auton

Team334 · Mar 20, 2024 · 9f17ef6 · 9f17ef6
1 parent 041d5a9
commit 9f17ef6
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Showing 10 changed files with 192 additions and 18 deletions.
diff --git a/src/main/deploy/pathplanner/autos/T 3 Piece Auton.auto b/src/main/deploy/pathplanner/autos/T 3 Piece Auton.auto
@@ -29,6 +29,24 @@
             "pathName": "t shoot top c"
           }
         },
+        {
+          "type": "named",
+          "data": {
+            "name": "shoot"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "t get cen c"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "t shoot cen c"
+          }
+        },
         {
           "type": "named",
           "data": {

diff --git a/src/main/deploy/pathplanner/navgrid.json b/src/main/deploy/pathplanner/navgrid.json
diff --git a/src/main/deploy/pathplanner/paths/b get bot c.path b/src/main/deploy/pathplanner/paths/b get bot c.path
@@ -30,7 +30,25 @@
   ],
   "rotationTargets": [],
   "constraintZones": [],
-  "eventMarkers": [],
+  "eventMarkers": [
+    {
+      "name": "New Event Marker",
+      "waypointRelativePos": 0.0,
+      "command": {
+        "type": "sequential",
+        "data": {
+          "commands": [
+            {
+              "type": "named",
+              "data": {
+                "name": "actuateOut"
+              }
+            }
+          ]
+        }
+      }
+    }
+  ],
   "globalConstraints": {
     "maxVelocity": 4.0,
     "maxAcceleration": 3.0,

diff --git a/src/main/deploy/pathplanner/paths/b get cen c.path b/src/main/deploy/pathplanner/paths/b get cen c.path
@@ -30,7 +30,25 @@
   ],
   "rotationTargets": [],
   "constraintZones": [],
-  "eventMarkers": [],
+  "eventMarkers": [
+    {
+      "name": "New Event Marker",
+      "waypointRelativePos": 0.5,
+      "command": {
+        "type": "sequential",
+        "data": {
+          "commands": [
+            {
+              "type": "named",
+              "data": {
+                "name": "actuateOut"
+              }
+            }
+          ]
+        }
+      }
+    }
+  ],
   "globalConstraints": {
     "maxVelocity": 4.0,
     "maxAcceleration": 3.0,

diff --git a/src/main/deploy/pathplanner/paths/b shoot bot c.path b/src/main/deploy/pathplanner/paths/b shoot bot c.path
@@ -29,8 +29,38 @@
     }
   ],
   "rotationTargets": [],
-  "constraintZones": [],
-  "eventMarkers": [],
+  "constraintZones": [
+    {
+      "name": "New Constraints Zone",
+      "minWaypointRelativePos": 0,
+      "maxWaypointRelativePos": 0,
+      "constraints": {
+        "maxVelocity": 4.0,
+        "maxAcceleration": 3.0,
+        "maxAngularVelocity": 180.0,
+        "maxAngularAcceleration": 360.0
+      }
+    }
+  ],
+  "eventMarkers": [
+    {
+      "name": "New Event Marker",
+      "waypointRelativePos": 0,
+      "command": {
+        "type": "sequential",
+        "data": {
+          "commands": [
+            {
+              "type": "named",
+              "data": {
+                "name": "actuateIn"
+              }
+            }
+          ]
+        }
+      }
+    }
+  ],
   "globalConstraints": {
     "maxVelocity": 4.0,
     "maxAcceleration": 3.0,

diff --git a/src/main/deploy/pathplanner/paths/b shoot cen c.path b/src/main/deploy/pathplanner/paths/b shoot cen c.path
@@ -8,8 +8,8 @@
       },
       "prevControl": null,
       "nextControl": {
-        "x": 6.6435268313779865,
-        "y": 1.0557657886486949
+        "x": 6.383398918897724,
+        "y": 1.1570198849818802
       },
       "isLocked": false,
       "linkedName": null
@@ -20,8 +20,8 @@
         "y": 4.47
       },
       "prevControl": {
-        "x": 1.567846739297082,
-        "y": 3.7441047855068685
+        "x": 1.1077074594557816,
+        "y": 3.5320197768658868
       },
       "nextControl": null,
       "isLocked": false,
@@ -30,7 +30,25 @@
   ],
   "rotationTargets": [],
   "constraintZones": [],
-  "eventMarkers": [],
+  "eventMarkers": [
+    {
+      "name": "New Event Marker",
+      "waypointRelativePos": 0,
+      "command": {
+        "type": "sequential",
+        "data": {
+          "commands": [
+            {
+              "type": "named",
+              "data": {
+                "name": "actuateIn"
+              }
+            }
+          ]
+        }
+      }
+    }
+  ],
   "globalConstraints": {
     "maxVelocity": 4.0,
     "maxAcceleration": 3.0,

