From db089d09202bfd22c7717542e34f9dd6a328f8e9 Mon Sep 17 00:00:00 2001 From: SaiKondreddy01 Date: Thu, 10 Oct 2024 19:50:07 -0700 Subject: [PATCH] Added rookie auto named roto --- .pathplanner/settings.json | 9 +-- src/main/deploy/pathplanner/autos/Roto.auto | 55 +++++++++++++++++++ .../deploy/pathplanner/paths/First Note.path | 52 ++++++++++++++++++ .../deploy/pathplanner/paths/First shot.path | 52 ++++++++++++++++++ .../deploy/pathplanner/paths/Second Shot.path | 52 ++++++++++++++++++ .../deploy/pathplanner/paths/Second note.path | 52 ++++++++++++++++++ .../deploy/pathplanner/paths/Third Note.path | 52 ++++++++++++++++++ .../deploy/pathplanner/paths/Third Shot.path | 52 ++++++++++++++++++ 8 files changed, 368 insertions(+), 8 deletions(-) create mode 100644 src/main/deploy/pathplanner/autos/Roto.auto create mode 100644 src/main/deploy/pathplanner/paths/First Note.path create mode 100644 src/main/deploy/pathplanner/paths/First shot.path create mode 100644 src/main/deploy/pathplanner/paths/Second Shot.path create mode 100644 src/main/deploy/pathplanner/paths/Second note.path create mode 100644 src/main/deploy/pathplanner/paths/Third Note.path create mode 100644 src/main/deploy/pathplanner/paths/Third Shot.path diff --git a/.pathplanner/settings.json b/.pathplanner/settings.json index 06c4cd2..1defc77 100644 --- a/.pathplanner/settings.json +++ b/.pathplanner/settings.json @@ -3,14 +3,7 @@ "robotLength": 0.97, "holonomicMode": true, "pathFolders": [ - "Amp Sweep", - "Drive Out", - "Mid Amp Sweep", - "Miscellaneous", - "Mid Source Sweep", - "Source Sweep", - "Spike Sweep", - "The MOP" + "Roto" ], "autoFolders": [], "defaultMaxVel": 3.0, diff --git a/src/main/deploy/pathplanner/autos/Roto.auto b/src/main/deploy/pathplanner/autos/Roto.auto new file mode 100644 index 0000000..67fdea9 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/Roto.auto @@ -0,0 +1,55 @@ +{ + "version": 1.0, + "startingPose": { + "position": { + "x": 1.36, + "y": 5.49 + }, + "rotation": 0 + }, + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "First Note" + } + }, + { + "type": "path", + "data": { + "pathName": "First shot" + } + }, + { + "type": "path", + "data": { + "pathName": "Second note" + } + }, + { + "type": "path", + "data": { + "pathName": "Second Shot" + } + }, + { + "type": "path", + "data": { + "pathName": "Third Note" + } + }, + { + "type": "path", + "data": { + "pathName": "Third Shot" + } + } + ] + } + }, + "folder": null, + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/First Note.path b/src/main/deploy/pathplanner/paths/First Note.path new file mode 100644 index 0000000..0456e0d --- /dev/null +++ b/src/main/deploy/pathplanner/paths/First Note.path @@ -0,0 +1,52 @@ +{ + "version": 1.0, + "waypoints": [ + { + "anchor": { + "x": 1.36, + "y": 5.49 + }, + "prevControl": null, + "nextControl": { + "x": 2.3599999999999963, + "y": 5.49 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 2.91, + "y": 7.01 + }, + "prevControl": { + "x": 1.9100000000000001, + "y": 7.01 + }, + "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": "Roto", + "previewStartingState": { + "rotation": 0, + "velocity": 0 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/First shot.path b/src/main/deploy/pathplanner/paths/First shot.path new file mode 100644 index 0000000..0003e1a --- /dev/null +++ b/src/main/deploy/pathplanner/paths/First shot.path @@ -0,0 +1,52 @@ +{ + "version": 1.0, + "waypoints": [ + { + "anchor": { + "x": 2.91, + "y": 7.01 + }, + "prevControl": null, + "nextControl": { + "x": 3.91, + "y": 7.01 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 2.91, + "y": 7.01 + }, + "prevControl": { + "x": 2.1728976807249394, + "y": 6.6053163737313385 + }, + "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": 45.12426325078227, + "rotateFast": false + }, + "reversed": false, + "folder": "Roto", + "previewStartingState": { + "rotation": 0, + "velocity": 0 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Second Shot.path b/src/main/deploy/pathplanner/paths/Second Shot.path new file mode 100644 index 0000000..5d4bca7 --- /dev/null +++ b/src/main/deploy/pathplanner/paths/Second Shot.path @@ -0,0 +1,52 @@ +{ + "version": 1.0, + "waypoints": [ + { + "anchor": { + "x": 2.91, + "y": 5.55 + }, + "prevControl": null, + "nextControl": { + "x": 3.91, + "y": 5.55 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 2.91, + "y": 5.55 + }, + "prevControl": { + "x": 1.9100000000000001, + "y": 5.55 + }, + "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": "Roto", + "previewStartingState": { + "rotation": 0, + "velocity": 0 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Second note.path b/src/main/deploy/pathplanner/paths/Second note.path new file mode 100644 index 0000000..d2b2ed3 --- /dev/null +++ b/src/main/deploy/pathplanner/paths/Second note.path @@ -0,0 +1,52 @@ +{ + "version": 1.0, + "waypoints": [ + { + "anchor": { + "x": 2.91, + "y": 7.01 + }, + "prevControl": null, + "nextControl": { + "x": 3.91, + "y": 7.01 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 2.91, + "y": 5.549946874541637 + }, + "prevControl": { + "x": 1.9100000000000001, + "y": 5.549946874541637 + }, + "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": "Roto", + "previewStartingState": { + "rotation": 0, + "velocity": 0 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Third Note.path b/src/main/deploy/pathplanner/paths/Third Note.path new file mode 100644 index 0000000..fdc3e86 --- /dev/null +++ b/src/main/deploy/pathplanner/paths/Third Note.path @@ -0,0 +1,52 @@ +{ + "version": 1.0, + "waypoints": [ + { + "anchor": { + "x": 2.91, + "y": 5.55 + }, + "prevControl": null, + "nextControl": { + "x": 3.91, + "y": 5.55 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 2.3734379863125925, + "y": 4.38 + }, + "prevControl": { + "x": 1.3734379863125925, + "y": 4.38 + }, + "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": -25.35453825103129, + "rotateFast": false + }, + "reversed": false, + "folder": "Roto", + "previewStartingState": { + "rotation": 0, + "velocity": 0 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Third Shot.path b/src/main/deploy/pathplanner/paths/Third Shot.path new file mode 100644 index 0000000..a76fa27 --- /dev/null +++ b/src/main/deploy/pathplanner/paths/Third Shot.path @@ -0,0 +1,52 @@ +{ + "version": 1.0, + "waypoints": [ + { + "anchor": { + "x": 2.3, + "y": 4.38 + }, + "prevControl": null, + "nextControl": { + "x": 3.2999999999999994, + "y": 4.38 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 2.37, + "y": 4.38 + }, + "prevControl": { + "x": 1.37, + "y": 4.38 + }, + "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": "Roto", + "previewStartingState": { + "rotation": 146.30507960119394, + "velocity": 0 + }, + "useDefaultConstraints": true +} \ No newline at end of file