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This commit is contained in:
Antoine PerreaultE
2025-02-17 18:33:49 -05:00
parent be9f3856f7
commit d692bab745
13 changed files with 322 additions and 52 deletions
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126
src/main/deploy/pathplanner/autos/BlueBas3 sans composantes.auto Normal file
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@ -0,0 +1,126 @@
{
"version": "2025.0",
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "parallel",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "BlueBasStart"
}
},
{
"type": "named",
"data": {
"name": "AprilTag"
}
}
]
}
},
{
"type": "wait",
"data": {
"waitTime": 1.0
}
},
{
"type": "parallel",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "BlueBasChercher"
}
},
{
"type": "named",
"data": {
"name": "AprilTag"
}
}
]
}
},
{
"type": "parallel",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "AprilTag"
}
},
{
"type": "path",
"data": {
"pathName": "BlueBasPorter"
}
}
]
}
},
{
"type": "wait",
"data": {
"waitTime": 1.0
}
},
{
"type": "parallel",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "BlueBasChercher2"
}
},
{
"type": "sequential",
"data": {
"commands": []
}
},
{
"type": "named",
"data": {
"name": "AprilTag"
}
}
]
}
},
{
"type": "parallel",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "BlueBasPorter2"
}
},
{
"type": "named",
"data": {
"name": "AprilTag"
}
}
]
}
}
]
}
},
"resetOdom": true,
"folder": null,
"choreoAuto": false
}

19
src/main/deploy/pathplanner/autos/New Auto.auto Normal file
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@ -0,0 +1,19 @@
{
"version": "2025.0",
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "New Path"
}
}
]
}
},
"resetOdom": true,
"folder": null,
"choreoAuto": false
}

6
src/main/deploy/pathplanner/autos/Sortir.auto
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@ -4,6 +4,12 @@
"type": "sequential",
"data": {
"commands": [
{
"type": "wait",
"data": {
"waitTime": 3.0
}
},
{
"type": "path",
"data": {

2
src/main/deploy/pathplanner/navgrid.json
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File diff suppressed because one or more lines are too long

54
src/main/deploy/pathplanner/paths/New Path.path Normal file
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@ -0,0 +1,54 @@
{
"version": "2025.0",
"waypoints": [
{
"anchor": {
"x": 1.8820696721311476,
"y": 6.0
},
"prevControl": null,
"nextControl": {
"x": 1.8706512438743716,
"y": 5.690872003047288
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 1.8820696721311476,
"y": 3.1279999999999997
},
"prevControl": {
"x": 1.8863317961339294,
"y": 3.3779636659576444
},
"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": 0.0,
"rotation": 0.0
},
"reversed": false,
"folder": null,
"idealStartingState": {
"velocity": 0,
"rotation": 0.0
},
"useDefaultConstraints": false
}

22
src/main/deploy/pathplanner/paths/Sortir.path
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@ -8,20 +8,20 @@
},
"prevControl": null,
"nextControl": {
"x": 7.084733606557376,
"y": 6.488473360655737
"x": 7.119564732833961,
"y": 6.478684258786044
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 5.849999999999999,
"y": 6.464497950819672
"x": 5.838012295081967,
"y": 7.189754098360656
},
"prevControl": {
"x": 6.32950819672131,
"y": 6.464497950819672
"x": 6.656071206876743,
"y": 7.180867730637985
},
"nextControl": null,
"isLocked": false,
@ -33,10 +33,10 @@
"pointTowardsZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 3.0,
"maxAcceleration": 3.0,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0,
"maxVelocity": 0.1,
"maxAcceleration": 0.1,
"maxAngularVelocity": 50.0,
"maxAngularAcceleration": 100.0,
"nominalVoltage": 12.0,
"unlimited": false
},
@ -50,5 +50,5 @@
"velocity": 0,
"rotation": 180.0
},
"useDefaultConstraints": true
"useDefaultConstraints": false
}

2
src/main/deploy/pathplanner/settings.json
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@ -14,7 +14,7 @@
"robotTrackwidth": 0.546,
"driveWheelRadius": 0.048,
"driveGearing": 5.143,
"maxDriveSpeed": 5.45,
"maxDriveSpeed": 5.0,
"driveMotorType": "krakenX60",
"driveCurrentLimit": 60.0,
"wheelCOF": 1.2,