Swerve + commencer pathplanner
This commit is contained in:
1
src/main/deploy/pathplanner/navgrid.json
Normal file
1
src/main/deploy/pathplanner/navgrid.json
Normal file
File diff suppressed because one or more lines are too long
54
src/main/deploy/pathplanner/paths/21 x 27.5.path
Normal file
54
src/main/deploy/pathplanner/paths/21 x 27.5.path
Normal file
@ -0,0 +1,54 @@
|
||||
{
|
||||
"version": "2025.0",
|
||||
"waypoints": [
|
||||
{
|
||||
"anchor": {
|
||||
"x": 1.066905737704918,
|
||||
"y": 1.058043032786885
|
||||
},
|
||||
"prevControl": null,
|
||||
"nextControl": {
|
||||
"x": 2.4151156514267984,
|
||||
"y": 3.2911993104946093
|
||||
},
|
||||
"isLocked": false,
|
||||
"linkedName": null
|
||||
},
|
||||
{
|
||||
"anchor": {
|
||||
"x": 3.7641393442622952,
|
||||
"y": 2.832223360655737
|
||||
},
|
||||
"prevControl": {
|
||||
"x": 2.7003578170234857,
|
||||
"y": 1.9970799919720519
|
||||
},
|
||||
"nextControl": null,
|
||||
"isLocked": false,
|
||||
"linkedName": null
|
||||
}
|
||||
],
|
||||
"rotationTargets": [],
|
||||
"constraintZones": [],
|
||||
"pointTowardsZones": [],
|
||||
"eventMarkers": [],
|
||||
"globalConstraints": {
|
||||
"maxVelocity": 3.0,
|
||||
"maxAcceleration": 3.0,
|
||||
"maxAngularVelocity": 540.0,
|
||||
"maxAngularAcceleration": 720.0,
|
||||
"nominalVoltage": 12.0,
|
||||
"unlimited": false
|
||||
},
|
||||
"goalEndState": {
|
||||
"velocity": 0,
|
||||
"rotation": 59.99999999999999
|
||||
},
|
||||
"reversed": false,
|
||||
"folder": null,
|
||||
"idealStartingState": {
|
||||
"velocity": 0,
|
||||
"rotation": -125.00000000000001
|
||||
},
|
||||
"useDefaultConstraints": true
|
||||
}
|
70
src/main/deploy/pathplanner/paths/BlueBasChercher.path
Normal file
70
src/main/deploy/pathplanner/paths/BlueBasChercher.path
Normal file
@ -0,0 +1,70 @@
|
||||
{
|
||||
"version": "2025.0",
|
||||
"waypoints": [
|
||||
{
|
||||
"anchor": {
|
||||
"x": 5.154713114754099,
|
||||
"y": 2.832223360655737
|
||||
},
|
||||
"prevControl": null,
|
||||
"nextControl": {
|
||||
"x": 4.627254098360655,
|
||||
"y": 2.2568135245901635
|
||||
},
|
||||
"isLocked": false,
|
||||
"linkedName": null
|
||||
},
|
||||
{
|
||||
"anchor": {
|
||||
"x": 3.296618852459016,
|
||||
"y": 1.6334528688524586
|
||||
},
|
||||
"prevControl": {
|
||||
"x": 4.5553278688524586,
|
||||
"y": 1.9091700819672122
|
||||
},
|
||||
"nextControl": {
|
||||
"x": 2.853313965378558,
|
||||
"y": 1.5363479888253109
|
||||
},
|
||||
"isLocked": false,
|
||||
"linkedName": null
|
||||
},
|
||||
{
|
||||
"anchor": {
|
||||
"x": 1.1508196721311474,
|
||||
"y": 1.1299692622950817
|
||||
},
|
||||
"prevControl": {
|
||||
"x": 2.1498657381584616,
|
||||
"y": 1.3782484974959424
