added some folders to paths and created a source side auto (unfinished)

team4909 · Feb 29, 2024 · 08f3c7e · 08f3c7e
1 parent a839c7e
commit 08f3c7e
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Showing 17 changed files with 117 additions and 26 deletions.
diff --git a/.pathplanner/settings.json b/.pathplanner/settings.json
@@ -3,12 +3,14 @@
   "robotLength": 0.8254998984,
   "holonomicMode": true,
   "pathFolders": [
-    "CenterLine"
+    "Amp Side",
+    "Source Side",
+    "4 Note"
   ],
   "autoFolders": [],
   "defaultMaxVel": 3.0,
   "defaultMaxAccel": 3.0,
   "defaultMaxAngVel": 540.0,
   "defaultMaxAngAccel": 720.0,
   "maxModuleSpeed": 4.5
-}
+}
diff --git a/src/main/deploy/pathplanner/autos/2 Piece Source.auto b/src/main/deploy/pathplanner/autos/2 Piece Source.auto
@@ -0,0 +1,31 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 0.6706475505032715,
+      "y": 4.417916777185551
+    },
+    "rotation": 120.90306080687992
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Sub to Centerline 5"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Centerline 5 to Sub"
+          }
+        }
+      ]
+    }
+  },
+  "folder": null,
+  "choreoAuto": false
+}
diff --git a/src/main/deploy/pathplanner/paths/BottomNoteToCenterLineNote1.path b/src/main/deploy/pathplanner/paths/BottomNoteToCenterLineNote1.path
@@ -61,7 +61,7 @@
     "rotateFast": false
   },
   "reversed": false,
-  "folder": null,
+  "folder": "Amp Side",
   "previewStartingState": {
     "rotation": 33.0,
     "velocity": 0

diff --git a/src/main/deploy/pathplanner/paths/Center Spike to Right Spike.path b/src/main/deploy/pathplanner/paths/Center Spike to Right Spike.path
@@ -49,7 +49,7 @@
     "rotateFast": false
   },
   "reversed": false,
-  "folder": null,
+  "folder": "4 Note",
   "previewStartingState": {
     "rotation": 0.0,
     "velocity": 0

diff --git a/src/main/deploy/pathplanner/paths/CenterLineNote1ToBottomNote.path b/src/main/deploy/pathplanner/paths/CenterLineNote1ToBottomNote.path
@@ -61,7 +61,7 @@
     "rotateFast": false
   },
   "reversed": false,
-  "folder": null,
+  "folder": "Amp Side",
   "previewStartingState": null,
   "useDefaultConstraints": false
 }
diff --git a/src/main/deploy/pathplanner/paths/CenterNoteToBottomNote.path b/src/main/deploy/pathplanner/paths/CenterNoteToBottomNote.path
@@ -49,7 +49,7 @@
     "rotateFast": false
   },
   "reversed": false,
-  "folder": null,
+  "folder": "4 Note",
   "previewStartingState": {
     "rotation": -51.06999999999999,
     "velocity": 0

diff --git a/src/main/deploy/pathplanner/paths/Centerline 1 to Shot.path b/src/main/deploy/pathplanner/paths/Centerline 1 to Shot.path
@@ -49,7 +49,7 @@
     "rotateFast": false
   },
   "reversed": false,
-  "folder": "CenterLine",
+  "folder": "Amp Side",
   "previewStartingState": {
     "rotation": 60.59,
     "velocity": 0

diff --git a/src/main/deploy/pathplanner/paths/Centerline 2 to Shot.path b/src/main/deploy/pathplanner/paths/Centerline 2 to Shot.path
@@ -49,7 +49,7 @@
     "rotateFast": false
   },
   "reversed": false,
-  "folder": "CenterLine",
+  "folder": "Amp Side",
   "previewStartingState": null,
   "useDefaultConstraints": false
 }
diff --git a/...main/deploy/pathplanner/paths/inchUp.path → ...athplanner/paths/Centerline 5 to Sub.path b/...main/deploy/pathplanner/paths/inchUp.path → ...athplanner/paths/Centerline 5 to Sub.path
@@ -3,25 +3,25 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 2.82,
-        "y": 6.83
+        "x": 8.288940915446934,
+        "y": 0.7712119363040817
       },
       "prevControl": null,
       "nextControl": {
-        "x": 2.7349659785064047,
-        "y": 6.777603086913342
+        "x": 6.256286657267324,
+        "y": 0.7266909127459749
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 2.449383782463924,
-        "y": 6.52392784352681
+        "x": 0.6472211773226715,
+        "y": 4.402820011287809
       },
       "prevControl": {
-        "x": 2.6420582648037048,
-        "y": 6.685256698927938
+        "x": 1.5966289454483753,
+        "y": 1.4756745662037338
       },
       "nextControl": null,
       "isLocked": false,
@@ -39,13 +39,13 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": 26.97,
+    "rotation": 120.1,
     "rotateFast": false
   },
   "reversed": false,
-  "folder": null,
+  "folder": "Source Side",
   "previewStartingState": {
-    "rotation": 26.97,
+    "rotation": 180.0,
     "velocity": 0
   },
   "useDefaultConstraints": false

