Merge branch 'main' of https://git.demerso.net/pls5618/2024/robot

.pathplanner/settings.json

@@ -3,10 +3,18 @@
   "robotLength": 0.9,
   "holonomicMode": true,
   "pathFolders": [
-    "1"
+    "1",
+    "2",
+    "3",
+    "7",
+    "4"
   ],
   "autoFolders": [
-    "1"
+    "1",
+    "2",
+    "3",
+    "7",
+    "4"
   ],
   "defaultMaxVel": 3.0,
   "defaultMaxAccel": 3.0,

src/main/deploy/pathplanner/autos/2.auto

@@ -0,0 +1,31 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 0.7,
+      "y": 4.4
+    },
+    "rotation": 120.0
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "2.1"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "2.2"
+          }
+        }
+      ]
+    }
+  },
+  "folder": "2",
+  "choreoAuto": false
+}

src/main/deploy/pathplanner/autos/3.auto

@@ -0,0 +1,31 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 0.7,
+      "y": 6.7
+    },
+    "rotation": -120.0
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "3.1"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "3.2"
+          }
+        }
+      ]
+    }
+  },
+  "folder": "3",
+  "choreoAuto": false
+}

src/main/deploy/pathplanner/autos/4.auto

@@ -0,0 +1,18 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 2,
+      "y": 2
+    },
+    "rotation": 0
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": []
+    }
+  },
+  "folder": "4",
+  "choreoAuto": false
+}

src/main/deploy/pathplanner/autos/7.auto

@@ -0,0 +1,25 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 1.35,
+      "y": 3.0
+    },
+    "rotation": 0
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "7"
+          }
+        }
+      ]
+    }
+  },
+  "folder": "7",
+  "choreoAuto": false
+}

src/main/deploy/pathplanner/paths/2.1.path

@@ -0,0 +1,49 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 0.7,
+        "y": 4.4
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 0.6894957404489546,
+        "y": 4.418193911238301
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 2.65,
+        "y": 4.1
+      },
+      "prevControl": {
+        "x": 2.6158093583592366,
+        "y": 4.1
+      },
+      "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": -179.40693596496888,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": "2",
+  "previewStartingState": null,
+  "useDefaultConstraints": false
+}

src/main/deploy/pathplanner/paths/2.2.path

@@ -0,0 +1,49 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 2.65,
+        "y": 4.1
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 2.6706170787257038,
+        "y": 4.1
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 0.7,
+        "y": 4.4
+      },
+      "prevControl": {
+        "x": 0.7125895024720742,
+        "y": 4.378194342076354
+      },
+      "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": 121.31253418670846,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": "2",
+  "previewStartingState": null,
+  "useDefaultConstraints": false
+}

src/main/deploy/pathplanner/paths/3.1.path

@@ -0,0 +1,49 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 0.7,
+        "y": 6.7
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 0.6993965107276529,
+        "y": 6.6989547259184725
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 2.7,
+        "y": 7.0
+      },
+      "prevControl": {
+        "x": 2.6949379619996434,
+        "y": 7.0
+      },
+      "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": 179.97207043158542,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": "3",
+  "previewStartingState": null,
+  "useDefaultConstraints": false
+}

src/main/deploy/pathplanner/paths/3.2.path

@@ -0,0 +1,49 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 2.7,
+        "y": 7.0
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 2.710911765291465,
+        "y": 6.990576641485824
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 0.7,
+        "y": 6.7
+      },
+      "prevControl": {
+        "x": 0.7125383894358018,
+        "y": 6.713974263386468
+      },
+      "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": -120.9841650982781,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": "3",
+  "previewStartingState": null,
+  "useDefaultConstraints": false
+}

src/main/deploy/pathplanner/paths/4.1.path

@@ -0,0 +1,65 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 2.0,
+        "y": 7.0
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 3.0,
+        "y": 6.5
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 5.0,
+        "y": 5.0
+      },
+      "prevControl": {
+        "x": 4.0,
+        "y": 6.0
+      },
+      "nextControl": {
+        "x": 6.0,
+        "y": 4.0
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 7.0,
+        "y": 1.0
+      },
+      "prevControl": {
+        "x": 6.75,
+        "y": 2.5
+      },
+      "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": "4",
+  "previewStartingState": null,
+  "useDefaultConstraints": false
+}

src/main/deploy/pathplanner/paths/7.path

@@ -0,0 +1,49 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 1.35,
+        "y": 3.0
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 1.3576779647621067,
+        "y": 2.993175772574823
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 3.2198817841816214,
+        "y": 3.0
+      },
+      "prevControl": {
+        "x": 3.20038226774791,
+        "y": 3.019499516433713
+      },
+      "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": "7",
+  "previewStartingState": null,
+  "useDefaultConstraints": false
+}