mode auto

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

@@ -16,6 +16,50 @@
           "data": {
             "pathName": "1"
           }
+        },
+        {
+          "type": "deadline",
+          "data": {
+            "commands": [
+              {
+                "type": "wait",
+                "data": {
+                  "waitTime": 2.0
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "lancer"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "2"
+          }
+        },
+        {
+          "type": "deadline",
+          "data": {
+            "commands": [
+              {
+                "type": "wait",
+                "data": {
+                  "waitTime": 2.0
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "lancer"
+                }
+              }
+            ]
+          }
         }
       ]
     }

src/main/deploy/pathplanner/paths/2.path

@@ -0,0 +1,52 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 10.4,
+        "y": 5.2
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 9.705754985754986,
+        "y": 4.745773979107312
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 9.3,
+        "y": 4.0
+      },
+      "prevControl": {
+        "x": 9.936805143100598,
+        "y": 4.758914817072607
+      },
+      "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": 90.0,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": null,
+  "previewStartingState": {
+    "rotation": 90.60460638654384,
+    "velocity": 0
+  },
+  "useDefaultConstraints": true
+}

src/main/deploy/pathplanner/paths/3.path

@@ -0,0 +1,52 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 9.3,
+        "y": 4.0
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 9.993029439696107,
+        "y": 4.9296296296296305
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 10.0,
+        "y": 6.0
+      },
+      "prevControl": {
+        "x": 9.0,
+        "y": 6.0
+      },
+      "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": 89.62831416675282,
+    "velocity": 0
+  },
+  "useDefaultConstraints": true
+}