diff --git a/src/main/deploy/pathplanner/paths/Left Spike to Center Spike.path b/src/main/deploy/pathplanner/paths/Left Spike to Center Spike.path
@@ -49,7 +49,7 @@
     "rotateFast": false
   },
   "reversed": false,
-  "folder": null,
+  "folder": "4 Note",
   "previewStartingState": {
     "rotation": 34.66,
     "velocity": 0

diff --git a/src/main/deploy/pathplanner/paths/SpeakerToCenterNote.path b/src/main/deploy/pathplanner/paths/SpeakerToCenterNote.path
@@ -43,7 +43,7 @@
     "rotateFast": false
   },
   "reversed": false,
-  "folder": null,
+  "folder": "Amp Side",
   "previewStartingState": {
     "rotation": 0,
     "velocity": 0

diff --git a/src/main/deploy/pathplanner/paths/SpeakerToTopNote.path b/src/main/deploy/pathplanner/paths/SpeakerToTopNote.path
@@ -43,7 +43,7 @@
     "rotateFast": false
   },
   "reversed": false,
-  "folder": null,
+  "folder": "4 Note",
   "previewStartingState": {
     "rotation": 0,
     "velocity": 0

diff --git a/src/main/deploy/pathplanner/paths/Stage to Left Spike.path b/src/main/deploy/pathplanner/paths/Stage to Left Spike.path
@@ -49,7 +49,7 @@
     "rotateFast": false
   },
   "reversed": false,
-  "folder": null,
+  "folder": "4 Note",
   "previewStartingState": {
     "rotation": 0,
     "velocity": 0

diff --git a/src/main/deploy/pathplanner/paths/Sub to Centerline 5.path b/src/main/deploy/pathplanner/paths/Sub to Centerline 5.path
@@ -0,0 +1,58 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 0.6706475505032715,
+        "y": 4.417916777185551
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 1.6706475505032712,
+        "y": 3.9179167771855514
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 8.280322113351476,
+        "y": 0.7715318829617699
+      },
+      "prevControl": {
+        "x": 4.3679372645203625,
+        "y": 0.3639835754606413
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 0.5,
+      "rotationDegrees": 0,
+      "rotateFast": false
+    }
+  ],
+  "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": "Source Side",
+  "previewStartingState": {
+    "rotation": 120.1,
+    "velocity": 0
+  },
+  "useDefaultConstraints": false
+}
diff --git a/src/main/deploy/pathplanner/paths/Top Spike to Centerline 1.path b/src/main/deploy/pathplanner/paths/Top Spike to Centerline 1.path
@@ -49,7 +49,7 @@
     "rotateFast": false
   },
   "reversed": false,
-  "folder": "CenterLine",
+  "folder": "Amp Side",
   "previewStartingState": {
     "rotation": 26.97,
     "velocity": 0

diff --git a/src/main/deploy/pathplanner/paths/Top Spike to Centerline 2.path b/src/main/deploy/pathplanner/paths/Top Spike to Centerline 2.path
@@ -49,7 +49,7 @@
     "rotateFast": false
   },
   "reversed": false,
-  "folder": "CenterLine",
+  "folder": "Amp Side",
   "previewStartingState": {
     "rotation": 26.97,
     "velocity": 0

diff --git a/src/main/deploy/pathplanner/paths/TopNoteToCenterNote.path b/src/main/deploy/pathplanner/paths/TopNoteToCenterNote.path
@@ -49,7 +49,7 @@
     "rotateFast": false
   },
   "reversed": false,
-  "folder": null,
+  "folder": "4 Note",
   "previewStartingState": {
     "rotation": -34.31999999999999,
     "velocity": 0