|
||||
},
|
||||
"nextControl": null,
|
||||
"isLocked": false,
|
||||
"linkedName": null
|
||||
}
|
||||
],
|
||||
"rotationTargets": [],
|
||||
"constraintZones": [],
|
||||
"pointTowardsZones": [],
|
||||
"eventMarkers": [],
|
||||
"globalConstraints": {
|
||||
"maxVelocity": 3.0,
|
||||
"maxAcceleration": 3.0,
|
||||
"maxAngularVelocity": 540.0,
|
||||
"maxAngularAcceleration": 720.0,
|
||||
"nominalVoltage": 12.0,
|
||||
"unlimited": false
|
||||
},
|
||||
"goalEndState": {
|
||||
"velocity": 0,
|
||||
"rotation": -125.00000000000001
|
||||
},
|
||||
"reversed": false,
|
||||
"folder": null,
|
||||
"idealStartingState": {
|
||||
"velocity": 0,
|
||||
"rotation": 119.99999999999999
|
||||
},
|
||||
"useDefaultConstraints": true
|
||||
}
|
54
src/main/deploy/pathplanner/paths/BlueBasStart.path
Normal file
54
src/main/deploy/pathplanner/paths/BlueBasStart.path
Normal file
@ -0,0 +1,54 @@
|
||||
{
|
||||
"version": "2025.0",
|
||||
"waypoints": [
|
||||
{
|
||||
"anchor": {
|
||||
"x": 7.204610655737704,
|
||||
"y": 1.058043032786885
|
||||
},
|
||||
"prevControl": null,
|
||||
"nextControl": {
|
||||
"x": 6.400623816881145,
|
||||
"y": 1.8077934662846444
|
||||
},
|
||||
"isLocked": false,
|
||||
"linkedName": null
|
||||
},
|
||||
{
|
||||
"anchor": {
|
||||
"x": 5.25061475409836,
|
||||
"y": 2.820235655737705
|
||||
},
|
||||
"prevControl": {
|
||||
"x": 6.057528863906536,
|
||||
"y": 2.075180182319969
|
||||
},
|
||||
"nextControl": null,
|
||||
"isLocked": false,
|
||||
"linkedName": null
|
||||
}
|
||||
],
|
||||
"rotationTargets": [],
|
||||
"constraintZones": [],
|
||||
"pointTowardsZones": [],
|
||||
"eventMarkers": [],
|
||||
"globalConstraints": {
|
||||
"maxVelocity": 3.0,
|
||||
"maxAcceleration": 3.0,
|
||||
"maxAngularVelocity": 540.0,
|
||||
"maxAngularAcceleration": 720.0,
|
||||
"nominalVoltage": 12.0,
|
||||
"unlimited": false
|
||||
},
|
||||
"goalEndState": {
|
||||
"velocity": 0,
|
||||
"rotation": 119.99999999999999
|
||||
},
|
||||
"reversed": false,
|
||||
"folder": null,
|
||||
"idealStartingState": {
|
||||
"velocity": 0,
|
||||
"rotation": 119.99999999999999
|
||||
},
|
||||
"useDefaultConstraints": true
|
||||
}
|
70
src/main/deploy/pathplanner/paths/BlueHautChercher.path
Normal file
70
src/main/deploy/pathplanner/paths/BlueHautChercher.path
Normal file
@ -0,0 +1,70 @@
|
||||
{
|
||||
"version": "2025.0",
|
||||
"waypoints": [
|
||||
{
|
||||
"anchor": {
|
||||
"x": 5.202663934426229,
|
||||
"y": 5.205788934426229
|
||||
},
|
||||
"prevControl": null,
|
||||
"nextControl": {
|
||||
"x": 4.195696721311475,
|
||||
"y": 6.104866803278688
|
||||
},
|
||||
"isLocked": false,
|
||||
"linkedName": null
|
||||
