diff --git a/src/main/deploy/pathplanner/autos/New Auto.auto b/src/main/deploy/pathplanner/autos/New Auto.auto new file mode 100644 index 0000000..e11a51b --- /dev/null +++ b/src/main/deploy/pathplanner/autos/New Auto.auto @@ -0,0 +1,133 @@ +{ + "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": "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 + } + } + ] + } + } + ] + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/BlueBasChercher.path b/src/main/deploy/pathplanner/paths/BlueBasChercher.path index 463ed3f..7a2e9c8 100644 --- a/src/main/deploy/pathplanner/paths/BlueBasChercher.path +++ b/src/main/deploy/pathplanner/paths/BlueBasChercher.path @@ -3,13 +3,13 @@ "waypoints": [ { "anchor": { - "x": 5.154713114754099, - "y": 2.832223360655737 + "x": 5.226639344262295, + "y": 2.748309426229507 }, "prevControl": null, "nextControl": { - "x": 4.627254098360655, - "y": 2.2568135245901635 + "x": 4.699180327868851, + "y": 2.1728995901639334 }, "isLocked": false, "linkedName": null @@ -32,12 +32,12 @@ }, { "anchor": { - "x": 1.1508196721311474, - "y": 1.1299692622950817 + "x": 1.2227459016393443, + "y": 1.141956967213115 }, "prevControl": { - "x": 2.1498657381584616, - "y": 1.3782484974959424 + "x": 2.2217919676666584, + "y": 1.3902362024139756 }, "nextControl": null, "isLocked": false, diff --git a/src/main/deploy/pathplanner/paths/21 x 27.5.path b/src/main/deploy/pathplanner/paths/BlueBasChercher2.path similarity index 77% rename from src/main/deploy/pathplanner/paths/21 x 27.5.path rename to src/main/deploy/pathplanner/paths/BlueBasChercher2.path index ff69bf9..9216503 100644 --- a/src/main/deploy/pathplanner/paths/21 x 27.5.path +++ b/src/main/deploy/pathplanner/paths/BlueBasChercher2.path @@ -3,25 +3,25 @@ "waypoints": [ { "anchor": { - "x": 1.066905737704918, - "y": 1.058043032786885 + "x": 3.7761270491803276, + "y": 2.7602971311475404 }, "prevControl": null, "nextControl": { - "x": 2.4151156514267984, - "y": 3.2911993104946093 + "x": 3.152766393442623, + "y": 1.2138831967213104 }, "isLocked": false, "linkedName": null }, { "anchor": { - "x": 3.7641393442622952, - "y": 2.832223360655737 + "x": 1.1987704918032787, + "y": 1.153944672131147 }, "prevControl": { - "x": 2.7003578170234857, - "y": 1.9970799919720519 + "x": 2.049897540983607, + "y": 1.1899077868852443 }, "nextControl": null, "isLocked": false, @@ -42,13 +42,13 @@ }, "goalEndState": { "velocity": 0, - "rotation": 59.99999999999999 + "rotation": -125.00000000000001 }, "reversed": false, "folder": null, "idealStartingState": { "velocity": 0, - "rotation": -125.00000000000001 + "rotation": 59.99999999999999 }, "useDefaultConstraints": true } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/BlueBasPorter.path b/src/main/deploy/pathplanner/paths/BlueBasPorter.path new file mode 100644 index 0000000..8157caa --- /dev/null +++ b/src/main/deploy/pathplanner/paths/BlueBasPorter.path @@ -0,0 +1,54 @@ +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 1.1987704918032787, + "y": 1.153944672131147 + }, + "prevControl": null, + "nextControl": { + "x": 2.1697745901639345, + "y": 1.0820184426229504 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 3.788114754098361, + "y": 2.7722848360655736 + }, + "prevControl": { + "x": 3.5483606557377048, + "y": 1.1899077868852452 + }, + "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 +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/BlueMilieuChercher.path b/src/main/deploy/pathplanner/paths/BlueBasPorter2.path similarity index 75% rename from src/main/deploy/pathplanner/paths/BlueMilieuChercher.path rename to src/main/deploy/pathplanner/paths/BlueBasPorter2.path index 4c5fee3..1ae7e8c 100644 --- a/src/main/deploy/pathplanner/paths/BlueMilieuChercher.path +++ b/src/main/deploy/pathplanner/paths/BlueBasPorter2.path @@ -3,25 +3,25 @@ "waypoints": [ { "anchor": { - "x": 5.838012295081967, - "y": 3.983043032786885 + "x": 1.2107581967213117, + "y": 1.141956967213115 }, "prevControl": null, "nextControl": { - "x": 6.916905737704918, - "y": 2.304764344262295 + "x": 3.392520491803279, + "y": 1.7293545081967203 }, "isLocked": false, "linkedName": null }, { "anchor": { - "x": 1.1508196721311474, - "y": 1.1299692622950817 + "x": 2.9969262295081966, + "y": 4.019006147540983 }, "prevControl": { - "x": 2.125184035848923, - "y": 1.1165271593444053 + "x": 1.738217213114754, + "y": 3.5035348360655734 }, "nextControl": null, "isLocked": false, @@ -42,13 +42,13 @@ }, "goalEndState": { "velocity": 0, - "rotation": -125.00000000000001 + "rotation": 0.0 }, "reversed": false, "folder": null, "idealStartingState": { "velocity": 0, - "rotation": 180.0 + "rotation": -125.00000000000001 }, "useDefaultConstraints": true } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/BlueBasStart.path b/src/main/deploy/pathplanner/paths/BlueBasStart.path index e774cab..7ac4271 100644 --- a/src/main/deploy/pathplanner/paths/BlueBasStart.path +++ b/src/main/deploy/pathplanner/paths/BlueBasStart.path @@ -16,12 +16,12 @@ }, { "anchor": { - "x": 5.25061475409836, - "y": 2.820235655737705 + "x": 5.214651639344262, + "y": 2.7722848360655736 }, "prevControl": { - "x": 6.057528863906536, - "y": 2.075180182319969 + "x": 6.021565749152438, + "y": 2.0272293626478377 }, "nextControl": null, "isLocked": false, diff --git a/src/main/deploy/pathplanner/settings.json b/src/main/deploy/pathplanner/settings.json index 7d80073..e97c2f6 100644 --- a/src/main/deploy/pathplanner/settings.json +++ b/src/main/deploy/pathplanner/settings.json @@ -20,12 +20,12 @@ "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, + "frModuleX": 0.35, + "frModuleY": -0.267, + "blModuleX": -0.35, + "blModuleY": 0.267, + "brModuleX": -0.35, + "brModuleY": -0.267, "bumperOffsetX": 0.0, "bumperOffsetY": 0.0, "robotFeatures": []