pathplanner

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
+}

src/main/deploy/pathplanner/paths/BlueBasChercher.path

@@ -3,13 +3,13 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 5.154713114754099,
+        "x": 5.226639344262295,
-        "y": 2.832223360655737
+        "y": 2.748309426229507
       },
       "prevControl": null,
       "nextControl": {
-        "x": 4.627254098360655,
+        "x": 4.699180327868851,
-        "y": 2.2568135245901635
+        "y": 2.1728995901639334
       },
       "isLocked": false,
       "linkedName": null
@@ -32,12 +32,12 @@
     },
     {
       "anchor": {
-        "x": 1.1508196721311474,
+        "x": 1.2227459016393443,
-        "y": 1.1299692622950817
+        "y": 1.141956967213115
       },
       "prevControl": {
-        "x": 2.1498657381584616,
+        "x": 2.2217919676666584,
-        "y": 1.3782484974959424
+        "y": 1.3902362024139756
       },
       "nextControl": null,
       "isLocked": false,

src/main/deploy/pathplanner/paths/BlueBasChercher2.path

@@ -3,25 +3,25 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 1.066905737704918,
+        "x": 3.7761270491803276,
-        "y": 1.058043032786885
+        "y": 2.7602971311475404
       },
       "prevControl": null,
       "nextControl": {
-        "x": 2.4151156514267984,
+        "x": 3.152766393442623,
-        "y": 3.2911993104946093
+        "y": 1.2138831967213104
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 3.7641393442622952,
+        "x": 1.1987704918032787,
-        "y": 2.832223360655737
+        "y": 1.153944672131147
       },
       "prevControl": {
-        "x": 2.7003578170234857,
+        "x": 2.049897540983607,
-        "y": 1.9970799919720519
+        "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
 }

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
+}

src/main/deploy/pathplanner/paths/BlueBasPorter2.path

@@ -3,25 +3,25 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 5.838012295081967,
+        "x": 1.2107581967213117,
-        "y": 3.983043032786885
+        "y": 1.141956967213115
       },
       "prevControl": null,
       "nextControl": {
-        "x": 6.916905737704918,
+        "x": 3.392520491803279,
-        "y": 2.304764344262295
+        "y": 1.7293545081967203
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 1.1508196721311474,
+        "x": 2.9969262295081966,
-        "y": 1.1299692622950817
+        "y": 4.019006147540983
       },
       "prevControl": {
-        "x": 2.125184035848923,
+        "x": 1.738217213114754,
-        "y": 1.1165271593444053
+        "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
 }

src/main/deploy/pathplanner/paths/BlueBasStart.path

@@ -16,12 +16,12 @@
     },
     {
       "anchor": {
-        "x": 5.25061475409836,
+        "x": 5.214651639344262,
-        "y": 2.820235655737705
+        "y": 2.7722848360655736
       },
       "prevControl": {
-        "x": 6.057528863906536,
+        "x": 6.021565749152438,
-        "y": 2.075180182319969
+        "y": 2.0272293626478377
       },
       "nextControl": null,
       "isLocked": false,

src/main/deploy/pathplanner/settings.json

@@ -20,12 +20,12 @@
   "wheelCOF": 1.2,
   "flModuleX": 0.35,
   "flModuleY": 0.267,
-  "frModuleX": 0.273,
+  "frModuleX": 0.35,
-  "frModuleY": -0.273,
+  "frModuleY": -0.267,
-  "blModuleX": -0.273,
+  "blModuleX": -0.35,
-  "blModuleY": 0.273,
+  "blModuleY": 0.267,
-  "brModuleX": -0.273,
+  "brModuleX": -0.35,
-  "brModuleY": -0.273,
+  "brModuleY": -0.267,
   "bumperOffsetX": 0.0,
   "bumperOffsetY": 0.0,
   "robotFeatures": []