": { + "x": 6.755856494169129, + "y": 7.269472258242763 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 2.2670659376406475, + "y": 5.582775200638121 + }, + "prevControl": { + "x": 3.364325851458721, + "y": 6.018051860665126 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [], + "constraintZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 4.0, + "maxAcceleration": 3.0, + "maxAngularVelocity": 360.0, + "maxAngularAcceleration": 360.0 + }, + "goalEndState": { + "velocity": 0, + "rotation": 180.0, + "rotateFast": false + }, + "reversed": false, + "folder": "Continuations", + "previewStartingState": { + "rotation": 179.79988025467347, + "velocity": 0 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Top Center Line Note to Shooting at the Center.path b/src/main/deploy/pathplanner/paths/Top Center Line Note to Shooting at the Center.path new file mode 100644 index 00000000..857bc939 --- /dev/null +++ b/src/main/deploy/pathplanner/paths/Top Center Line Note to Shooting at the Center.path @@ -0,0 +1,52 @@ +{ + "version": 1.0, + "waypoints": [ + { + "anchor": { + "x": 7.8893894629894525, + "y": 7.432701005752889 + }, + "prevControl": null, + "nextControl": { + "x": 7.372498429207385, + "y": 7.242267466991074 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 1.99501802512377, + "y": 5.519297354384182 + }, + "prevControl": { + "x": 2.384953366397963, + "y": 5.628116519390933 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [], + "constraintZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 4.0, + "maxAcceleration": 3.0, + "maxAngularVelocity": 360.0, + "maxAngularAcceleration": 360.0 + }, + "goalEndState": { + "velocity": 0, + "rotation": 180.0, + "rotateFast": false + }, + "reversed": false, + "folder": "Continuations", + "previewStartingState": { + "rotation": 179.79988025467347, + "velocity": 0 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Top Note to Center Note.path b/src/main/deploy/pathplanner/paths/Top Note to Center Note.path new file mode 100644 index 00000000..7f3abe4f --- /dev/null +++ b/src/main/deploy/pathplanner/paths/Top Note to Center Note.path @@ -0,0 +1,70 @@ +{ + "version": 1.0, + "waypoints": [ + { + "anchor": { + "x": 2.48, + "y": 7.0 + }, + "prevControl": null, + "nextControl": { + "x": 2.4212264214002115, + "y": 6.734444696959569 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 2.38, + "y": 5.56 + }, + "prevControl": { + "x": 2.103588091386709, + "y": 5.339786015712382 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [], + "constraintZones": [], + "eventMarkers": [ + { + "name": "New Event Marker", + "waypointRelativePos": 0, + "command": { + "type": "parallel", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "actuateOut" + } + } + ] + } + } + } + ], + "globalConstraints": { + "maxVelocity": 4.0, + "maxAcceleration": 3.0, + "maxAngularVelocity": 360.0, + "maxAngularAcceleration": 360.0 + }, + "goalEndState": { + "velocity": 0, + "rotation": 180.0, + "rotateFast": false + }, + "reversed": false, + "folder": "Continuations", + "previewStartingState": { + "rotation": 179.79988025467347, + "velocity": 0 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Top Note to Middle Top Center Line Note.path b/src/main/deploy/pathplanner/paths/Top Note to Middle Top Center Line Note.path new file mode 100644 index 00000000..64d873f1 --- /dev/null +++ b/src/main/deploy/pathplanner/paths/Top Note to Middle Top Center Line Note.path @@ -0,0 +1,70 @@ +{ + "version": 1.0, + "waypoints": [ + { + "anchor": { + "x": 2.48, + "y": 7.0 + }, + "prevControl": null, + "nextControl": { + "x": 3.3915306427104084, + "y": 7.097175246982073 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 7.8893894629894525, + "y": 5.746003948148247 + }, + "prevControl": { + "x": 7.272747527951196, + "y": 6.0361883881662495 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [], + "constraintZones": [], + "eventMarkers": [ + { + "name": "New Event Marker", + "waypointRelativePos": 0.5, + "command": { + "type": "parallel", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "actuateOut" + } + } + ] + } + } + } + ], + "globalConstraints": { + "maxVelocity": 4.0, + "maxAcceleration": 3.0, + "maxAngularVelocity": 360.0, + "maxAngularAcceleration": 360.0 + }, + "goalEndState": { + "velocity": 0, + "rotation": 180.0, + "rotateFast": false + }, + "reversed": false, + "folder": "Continuations", + "previewStartingState": { + "rotation": 179.79988025467347, + "velocity": 0 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Top Note to Top Center Line Note.path b/src/main/deploy/pathplanner/paths/Top Note to Top Center Line Note.path new file mode 100644 index 00000000..d498d76b --- /dev/null +++ b/src/main/deploy/pathplanner/paths/Top Note to Top Center Line Note.path @@ -0,0 +1,70 @@ +{ + "version": 1.0, + "waypoints": [ + { + "anchor": { + "x": 2.48, + "y": 7.0 + }, + "prevControl": null, + "nextControl": { + "x": 3.3915306427104084, + "y": 7.097175246982073 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 7.8893894629894525, + "y": 7.432701005752889 + }, + "prevControl": { + "x": 7.236474472948946, + "y": 7.332950104496701 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [], + "constraintZones": [], + "eventMarkers": [ + { + "name": "New Event Marker", + "waypointRelativePos": 0.5, + "command": { + "type": "parallel", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "actuateOut" + } + } + ] + } + } + } + ], + "globalConstraints": { + "maxVelocity": 4.0, + "maxAcceleration": 3.0, + "maxAngularVelocity": 360.0, + "maxAngularAcceleration": 360.0 + }, + "goalEndState": { + "velocity": 0, + "rotation": 180.0, + "rotateFast": false + }, + "reversed": false, + "folder": "Continuations", + "previewStartingState": { + "rotation": 179.79988025467347, + "velocity": 0 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Top Subwoofer to Center Note.path b/src/main/deploy/pathplanner/paths/Top Subwoofer to Center Note.path index 16294a56..9f103448 100644 --- a/src/main/deploy/pathplanner/paths/Top Subwoofer to Center Note.path +++ b/src/main/deploy/pathplanner/paths/Top Subwoofer to Center Note.path @@ -50,9 +50,9 @@ } ], "globalConstraints": { - "maxVelocity": 3.0, + "maxVelocity": 4.0, "maxAcceleration": 3.0, - "maxAngularVelocity": 180.0, + "maxAngularVelocity": 360.0, "maxAngularAcceleration": 360.0 }, "goalEndState": { diff --git a/src/main/deploy/pathplanner/paths/Top Subwoofer to Top Note.path b/src/main/deploy/pathplanner/paths/Top Subwoofer to Top Note.path index 5ae98ac0..5f9c3c66 100644 --- a/src/main/deploy/pathplanner/paths/Top Subwoofer to Top Note.path +++ b/src/main/deploy/pathplanner/paths/Top Subwoofer to Top Note.path @@ -16,11 +16,11 @@ }, { "anchor": { - "x": 2.475636003903587, + "x": 2.48, "y": 6.997424345725884 }, "prevControl": { - "x": 2.3117382821230588, + "x": 2.316102278219472, "y": 6.997424345725884 }, "nextControl": null, @@ -50,9 +50,9 @@ } ], "globalConstraints": { - "maxVelocity": 3.0, + "maxVelocity": 4.0, "maxAcceleration": 3.0, - "maxAngularVelocity": 180.0, + "maxAngularVelocity": 360.0, "maxAngularAcceleration": 360.0 }, "goalEndState": {