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pathplanner

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This commit is contained in:
samuel desharnais 2025-01-29 19:23:28 -05:00
parent 4b0262fa4d
commit 773e3b2244
7 changed files with 225 additions and 38 deletions
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133
src/main/deploy/pathplanner/autos/New Auto.auto Normal file
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@ -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
}

16
src/main/deploy/pathplanner/paths/BlueBasChercher.path
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@ -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,

20
src/main/deploy/pathplanner/paths/21 x 27.5.path → src/main/deploy/pathplanner/paths/BlueBasChercher2.path
View File

@ -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
}

54
src/main/deploy/pathplanner/paths/BlueBasPorter.path Normal file
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@ -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
}

20
src/main/deploy/pathplanner/paths/BlueMilieuChercher.path → src/main/deploy/pathplanner/paths/BlueBasPorter2.path
View File

@ -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
}

8
src/main/deploy/pathplanner/paths/BlueBasStart.path
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@ -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,

12
src/main/deploy/pathplanner/settings.json
View File

@ -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": []