},
|
||||
{
|
||||
"anchor": {
|
||||
"x": 3.104815573770492,
|
||||
"y": 6.296670081967212
|
||||
},
|
||||
"prevControl": {
|
||||
"x": 4.495389344262295,
|
||||
"y": 5.949026639344262
|
||||
},
|
||||
"nextControl": {
|
||||
"x": 2.5881297183495136,
|
||||
"y": 6.425841545822457
|
||||
},
|
||||
"isLocked": false,
|
||||
"linkedName": null
|
||||
},
|
||||
{
|
||||
"anchor": {
|
||||
"x": 1.2107581967213117,
|
||||
"y": 6.955993852459016
|
||||
},
|
||||
"prevControl": {
|
||||
"x": 2.302517803906852,
|
||||
"y": 6.503295936938067
|
||||
},
|
||||
"nextControl": null,
|
||||
"isLocked": false,
|
||||
"linkedName": null
|
||||
}
|
||||
],
|
||||
"rotationTargets": [],
|
||||
"constraintZones": [],
|
||||
"pointTowardsZones": [],
|
||||
"eventMarkers": [],
|
||||
"globalConstraints": {
|
||||
"maxVelocity": 3.0,
|
||||
"maxAcceleration": 3.0,
|
||||
"maxAngularVelocity": 540.0,
|
||||
"maxAngularAcceleration": 720.0,
|
||||
"nominalVoltage": 12.0,
|
||||
"unlimited": false
|
||||
},
|
||||
"goalEndState": {
|
||||
"velocity": 0,
|
||||
"rotation": 125.00000000000001
|
||||
},
|
||||
"reversed": false,
|
||||
"folder": null,
|
||||
"idealStartingState": {
|
||||
"velocity": 0,
|
||||
"rotation": -119.99999999999999
|
||||
},
|
||||
"useDefaultConstraints": true
|
||||
}
|
54
src/main/deploy/pathplanner/paths/BlueHautPorter.path
Normal file
54
src/main/deploy/pathplanner/paths/BlueHautPorter.path
Normal file
@ -0,0 +1,54 @@
|
||||
{
|
||||
"version": "2025.0",
|
||||
"waypoints": [
|
||||
{
|
||||
"anchor": {
|
||||
"x": 1.234733606557377,
|
||||
"y": 6.9679815573770485
|
||||
},
|
||||
"prevControl": null,
|
||||
"nextControl": {
|
||||
"x": 2.271389052764998,
|
||||
"y": 4.855519714825475
|
||||
},
|
||||
"isLocked": false,
|
||||
"linkedName": null
|
||||
},
|
||||
{
|
||||
"anchor": {
|
||||
"x": 3.7761270491803276,
|
||||
"y": 5.205788934426229
|
||||
},
|
||||
"prevControl": {
|
||||
"x": 2.911254448656024,
|
||||
"y": 6.06899512479262
|
||||
},
|
||||
"nextControl": null,
|
||||
"isLocked": false,
|
||||
"linkedName": null
|
||||
}
|
||||
],
|
||||
"rotationTargets": [],
|
||||
"constraintZones": [],
|
||||
"pointTowardsZones": [],
|
||||
"eventMarkers": [],
|
||||
"globalConstraints": {
|
||||
"maxVelocity": 3.0,
|
||||
"maxAcceleration": 3.0,
|
||||
"maxAngularVelocity": 540.0,
|
||||
"maxAngularAcceleration": 720.0,
|
||||
"nominalVoltage": 12.0,
|
||||
"unlimited": false
|
||||
},
|
||||
"goalEndState": {
|
||||
"velocity": 0,
|
||||
"rotation": -59.99999999999999
|
||||
},
|
||||
"reversed": false,
|
||||
"folder": null,
|
||||
"idealStartingState": {
|
||||
"velocity": 0,
|
||||
"rotation": 125.00000000000001
|
||||
},
|
||||
