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

.pathplanner/settings.json

@@ -6,15 +6,19 @@
     "1",
     "2",
     "3",
+    "4",
+    "5",
     "7",
-    "4"
+    "6"
   ],
   "autoFolders": [
     "1",
     "2",
     "3",
+    "4",
+    "5",
     "7",
-    "4"
+    "6"
   ],
   "defaultMaxVel": 3.0,
   "defaultMaxAccel": 3.0,

src/main/deploy/pathplanner/autos/1.1.auto

@@ -0,0 +1,25 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 1.3,
+      "y": 5.55
+    },
+    "rotation": 180.0
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "1.1"
+          }
+        }
+      ]
+    }
+  },
+  "folder": "1",
+  "choreoAuto": false
+}

src/main/deploy/pathplanner/autos/2.1.auto

@@ -0,0 +1,25 @@
+{
+  "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"
+          }
+        }
+      ]
+    }
+  },
+  "folder": "2",
+  "choreoAuto": false
+}

src/main/deploy/pathplanner/autos/3.1.auto

@@ -0,0 +1,25 @@
+{
+  "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"
+          }
+        }
+      ]
+    }
+  },
+  "folder": "3",
+  "choreoAuto": false
+}

src/main/deploy/pathplanner/autos/4.1.auto

@@ -0,0 +1,25 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 15.2,
+      "y": 5.55
+    },
+    "rotation": 0
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "4.1"
+          }
+        }
+      ]
+    }
+  },
+  "folder": "4",
+  "choreoAuto": false
+}

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

@@ -2,15 +2,28 @@
   "version": 1.0,
   "startingPose": {
     "position": {
-      "x": 2,
+      "x": 15.2,
-      "y": 2
+      "y": 5.55
     },
     "rotation": 0
   },
   "command": {
     "type": "sequential",
     "data": {
-      "commands": []
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "4.1"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "4.2"
+          }
+        }
+      ]
     }
   },
   "folder": "4",

src/main/deploy/pathplanner/autos/5.1.auto

@@ -0,0 +1,25 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 15.85,
+      "y": 4.4
+    },
+    "rotation": 60.0
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "5.1"
+          }
+        }
+      ]
+    }
+  },
+  "folder": "5",
+  "choreoAuto": false
+}

src/main/deploy/pathplanner/autos/5.auto

@@ -0,0 +1,31 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 15.85,
+      "y": 4.4
+    },
+    "rotation": 60.0
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "5.1"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "5.2"
+          }
+        }
+      ]
+    }
+  },
+  "folder": "5",
+  "choreoAuto": false
+}

src/main/deploy/pathplanner/autos/6.auto

@@ -0,0 +1,31 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 15.8,
+      "y": 6.65
+    },
+    "rotation": -60.0
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "6.1"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "6.2"
+          }
+        }
+      ]
+    }
+  },
+  "folder": "6",
+  "choreoAuto": false
+}

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

@@ -3,41 +3,25 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 2.0,
+        "x": 15.2,
-        "y": 7.0
+        "y": 5.55
       },
       "prevControl": null,
       "nextControl": {
-        "x": 3.0,
+        "x": 15.2104492025505,
-        "y": 6.5
+        "y": 5.55
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 5.0,
+        "x": 14.0,
-        "y": 5.0
+        "y": 5.55
       },
       "prevControl": {
-        "x": 4.0,
+        "x": 13.969168557398792,
-        "y": 6.0
+        "y": 5.55
-      },
-      "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,

src/main/deploy/pathplanner/paths/4.2.path

@@ -0,0 +1,49 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 14.0,
+        "y": 5.55
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 15.118033988749895,
+        "y": 5.55
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 15.2,
+        "y": 5.55
+      },
+      "prevControl": {
+        "x": 15.192584874480913,
+        "y": 5.547612425391122
+      },
+      "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/5.1.path

@@ -0,0 +1,49 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 15.85,
+        "y": 4.4
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 15.85312975966851,
+        "y": 4.40542090276134
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 14.0,
+        "y": 4.1
+      },
+      "prevControl": {
+        "x": 13.990250241783144,
+        "y": 4.090250241783143
+      },
+      "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": "5",
+  "previewStartingState": null,
+  "useDefaultConstraints": false
+}

src/main/deploy/pathplanner/paths/5.2.path

@@ -0,0 +1,49 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 14.0,
+        "y": 4.1
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 14.002432289858724,
+        "y": 4.1
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 15.85,
+        "y": 4.4
+      },
+      "prevControl": {
+        "x": 15.82771353771501,
+        "y": 4.361398715001432
+      },
+      "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": 60.38412103232163,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": "5",
+  "previewStartingState": null,
+  "useDefaultConstraints": false
+}

src/main/deploy/pathplanner/paths/6.1.path

@@ -0,0 +1,49 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 15.8,
+        "y": 6.65
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 15.810493547475788,
+        "y": 6.65
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 14.0,
+        "y": 7.0
+      },
+      "prevControl": {
+        "x": 14.009749758216856,
+        "y": 6.990250241783143
+      },
+      "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": "6",
+  "previewStartingState": null,
+  "useDefaultConstraints": false
+}

src/main/deploy/pathplanner/paths/6.2.path

@@ -0,0 +1,49 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 14.0,
+        "y": 7.0
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 14.023088833925678,
+        "y": 7.0
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 15.8,
+        "y": 6.65
+      },
+      "prevControl": {
+        "x": 15.806819642142848,
+        "y": 6.668834620329574
+      },
+      "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": -58.20379119767198,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": "6",
+  "previewStartingState": null,
+  "useDefaultConstraints": false
+}

src/main/java/frc/robot/command/Lancer.java

@@ -0,0 +1,32 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.command;
+
+import edu.wpi.first.wpilibj2.command.Command;
+
+public class Lancer extends Command {
+  /** Creates a new Lanceur. */
+  public Lancer() {
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {}
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {}
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {}
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}