diff --git a/src/main/deploy/pathplanner/paths/t get cen c.path b/src/main/deploy/pathplanner/paths/t get cen c.path
@@ -8,8 +8,8 @@
       },
       "prevControl": null,
       "nextControl": {
-        "x": 1.7897196154752668,
-        "y": 7.0999320377019135
+        "x": 1.9244070270206377,
+        "y": 6.808205398476631
       },
       "isLocked": false,
       "linkedName": null
@@ -20,8 +20,8 @@
         "y": 7.441986055143282
       },
       "prevControl": {
-        "x": 6.871910495712883,
-        "y": 7.3655134357115575
+        "x": 6.758892972950532,
+        "y": 7.502869398474325
       },
       "nextControl": null,
       "isLocked": false,
@@ -30,7 +30,25 @@
   ],
   "rotationTargets": [],
   "constraintZones": [],
-  "eventMarkers": [],
+  "eventMarkers": [
+    {
+      "name": "New Event Marker",
+      "waypointRelativePos": 0.5,
+      "command": {
+        "type": "sequential",
+        "data": {
+          "commands": [
+            {
+              "type": "named",
+              "data": {
+                "name": "actuateOut"
+              }
+            }
+          ]
+        }
+      }
+    }
+  ],
   "globalConstraints": {
     "maxVelocity": 4.0,
     "maxAcceleration": 3.0,

diff --git a/src/main/deploy/pathplanner/paths/t get top c.path b/src/main/deploy/pathplanner/paths/t get top c.path
@@ -30,7 +30,25 @@
   ],
   "rotationTargets": [],
   "constraintZones": [],
-  "eventMarkers": [],
+  "eventMarkers": [
+    {
+      "name": "New Event Marker",
+      "waypointRelativePos": 0,
+      "command": {
+        "type": "sequential",
+        "data": {
+          "commands": [
+            {
+              "type": "named",
+              "data": {
+                "name": "actuateOut"
+              }
+            }
+          ]
+        }
+      }
+    }
+  ],
   "globalConstraints": {
     "maxVelocity": 4.0,
     "maxAcceleration": 3.0,

diff --git a/src/main/deploy/pathplanner/paths/t shoot cen c.path b/src/main/deploy/pathplanner/paths/t shoot cen c.path
@@ -30,7 +30,25 @@
   ],
   "rotationTargets": [],
   "constraintZones": [],
-  "eventMarkers": [],
+  "eventMarkers": [
+    {
+      "name": "New Event Marker",
+      "waypointRelativePos": 0,
+      "command": {
+        "type": "sequential",
+        "data": {
+          "commands": [
+            {
+              "type": "named",
+              "data": {
+                "name": "actuateIn"
+              }
+            }
+          ]
+        }
+      }
+    }
+  ],
   "globalConstraints": {
     "maxVelocity": 4.0,
     "maxAcceleration": 3.0,

diff --git a/src/main/deploy/pathplanner/paths/t shoot top c.path b/src/main/deploy/pathplanner/paths/t shoot top c.path
@@ -30,7 +30,25 @@
   ],
   "rotationTargets": [],
   "constraintZones": [],
-  "eventMarkers": [],
+  "eventMarkers": [
+    {
+      "name": "New Event Marker",
+      "waypointRelativePos": 0,
+      "command": {
+        "type": "sequential",
+        "data": {
+          "commands": [
+            {
+              "type": "named",
+              "data": {
+                "name": "actuateIn"
+              }
+            }
+          ]
+        }
+      }
+    }
+  ],
   "globalConstraints": {
     "maxVelocity": 4.0,
     "maxAcceleration": 3.0,