diff --git a/src/main/deploy/pathplanner/autos/BlueBas1.auto b/src/main/deploy/pathplanner/autos/BlueBas1.auto new file mode 100644 index 0000000..7c320ae --- /dev/null +++ b/src/main/deploy/pathplanner/autos/BlueBas1.auto @@ -0,0 +1,57 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "BlueBasStart" + } + }, + { + "type": "named", + "data": { + "name": null + } + }, + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "wait", + "data": { + "waitTime": 0.5 + } + }, + { + "type": "named", + "data": { + "name": null + } + } + ] + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": null + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/New Auto.auto b/src/main/deploy/pathplanner/autos/BlueBas2.auto similarity index 93% rename from src/main/deploy/pathplanner/autos/New Auto.auto rename to src/main/deploy/pathplanner/autos/BlueBas2.auto index e11a51b..62b0de7 100644 --- a/src/main/deploy/pathplanner/autos/New Auto.auto +++ b/src/main/deploy/pathplanner/autos/BlueBas2.auto @@ -48,6 +48,12 @@ "name": null } }, + { + "type": "wait", + "data": { + "waitTime": 1.0 + } + }, { "type": "parallel", "data": { @@ -123,6 +129,12 @@ } ] } + }, + { + "type": "named", + "data": { + "name": null + } } ] } diff --git a/src/main/deploy/pathplanner/autos/BlueBas3.auto b/src/main/deploy/pathplanner/autos/BlueBas3.auto new file mode 100644 index 0000000..ee917a3 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/BlueBas3.auto @@ -0,0 +1,233 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "BlueBasStart" + } + }, + { + "type": "named", + "data": { + "name": null + } + }, + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "wait", + "data": { + "waitTime": 0.5 + } + }, + { + "type": "named", + "data": { + "name": null + } + } + ] + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": null + } + }, + { + "type": "wait", + "data": { + "waitTime": 1.0 + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "BlueBasChercher" + } + }, + { + "type": "named", + "data": { + "name": null + } + }, + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "wait", + "data": { + "waitTime": 0.5 + } + }, + { + "type": "named", + "data": { + "name": null + } + } + ] + } + } + ] + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": null + } + }, + { + "type": "path", + "data": { + "pathName": "BlueBasPorter" + } + }, + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "wait", + "data": { + "waitTime": 0.5 + } + }, + { + "type": "named", + "data": { + "name": null + } + } + ] + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": null + } + }, + { + "type": "wait", + "data": { + "waitTime": 1.0 + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "BlueBasChercher2" + } + }, + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "wait", + "data": { + "waitTime": 0 + } + }, + { + "type": "named", + "data": { + "name": null + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": null + } + } + ] + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "BlueBasPorter2" + } + }, + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "wait", + "data": { + "waitTime": 0 + } + }, + { + "type": "named", + "data": { + "name": null + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": null + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": null + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/BlueHaut1.auto b/src/main/deploy/pathplanner/autos/BlueHaut1.auto new file mode 100644 index 0000000..90a7062 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/BlueHaut1.auto @@ -0,0 +1,57 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "BlueHautStart" + } + }, + { + "type": "named", + "data": { + "name": null + } + }, + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "wait", + "data": { + "waitTime": 0.5 + } + }, + { + "type": "named", + "data": { + "name": null + } + } + ] + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": null + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/BlueHaut2.auto b/src/main/deploy/pathplanner/autos/BlueHaut2.auto new file mode 100644 index 0000000..f54dfe2 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/BlueHaut2.auto @@ -0,0 +1,145 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "BlueHautStart" + } + }, + { + "type": "named", + "data": { + "name": null + } + }, + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "wait", + "data": { + "waitTime": 0.5 + } + }, + { + "type": "named", + "data": { + "name": null + } + } + ] + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": null + } + }, + { + "type": "wait", + "data": { + "waitTime": 0 + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "BlueHautChercher" + } + }, + { + "type": "named", + "data": { + "name": null + } + }, + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "wait", + "data": { + "waitTime": 0.5 + } + }, + { + "type": "named", + "data": { + "name": null + } + } + ] + } + } + ] + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": null + } + }, + { + "type": "path", + "data": { + "pathName": "BlueHautPorter" + } + }, + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "wait", + "data": { + "waitTime": 0.5 + } + }, + { + "type": "named", + "data": { + "name": null + } + } + ] + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": null + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/BlueHaut3.auto b/src/main/deploy/pathplanner/autos/BlueHaut3.auto new file mode 100644 index 0000000..f9be6f9 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/BlueHaut3.auto @@ -0,0 +1,233 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "BlueHautStart" + } + }, + { + "type": "named", + "data": { + "name": null + } + }, + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "wait", + "data": { + "waitTime": 0.5 + } + }, + { + "type": "named", + "data": { + "name": null + } + } + ] + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": null + } + }, + { + "type": "wait", + "data": { + "waitTime": 1.0 + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "BlueHautChercher" + } + }, + { + "type": "named", + "data": { + "name": null + } + }, + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "wait", + "data": { + "waitTime": 0.5 + } + }, + { + "type": "named", + "data": { + "name": null + } + } + ] + } + } + ] + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": null + } + }, + { + "type": "path", + "data": { + "pathName": "BlueHautPorter" + } + }, + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "wait", + "data": { + "waitTime": 0.5 + } + }, + { + "type": "named", + "data": { + "name": null + } + } + ] + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": null + } + }, + { + "type": "wait", + "data": { + "waitTime": 1.0 + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "BlueHautChercher2" + } + }, + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "wait", + "data": { + "waitTime": 0 + } + }, + { + "type": "named", + "data": { + "name": null + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": null + } + } + ] + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "BlueHautPorter2" + } + }, + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "wait", + "data": { + "waitTime": 0 + } + }, + { + "type": "named", + "data": { + "name": null + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": null + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": null + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/MilieuAlgue.auto b/src/main/deploy/pathplanner/autos/MilieuAlgue.auto new file mode 100644 index 0000000..17073b3 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/MilieuAlgue.auto @@ -0,0 +1,69 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "BlueMilieuStart" + } + }, + { + "type": "named", + "data": { + "name": null + } + }, + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "wait", + "data": { + "waitTime": 0.5 + } + }, + { + "type": "named", + "data": { + "name": null + } + }, + { + "type": "named", + "data": { + "name": null + } + }, + { + "type": "named", + "data": { + "name": null + } + }, + { + "type": "named", + "data": { + "name": null + } + } + ] + } + } + ] + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/MilieuPasAlgue.auto b/src/main/deploy/pathplanner/autos/MilieuPasAlgue.auto new file mode 100644 index 0000000..b724388 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/MilieuPasAlgue.auto @@ -0,0 +1,57 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "BlueMilieuStart" + } + }, + { + "type": "named", + "data": { + "name": null + } + }, + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "wait", + "data": { + "waitTime": 0.5 + } + }, + { + "type": "named", + "data": { + "name": null + } + }, + { + "type": "named", + "data": { + "name": null + } + } + ] + } + } + ] + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Sortir.auto b/src/main/deploy/pathplanner/autos/Sortir.auto new file mode 100644 index 0000000..191a9fc --- /dev/null +++ b/src/main/deploy/pathplanner/autos/Sortir.auto @@ -0,0 +1,19 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "Sortir" + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/BlueHautChercher.path b/src/main/deploy/pathplanner/paths/BlueHautChercher.path index 088c9bb..3bcf7fb 100644 --- a/src/main/deploy/pathplanner/paths/BlueHautChercher.path +++ b/src/main/deploy/pathplanner/paths/BlueHautChercher.path @@ -3,41 +3,25 @@ "waypoints": [ { "anchor": { - "x": 5.202663934426229, - "y": 5.205788934426229 + "x": 5.262602459016393, + "y": 