mode auto

src/main/deploy/pathplanner/autos/mode 1.auto

@@ -0,0 +1,25 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 5.76,
+      "y": 3.93
+    },
+    "rotation": 0
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "1"
+          }
+        }
+      ]
+    }
+  },
+  "folder": null,
+  "choreoAuto": false
+}

src/main/deploy/pathplanner/paths/1.path

@@ -0,0 +1,137 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 5.76,
+        "y": 3.93
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 5.801431310952625,
+        "y": 3.93
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
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+        "y": 3.2979107312440648
+      },
+      "prevControl": {
+        "x": 6.660542519857817,
+        "y": 3.2979107312440648
+      },
+      "nextControl": {
+        "x": 7.948552157357058,
+        "y": 3.2979107312440648
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 8.005090218423552,
+        "y": 4.1022792022792025
+      },
+      "prevControl": {
+        "x": 7.89972103271822,
+        "y": 3.7203159040973657
+      },
+      "nextControl": {
+        "x": 8.09701804368471,
+        "y": 4.435517568850902
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 8.774985754985755,
+        "y": 4.9411206077872745
+      },
+      "prevControl": {
+        "x": 8.087653449552494,
+        "y": 5.261875683656129
+      },
+      "nextControl": {
+        "x": 9.292079772079772,
+        "y": 4.699810066476734
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 10.41,
+        "y": 3.07
+      },
+      "prevControl": {
+        "x": 9.74022792022792,
+        "y": 2.8152896486229815
+      },
+      "nextControl": {
+        "x": 10.747612735931797,
+        "y": 3.19839212203024
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 10.4,
+        "y": 5.2
+      },
+      "prevControl": {
+        "x": 10.388509021842355,
+        "y": 5.2
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 1,
+      "rotationDegrees": 0.0,
+      "rotateFast": false
+    },
+    {
+      "waypointRelativePos": 2,
+      "rotationDegrees": 76.0,
+      "rotateFast": false
+    },
+    {
+      "waypointRelativePos": 3,
+      "rotationDegrees": 90.0,
+      "rotateFast": false
+    },
+    {
+      "waypointRelativePos": 4,
+      "rotationDegrees": 90.0,
+      "rotateFast": false
+    }
+  ],
+  "constraintZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 90.55,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": null,
+  "previewStartingState": {
+    "rotation": 0,
+    "velocity": 0
+  },
+  "useDefaultConstraints": true
+}

src/main/deploy/pathplanner/paths/New Path.path

@@ -1,68 +0,0 @@
-{
-  "version": 1.0,
-  "waypoints": [
-    {
-      "anchor": {
-        "x": 5.764349477682812,
-        "y": 3.9299145299145297
-      },
-      "prevControl": null,
-      "nextControl": {
-        "x": 6.764349477682812,
-        "y": 3.9299145299145297
-      },
-      "isLocked": false,
-      "linkedName": null
-    },
-    {
-      "anchor": {
-        "x": 8.039563152896486,
-        "y": 4.872174738841406
-      },
-      "prevControl": {
-        "x": 7.039563152896486,
-        "y": 4.872174738841406
-      },
-      "nextControl": {
-        "x": 9.039563152896486,
-        "y": 4.872174738841406
-      },
-      "isLocked": false,
-      "linkedName": null
-    },
-    {
-      "anchor": {
-        "x": 8.36131054131054,
-        "y": 6.009781576448243
-      },
-      "prevControl": {
-        "x": 9.056657169990501,
-        "y": 6.61880341880342
-      },
-      "nextControl": null,
-      "isLocked": false,
-      "linkedName": null
-    }
-  ],
-  "rotationTargets": [],
-  "constraintZones": [],
-  "eventMarkers": [],
-  "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
-    "maxAngularVelocity": 540.0,
-    "maxAngularAcceleration": 720.0
-  },
-  "goalEndState": {
-    "velocity": 0,
-    "rotation": 0,
-    "rotateFast": false
-  },
-  "reversed": false,
-  "folder": null,
-  "previewStartingState": {
-    "rotation": 0,
-    "velocity": 0
-  },
-  "useDefaultConstraints": true
-}