"useDefaultConstraints": true
|
||||
}
|
54
src/main/deploy/pathplanner/paths/BlueHautStart.path
Normal file
54
src/main/deploy/pathplanner/paths/BlueHautStart.path
Normal file
@ -0,0 +1,54 @@
|
||||
{
|
||||
"version": "2025.0",
|
||||
"waypoints": [
|
||||
{
|
||||
"anchor": {
|
||||
"x": 7.22858606557377,
|
||||
"y": 7.075870901639344
|
||||
},
|
||||
"prevControl": null,
|
||||
"nextControl": {
|
||||
"x": 5.75022271481963,
|
||||
"y": 5.75328924697144
|
||||
},
|
||||
"isLocked": false,
|
||||
"linkedName": null
|
||||
},
|
||||
{
|
||||
"anchor": {
|
||||
"x": 5.166700819672132,
|
||||
"y": 5.205788934426229
|
||||
},
|
||||
"prevControl": {
|
||||
"x": 6.247675208676453,
|
||||
"y": 6.156109471736201
|
||||
},
|
||||
"nextControl": null,
|
||||
"isLocked": false,
|
||||
"linkedName": null
|
||||
}
|
||||
],
|
||||
"rotationTargets": [],
|
||||
"constraintZones": [],
|
||||
"pointTowardsZones": [],
|
||||
"eventMarkers": [],
|
||||
"globalConstraints": {
|
||||
"maxVelocity": 3.0,
|
||||
"maxAcceleration": 3.0,
|
||||
"maxAngularVelocity": 540.0,
|
||||
"maxAngularAcceleration": 720.0,
|
||||
"nominalVoltage": 12.0,
|
||||
"unlimited": false
|
||||
},
|
||||
"goalEndState": {
|
||||
"velocity": 0,
|
||||
"rotation": -119.99999999999999
|
||||
},
|
||||
"reversed": false,
|
||||
"folder": null,
|
||||
"idealStartingState": {
|
||||
"velocity": 0,
|
||||
"rotation": -119.99999999999999
|
||||
},
|
||||
"useDefaultConstraints": true
|
||||
}
|
54
src/main/deploy/pathplanner/paths/BlueMilieuChercher.path
Normal file
54
src/main/deploy/pathplanner/paths/BlueMilieuChercher.path
Normal file
@ -0,0 +1,54 @@
|
||||
{
|
||||
"version": "2025.0",
|
||||
"waypoints": [
|
||||
{
|
||||
"anchor": {
|
||||
"x": 5.838012295081967,
|
||||
"y": 3.983043032786885
|
||||
},
|
||||
"prevControl": null,
|
||||
"nextControl": {
|
||||
"x": 6.916905737704918,
|
||||
"y": 2.304764344262295
|
||||
},
|
||||
"isLocked": false,
|
||||
"linkedName": null
|
||||
},
|
||||
{
|
||||
"anchor": {
|
||||
"x": 1.1508196721311474,
|
||||
"y": 1.1299692622950817
|
||||
},
|
||||
"prevControl": {
|
||||
"x": 2.125184035848923,
|
||||
"y": 1.1165271593444053
|
||||
},
|
||||
"nextControl": null,
|
||||
"isLocked": false,
|
||||
"linkedName": null
|
||||
}
|
||||
],
|
||||
"rotationTargets": [],
|
||||
"constraintZones": [],
|
||||
"pointTowardsZones": [],
|
||||
"eventMarkers": [],
|
||||
"globalConstraints": {
|
||||
"maxVelocity": 3.0,
|
||||
"maxAcceleration": 3.0,
|
||||
"maxAngularVelocity": 540.0,
|
||||
"maxAngularAcceleration": 720.0,
|
||||
"nominalVoltage": 12.0,
|
||||
"unlimited": false
|
||||
},
|
||||
"goalEndState": {
|
||||
"velocity": 0,
|
||||
"rotation": -125.00000000000001