5.33765368852459 }, "prevControl": null, "nextControl": { - "x": 4.195696721311475, - "y": 6.104866803278688 + "x": 4.567315573770491, + "y": 6.272694672131147 }, "isLocked": false, "linkedName": null }, { "anchor": { - "x": 3.104815573770492, - "y": 6.296670081967212 + "x": 1.3066598360655735, + "y": 6.920030737704917 }, "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 + "x": 2.074600566094311, + "y": 6.608197684403563 }, "nextControl": null, "isLocked": false, diff --git a/src/main/deploy/pathplanner/paths/BlueHautChercher2.path b/src/main/deploy/pathplanner/paths/BlueHautChercher2.path new file mode 100644 index 0000000..aab02f5 --- /dev/null +++ b/src/main/deploy/pathplanner/paths/BlueHautChercher2.path @@ -0,0 +1,54 @@ +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 3.728176229508197, + "y": 5.277715163934426 + }, + "prevControl": null, + "nextControl": { + "x": 3.6884488572050125, + "y": 5.738000701502482 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 1.2946721311475409, + "y": 6.88406762295082 + }, + "prevControl": { + "x": 1.5370661625758562, + "y": 6.822870126858832 + }, + "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": -59.99999999999999 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/BlueHautPorter.path b/src/main/deploy/pathplanner/paths/BlueHautPorter.path index bdf1ec8..e206561 100644 --- a/src/main/deploy/pathplanner/paths/BlueHautPorter.path +++ b/src/main/deploy/pathplanner/paths/BlueHautPorter.path @@ -3,25 +3,25 @@ "waypoints": [ { "anchor": { - "x": 1.234733606557377, - "y": 6.9679815573770485 + "x": 1.2946721311475409, + "y": 6.88406762295082 }, "prevControl": null, "nextControl": { - "x": 2.271389052764998, - "y": 4.855519714825475 + "x": 1.8197466808473133, + "y": 6.152201615570423 }, "isLocked": false, "linkedName": null }, { "anchor": { - "x": 3.7761270491803276, - "y": 5.205788934426229 + "x": 3.7401639344262296, + "y": 5.313678278688524 }, "prevControl": { - "x": 2.911254448656024, - "y": 6.06899512479262 + "x": 2.9533875048545335, + "y": 6.158498893994983 }, "nextControl": null, "isLocked": false, diff --git a/src/main/deploy/pathplanner/paths/BlueHautPorter2.path b/src/main/deploy/pathplanner/paths/BlueHautPorter2.path new file mode 100644 index 0000000..f2c8025 --- /dev/null +++ b/src/main/deploy/pathplanner/paths/BlueHautPorter2.path @@ -0,0 +1,54 @@ +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 1.2467213114754097, + "y": 6.896055327868852 + }, + "prevControl": null, + "nextControl": { + "x": 3.728176229508196, + "y": 6.28468237704918 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 2.9969262295081966, + "y": 3.9950307377049183 + }, + "prevControl": { + "x": 2.6372950819672134, + "y": 4.906096311475409 + }, + "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": 0.0 + }, + "reversed": false, + "folder": null, + "idealStartingState": { + "velocity": 0, + "rotation": 125.00000000000001 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/BlueHautStart.path b/src/main/deploy/pathplanner/paths/BlueHautStart.path index ec8fb0a..7bf89b1 100644 --- a/src/main/deploy/pathplanner/paths/BlueHautStart.path +++ b/src/main/deploy/pathplanner/paths/BlueHautStart.path @@ -16,12 +16,12 @@ }, { "anchor": { - "x": 5.166700819672132, - "y": 5.205788934426229 + "x": 5.226639344262295, + "y": 5.313678278688524 }, "prevControl": { - "x": 6.247675208676453, - "y": 6.156109471736201 + "x": 6.307613733266616, + "y": 6.263998815998496 }, "nextControl": null, "isLocked": false, diff --git a/src/main/deploy/pathplanner/paths/BlueMilieuStart.path b/src/main/deploy/pathplanner/paths/BlueMilieuStart.path index 1a47993..379e3bf 100644 --- a/src/main/deploy/pathplanner/paths/BlueMilieuStart.path +++ b/src/main/deploy/pathplanner/paths/BlueMilieuStart.path @@ -16,11 +16,11 @@ }, { "anchor": { - "x": 5.8619877049180324, + "x": 5.9818647540983605, "y": 3.971055327868852 }, "prevControl": { - "x": 6.836352068635808, + "x": 6.956229117816136, "y": 3.9576132249181755 }, "nextControl": null, diff --git a/src/main/deploy/pathplanner/paths/Sortir.path b/src/main/deploy/pathplanner/paths/Sortir.path new file mode 100644 index 0000000..17ff327 --- /dev/null +++ b/src/main/deploy/pathplanner/paths/Sortir.path @@ -0,0 +1,54 @@ +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 7.504303278688524, + "y": 6.464497950819672 + }, + "prevControl": null, + "nextControl": { + "x": 7.084733606557376, + "y": 6.488473360655737 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 5.849999999999999, + "y": 6.464497950819672 + }, + "prevControl": { + "x": 6.32950819672131, + "y": 6.464497950819672 + }, + "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 +} \ No newline at end of file