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Pathplanner sans le drivetrain

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This commit is contained in:
Antoine PerreaultE
2026-03-09 20:29:08 -04:00
parent 404afdbef5
commit 8dfcd65405
26 changed files with 1183 additions and 17 deletions
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89
src/main/deploy/pathplanner/paths/ChercherMilieuGaucheProche.path Normal file
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{
"version": "2025.0",
"waypoints": [
{
"anchor": {
"x": 4.064935805991441,
"y": 7.392582025677603
},
"prevControl": null,
"nextControl": {
"x": 5.617574893009986,
"y": 7.314950071326676
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 5.915164051355206,
"y": 6.758587731811698
},
"prevControl": {
"x": 5.915164051355206,
"y": 7.511554213476935
},
"nextControl": {
"x": 5.915164051355206,
"y": 5.995206847360913
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 5.8,
"y": 4.688402282453637
},
"prevControl": {
"x": 5.828352075543914,
"y": 5.807712722058167
},
"nextControl": null,
"isLocked": false,
"linkedName": null
}
],
"rotationTargets": [
{
"waypointRelativePos": 0.7420042643923158,
"rotationDegrees": -90.0
}
],
"constraintZones": [
{
"name": "Constraints Zone",
"minWaypointRelativePos": 0.0,
"maxWaypointRelativePos": 0.8426738690074239,
"constraints": {
"maxVelocity": 1.0,
"maxAcceleration": 3.0,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0,
"nominalVoltage": 12.0,
"unlimited": false
}
}
],
"pointTowardsZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 3.0,
"maxAcceleration": 3.0,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0,
"nominalVoltage": 12.0,
"unlimited": false
},
"goalEndState": {
"velocity": 0,
"rotation": -90.0
},
"reversed": false,
"folder": "Milieu",
"idealStartingState": {
"velocity": 0,
"rotation": -90.0
},
"useDefaultConstraints": true
}