[#3] Auton

frc-862 · Oct 12, 2023 · 3a33978 · 3a33978
1 parent f7f0aaa
commit 3a33978
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Showing 6 changed files with 321 additions and 1 deletion.
diff --git a/src/main/deploy/pathplanner/1 Meter Back.path b/src/main/deploy/pathplanner/1 Meter Back.path
@@ -0,0 +1,49 @@
+{
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+      "isLocked": false,
+      "isStopPoint": false,
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+      "isStopPoint": false,
+      "stopEvent": {
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+}
diff --git a/src/main/deploy/pathplanner/1 Meter Forward.path b/src/main/deploy/pathplanner/1 Meter Forward.path
@@ -0,0 +1,49 @@
+{
+  "waypoints": [
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+      "anchorPoint": {
+        "x": 0.0,
+        "y": 0.0
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+      "prevControl": null,
+      "nextControl": {
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+        "y": 0.009860597990691108
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+      "holonomicAngle": 0,
+      "isReversal": false,
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+      "isLocked": false,
+      "isStopPoint": false,
+      "stopEvent": {
+        "names": [],
+        "executionBehavior": "parallel",
+        "waitBehavior": "none",
+        "waitTime": 0
+      }
+    },
+    {
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+        "y": 0.0
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+        "y": -0.008347668693321042
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+      "nextControl": null,
+      "holonomicAngle": 0,
+      "isReversal": false,
+      "velOverride": null,
+      "isLocked": false,
+      "isStopPoint": false,
+      "stopEvent": {
+        "names": [],
+        "executionBehavior": "parallel",
+        "waitBehavior": "none",
+        "waitTime": 0
+      }
+    }
+  ],
+  "markers": []
+}
diff --git a/src/main/deploy/pathplanner/1 Meter Left.path b/src/main/deploy/pathplanner/1 Meter Left.path
@@ -0,0 +1,49 @@
+{
+  "waypoints": [
+    {
+      "anchorPoint": {
+        "x": 0.0,
+        "y": 0.0
+      },
+      "prevControl": null,
+      "nextControl": {
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+        "y": 0.3909237100365249
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+      "holonomicAngle": 0,
+      "isReversal": false,
+      "velOverride": null,
+      "isLocked": false,
+      "isStopPoint": false,
+      "stopEvent": {
+        "names": [],
+        "executionBehavior": "parallel",
+        "waitBehavior": "none",
+        "waitTime": 0
+      }
+    },
+    {
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+        "y": 1.0
+      },
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+      "holonomicAngle": 0,
+      "isReversal": false,
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+      "isStopPoint": false,
+      "stopEvent": {
+        "names": [],
+        "executionBehavior": "parallel",
+        "waitBehavior": "none",
+        "waitTime": 0
+      }
+    }
+  ],
+  "markers": []
+}
diff --git a/src/main/deploy/pathplanner/1 Meter Right.path b/src/main/deploy/pathplanner/1 Meter Right.path
@@ -0,0 +1,49 @@
+{
+  "waypoints": [
+    {
+      "anchorPoint": {
+        "x": 0.0,
+        "y": 1.0
+      },
+      "prevControl": null,
+      "nextControl": {
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+      "holonomicAngle": 0,
+      "isReversal": false,
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+      "isStopPoint": false,
+      "stopEvent": {
+        "names": [],
+        "executionBehavior": "parallel",
+        "waitBehavior": "none",
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+        "y": 0.0
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+      "isLocked": false,
+      "isStopPoint": false,
+      "stopEvent": {
+        "names": [],
+        "executionBehavior": "parallel",
+        "waitBehavior": "none",
+        "waitTime": 0
+      }
+    }
+  ],
+  "markers": []
+}
diff --git a/src/main/deploy/pathplanner/Square.path b/src/main/deploy/pathplanner/Square.path
@@ -0,0 +1,124 @@
+{
+  "waypoints": [
+    {
+      "anchorPoint": {
+        "x": 7.0,
+        "y": 3.0
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+      "prevControl": null,
+      "nextControl": {
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+        "y": 2.9960899864792516
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+      "velOverride": null,
+      "isLocked": false,
+      "isStopPoint": false,
+      "stopEvent": {
+        "names": [],
+        "executionBehavior": "parallel",
+        "waitBehavior": "none",
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+      "prevControl": {
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+      "nextControl": {
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+        "y": 2.9767527513500545
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+      "holonomicAngle": 0,
+      "isReversal": false,
+      "velOverride": null,
+      "isLocked": false,
+      "isStopPoint": false,
+      "stopEvent": {
+        "names": [],
+        "executionBehavior": "parallel",
+        "waitBehavior": "none",
+        "waitTime": 0
+      }
+    },
+    {
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+        "y": 4.0
+      },
+      "prevControl": {
+        "x": 8.05682871927923,
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+      "nextControl": {
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+      "holonomicAngle": 0,
+      "isReversal": false,
+      "velOverride": null,
+      "isLocked": false,
+      "isStopPoint": false,
+      "stopEvent": {
+        "names": [],
+        "executionBehavior": "parallel",
+        "waitBehavior": "none",
+        "waitTime": 0
+      }
+    },
+    {
+      "anchorPoint": {
+        "x": 7.0,
+        "y": 4.0
+      },
+      "prevControl": {
+        "x": 7.046662538403307,
+        "y": 4.036716661170547
+      },
+      "nextControl": {
+        "x": 6.965938808627746,
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+      "holonomicAngle": 0,
+      "isReversal": false,
+      "velOverride": null,
+      "isLocked": false,
+      "isStopPoint": false,
+      "stopEvent": {
+        "names": [],
+        "executionBehavior": "parallel",
+        "waitBehavior": "none",
+        "waitTime": 0
+      }
+    },
+    {
+      "anchorPoint": {
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+        "y": 3.0
+      },
+      "prevControl": {
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+        "y": 3.0647027342610955
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+      "nextControl": null,
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+      "isLocked": false,
+      "isStopPoint": false,
+      "stopEvent": {
+        "names": [],
+        "executionBehavior": "parallel",
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+        "waitTime": 0
+      }
+    }
+  ],
+  "markers": []
+}
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -44,5 +44,5 @@ private void configureDefaultCommands() {
         drivetrain.setDefaultCommand(new TeleopSwerve(drivetrain, () -> driver.getLeftY(), () -> driver.getLeftX(), () -> driver.getRightX(), () -> (driver.getRightTriggerAxis() > 0.75)));
     }
 
-    public Command getAutonomousCommand() { return null;}
+    public Command getAutonomousCommand() { return autoFactory}
 }