Skip to content

Commit

Permalink
Browse files Browse the repository at this point in the history
  • Loading branch information
cherriae committed Jan 23, 2024
2 parents c5c8a8a + bf9a21a commit aad7871
Show file tree
Hide file tree
Showing 2 changed files with 280 additions and 7 deletions.
25 changes: 25 additions & 0 deletions src/main/deploy/pathplanner/autos/MAZE AUTO.auto
Original file line number Diff line number Diff line change
@@ -0,0 +1,25 @@
{
"version": 1.0,
"startingPose": {
"position": {
"x": 1.86,
"y": 4.24
},
"rotation": 0
},
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "Maze"
}
}
]
}
},
"folder": null,
"choreoAuto": false
}
262 changes: 255 additions & 7 deletions src/main/deploy/pathplanner/paths/Maze.path
Original file line number Diff line number Diff line change
Expand Up @@ -3,26 +3,266 @@
"waypoints": [
{
"anchor": {
"x": 1.891411350390268,
"y": 4.428212820389605
"x": 1.86,
"y": 4.24
},
"prevControl": null,
"nextControl": {
"x": 1.9283901630866325,
"y": 3.92899884898869
"x": 1.86,
"y": 3.1219660112501053
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 1.891411350390268,
"y": 2.50531456017867
"x": 1.86,
"y": 2.0
},
"prevControl": {
"x": 1.835943131345722,
"x": 1.887040246317726,
"y": 2.2082589641193557
},
"nextControl": {
"x": 1.845187834519813,
"y": 1.8859194475145713
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 3.9,
"y": 2.0
},
"prevControl": {
"x": 2.0393266011757247,
"y": 1.9598770729072998
},
"nextControl": {
"x": 3.989992977835614,
"y": 2.0019405779062756
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 3.9,
"y": 2.736432139530946
},
"prevControl": {
"x": 3.9714695645607505,
"y": 2.727187436356856
},
"nextControl": {
"x": 3.730259445950804,
"y": 2.7583883533183773
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 3.2142,
"y": 2.764166249053219
},
"prevControl": {
"x": 3.5994254848893315,
"y": 2.8594469978945605
},
"nextControl": {
"x": 3.1394462788925575,
"y": 2.7456768427050378
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 3.21,
"y": 4.22
},
"prevControl": {
"x": 3.1117121693702847,
"y": 4.224829350559602
},
"nextControl": {
"x": 3.4073539245069293,
"y": 4.210303059090316
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 5.2642,
"y": 4.22
},
"prevControl": {
"x": 5.002515977192449,
"y": 4.200921707168
},
"nextControl": {
"x": 5.330440931152133,
"y": 4.224829350559602
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 5.26,
"y": 3.679391863288232
},
"prevControl": {
"x": 5.272295673191164,
"y": 3.937975274187625
},
"nextControl": {
"x": 5.256483305759404,
"y": 3.605434237895503
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 5.857389012075321,
"y": 3.679391863288232
},
"prevControl": {
"x": 5.667090206216432,
"y": 3.679391863288232
},
"nextControl": {
"x": 5.94059134064214,
"y": 3.679391863288232
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 5.857389012075321,
"y": 2.41
},
"prevControl": {
"x": 5.857389012075321,
"y": 2.865857983968221
},
"nextControl": {
"x": 5.857389012075321,
"y": 2.3389099030450318
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 6.5458,
"y": 2.41
},
"prevControl": {
"x": 6.504518234261694,
"y": 2.4406016379600333
},
"nextControl": {
"x": 6.587081765738306,
"y": 2.379398362039967
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 6.55,
"y": 3.04
},
"prevControl": {
"x": 6.5476468507155525,
"y": 2.611157798588323
},
"nextControl": {
"x": 6.550741750132148,
"y": 3.1751778918873157
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 7.2358,
"y": 3.04
},
"prevControl": {
"x": 7.0750214047701006,
"y": 3.0379674007174122
},
"nextControl": {
"x": 7.355030926278069,
"y": 3.04150734427595
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 7.24,
"y": 2.41
},
"prevControl": {
"x": 7.244094488188975,
"y": 2.5422933728750343
},
"nextControl": {
"x": 7.236653067030068,
"y": 2.301860220143948
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 7.9258,
"y": 2.41
},
"prevControl": {
"x": 7.771042569112165,
"y": 2.4128675284377605
},
"nextControl": {
"x": 8.080557430887835,
"y": 2.4071324715622398
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 7.93,
"y": 4.24
},
"prevControl": {
"x": 7.928202523071712,
"y": 3.4112954712395913
},
"nextControl": {
"x": 7.930428306110427,
"y": 4.437465240204678
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 8.630799964302632,
"y": 4.280297569604149
},
"prevControl": {
"x": 8.427416494472627,
"y": 4.28954227277824
},
"nextControl": null,
"isLocked": false,
"linkedName": null
Expand All @@ -35,11 +275,19 @@
"maxVelocity": 4.67,
"maxAcceleration": 3.0,
"maxAngularVelocity": 180.0,
<<<<<<< HEAD
"maxAngularAcceleration": 180.0
},
"goalEndState": {
"velocity": 0,
"rotation": 85.8295634751579,
=======
"maxAngularAcceleration": 720.0
},
"goalEndState": {
"velocity": 0,
"rotation": 0,
>>>>>>> bf9a21a7d1554794421e286d93de9d090f28289e
"rotateFast": false
},
"reversed": false,
Expand Down

0 comments on commit aad7871

Please sign in to comment.