added test autos

team4909 · Mar 5, 2024 · c0bf73c · c0bf73c
1 parent 23373a1
commit c0bf73c
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Showing 15 changed files with 886 additions and 79 deletions.
diff --git a/src/main/deploy/pathplanner/autos/3 Note Source.auto b/src/main/deploy/pathplanner/autos/3 Note Source.auto
@@ -0,0 +1,188 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 0.6706475505032715,
+      "y": 4.417916777185551
+    },
+    "rotation": -61.19140611834038
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "enableShooter"
+          }
+        },
+        {
+          "type": "race",
+          "data": {
+            "commands": [
+              {
+                "type": "named",
+                "data": {
+                  "name": "subShot"
+                }
+              },
+              {
+                "type": "wait",
+                "data": {
+                  "waitTime": 0.6
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "race",
+          "data": {
+            "commands": [
+              {
+                "type": "named",
+                "data": {
+                  "name": "feederOn"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "intake"
+                }
+              },
+              {
+                "type": "wait",
+                "data": {
+                  "waitTime": 0.3
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "race",
+          "data": {
+            "commands": [
+              {
+                "type": "named",
+                "data": {
+                  "name": "armDown"
+                }
+              },
+              {
+                "type": "wait",
+                "data": {
+                  "waitTime": 0.5
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "parallel",
+          "data": {
+            "commands": [
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "SubToCenterline4"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "sensorIntake"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Centerline 4 to shot point"
+          }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 0.5
+          }
+        },
+        {
+          "type": "race",
+          "data": {
+            "commands": [
+              {
+                "type": "named",
+                "data": {
+                  "name": "feederOn"
+                }
+              },
+              {
+                "type": "wait",
+                "data": {
+                  "waitTime": 0.3
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "parallel",
+          "data": {
+            "commands": [
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "shot point to center line 3"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "sensorIntake"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "centerline 3 to shot point"
+          }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 0.5
+          }
+        },
+        {
+          "type": "race",
+          "data": {
+            "commands": [
+              {
+                "type": "named",
+                "data": {
+                  "name": "feederOn"
+                }
+              },
+              {
+                "type": "wait",
+                "data": {
+                  "waitTime": 0.3
+                }
+              }
+            ]
+          }
+        }
+      ]
+    }
+  },
+  "folder": null,
+  "choreoAuto": false
+}
diff --git a/...ploy/pathplanner/autos/2 Note Source.auto → ...ner/autos/3 note centerline note 4-5.auto b/...ploy/pathplanner/autos/2 Note Source.auto → ...ner/autos/3 note centerline note 4-5.auto
@@ -85,15 +85,15 @@
           "data": {
             "commands": [
               {
-                "type": "named",
+                "type": "path",
                 "data": {
-                  "name": "sensorIntake"
+                  "pathName": "Sub to Centerline 5"
                 }
               },
               {
-                "type": "path",
+                "type": "named",
                 "data": {
-                  "pathName": "Sub to Centerline 5"
+                  "name": "sensorIntake"
                 }
               }
             ]
@@ -102,7 +102,13 @@
         {
           "type": "path",
           "data": {
-            "pathName": "Centerline 5 to Sub"
+            "pathName": "centerline 5 to shot point"
+          }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 0.5
           }
         },
         {
@@ -112,63 +118,63 @@
               {
                 "type": "named",
                 "data": {
-                  "name": "subShot"
+                  "name": "feederOn"
                 }
               },
               {
                 "type": "wait",
                 "data": {
-                  "waitTime": 0.6
+                  "waitTime": 0.3
                 }
               }
             ]
           }
         },
         {
-          "type": "wait",
-          "data": {
-            "waitTime": 0.5
-          }
-        },
-        {
-          "type": "race",
+          "type": "parallel",
           "data": {
             "commands": [
               {
-                "type": "named",
+                "type": "path",
                 "data": {
-                  "name": "feederOn"
+                  "pathName": "shot point to centerline 4"
                 }
               },
               {
-                "type": "wait",
+                "type": "named",
                 "data": {
-                  "waitTime": 0.3
+                  "name": "sensorIntake"
                 }
               }
             ]
           }
         },
         {
-          "type": "deadline",
+          "type": "path",
+          "data": {
+            "pathName": "Centerline 4 to shot point"
+          }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 0.5
+          }
+        },
+        {
+          "type": "race",
           "data": {
             "commands": [
-              {
-                "type": "path",
-                "data": {
-                  "pathName": "SubToCenterline4"
-                }
-              },
               {
                 "type": "named",
                 "data": {
-                  "name": "intake"
+                  "name": "feederOn"
                 }
               },
               {
-                "type": "named",
+                "type": "wait",
                 "data": {
-                  "name": "armDown"
+                  "waitTime": 0.3
                 }
               }
             ]