|
||||
},
|
||||
"reversed": false,
|
||||
"folder": null,
|
||||
"idealStartingState": {
|
||||
"velocity": 0,
|
||||
"rotation": 180.0
|
||||
},
|
||||
"useDefaultConstraints": true
|
||||
}
|
54
src/main/deploy/pathplanner/paths/BlueMilieuStart.path
Normal file
54
src/main/deploy/pathplanner/paths/BlueMilieuStart.path
Normal file
@ -0,0 +1,54 @@
|
||||
{
|
||||
"version": "2025.0",
|
||||
"waypoints": [
|
||||
{
|
||||
"anchor": {
|
||||
"x": 7.300512295081968,
|
||||
"y": 3.971055327868852
|
||||
},
|
||||
"prevControl": null,
|
||||
"nextControl": {
|
||||
"x": 6.294286688638351,
|
||||
"y": 3.9754565484205786
|
||||
},
|
||||
"isLocked": false,
|
||||
"linkedName": null
|
||||
},
|
||||
{
|
||||
"anchor": {
|
||||
"x": 5.8619877049180324,
|
||||
"y": 3.971055327868852
|
||||
},
|
||||
"prevControl": {
|
||||
"x": 6.836352068635808,
|
||||
"y": 3.9576132249181755
|
||||
},
|
||||
"nextControl": null,
|
||||
"isLocked": false,
|
||||
"linkedName": null
|
||||
}
|
||||
],
|
||||
"rotationTargets": [],
|
||||
"constraintZones": [],
|
||||
"pointTowardsZones": [],
|
||||
"eventMarkers": [],
|
||||
"globalConstraints": {
|
||||
"maxVelocity": 3.0,
|
||||
"maxAcceleration": 3.0,
|
||||
"maxAngularVelocity": 540.0,
|
||||
"maxAngularAcceleration": 720.0,
|
||||
"nominalVoltage": 12.0,
|
||||
"unlimited": false
|
||||
},
|
||||
"goalEndState": {
|
||||
"velocity": 0,
|
||||
"rotation": 180.0
|
||||
},
|
||||
"reversed": false,
|
||||
"folder": null,
|
||||
"idealStartingState": {
|
||||
"velocity": 0,
|
||||
"rotation": 180.0
|
||||
},
|
||||
"useDefaultConstraints": true
|
||||
}
|
32
src/main/deploy/pathplanner/settings.json
Normal file
32
src/main/deploy/pathplanner/settings.json
Normal file
@ -0,0 +1,32 @@
|
||||
{
|
||||
"robotWidth": 0.9,
|
||||
"robotLength": 0.9,
|
||||
"holonomicMode": true,
|
||||
"pathFolders": [],
|
||||
"autoFolders": [],
|
||||
"defaultMaxVel": 3.0,
|
||||
"defaultMaxAccel": 3.0,
|
||||
"defaultMaxAngVel": 540.0,
|
||||
"defaultMaxAngAccel": 720.0,
|
||||
"defaultNominalVoltage": 12.0,
|
||||
"robotMass": 74.088,
|
||||
"robotMOI": 6.883,
|
||||
"robotTrackwidth": 0.546,
|
||||
"driveWheelRadius": 0.048,
|
||||
"driveGearing": 5.143,
|
||||
"maxDriveSpeed": 5.45,
|
||||
"driveMotorType": "krakenX60",
|
||||
"driveCurrentLimit": 60.0,
|
||||
"wheelCOF": 1.2,
|
||||
"flModuleX": 0.35,
|
||||
"flModuleY": 0.267,
|
||||
"frModuleX": 0.273,
|
||||
"frModuleY": -0.273,
|
||||
"blModuleX": -0.273,
|
||||
"blModuleY": 0.273,
|
||||
"brModuleX": -0.273,
|
||||
"brModuleY": -0.273,
|
||||
"bumperOffsetX": 0.0,
|
||||
"bumperOffsetY": 0.0,
|
||||
"robotFeatures": []
|
||||
}
|
Reference in New Issue
Block a user