Swerve + commencer pathplanner

2025-01-27 20:15:31 -05:00
parent edbff8f4dd
commit 4b0262fa4d
13 changed files with 1201 additions and 0 deletions
--- a/src/main/deploy/pathplanner/paths/BlueMilieuStart.path
+++ b/src/main/deploy/pathplanner/paths/BlueMilieuStart.path
@ -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
+}