right liberal path

diff --git a/src/main/deploy/pathplanner/autos/RightLiberalDoubleSwipe.auto b/src/main/deploy/pathplanner/autos/RightLiberalDoubleSwipe.auto
new file mode 100644 (file)
index 0000000..f693f47
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/RightLiberalDoubleSwipe.auto
@@ -0,0 +1,127 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "Hood Down"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Extend Intake"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "BottomRight W5 Right Trench Start"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Spin Intake Rollers"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "BottomRight Swipe1"
+          }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 2.0
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Start Intake Seizure"
+          }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 2.5
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Stop Intake Seizure"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Extend Intake"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Stop Spindexer"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Reset Spindexer"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Hood Down"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "BottomRight Swipe2"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Stop Hood Down"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Start Spindexer"
+          }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 1.5
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Start Intake Seizure"
+          }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 0.5
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}
\ No newline at end of file

diff --git a/src/main/deploy/pathplanner/paths/BottomRight Swipe1.path b/src/main/deploy/pathplanner/paths/BottomRight Swipe1.path
new file mode 100644 (file)
index 0000000..87a2bd3
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/BottomRight Swipe1.path
@@ -0,0 +1 @@
+{"version":"2025.0","waypoints":[{"anchor":{"x":4.5,"y":0.4481350154264931},"prevControl":null,"nextControl":{"x":6.341153730575683,"y":0.7322587728145628},"isLocked":false,"linkedName":null},{"anchor":{"x":8.306299668874171,"y":1.037973350993377},"prevControl":{"x":8.155370348167532,"y":0.838673726931935},"nextControl":{"x":8.45722898958081,"y":1.2372729750548204},"isLocked":false,"linkedName":null},{"anchor":{"x":8.023162251655629,"y":2.402840900662252},"prevControl":{"x":8.618618682530846,"y":2.3403094870836636},"nextControl":{"x":7.627292843251787,"y":2.444412831733057},"isLocked":false,"linkedName":null},{"anchor":{"x":7.311688741721855,"y":1.7930064635761587},"prevControl":{"x":7.433678730378213,"y":2.073560779571798},"nextControl":{"x":7.0916784354147495,"y":1.2870236228706147},"isLocked":false,"linkedName":null},{"anchor":{"x":5.6124792408066435,"y":0.6633188825622768},"prevControl":{"x":5.877242530931041,"y":0.6902607421864038},"nextControl":{"x":4.284691670946883,"y":0.5282054901391217},"isLocked":false,"linkedName":null},{"anchor":{"x":4,"y":0.571325999999999},"prevControl":{"x":4.397534345753931,"y":0.5593155743422364},"nextControl":null,"isLocked":false,"linkedName":null}],"rotationTargets":[{"waypointRelativePos":1.15,"rotationDegrees":101.33234295737161},{"waypointRelativePos":3.0994671403197227,"rotationDegrees":74.10500133422103},{"waypointRelativePos":4.176755447941895,"rotationDegrees":0}],"constraintZones":[{"name":"Constraints Zone","minWaypointRelativePos":0.7761529808773961,"maxWaypointRelativePos":1.642294713160863,"constraints":{"maxVelocity":1,"maxAcceleration":2,"maxAngularVelocity":200,"maxAngularAcceleration":150,"nominalVoltage":12,"unlimited":false}}],"pointTowardsZones":[],"eventMarkers":[{"name":"Stop Hood Down","waypointRelativePos":4.968503937007888,"endWaypointRelativePos":null,"command":{"type":"named","data":{"name":"Stop Hood Down"}}},{"name":"Start Spindexer","waypointRelativePos":5,"endWaypointRelativePos":null,"command":{"type":"named","data":{"name":"Start Spindexer"}}}],"globalConstraints":{"maxVelocity":3,"maxAcceleration":2.5,"maxAngularVelocity":200,"maxAngularAcceleration":300,"nominalVoltage":12,"unlimited":false},"goalEndState":{"velocity":0,"rotation":0},"reversed":false,"folder":null,"idealStartingState":{"velocity":0.5,"rotation":0},"useDefaultConstraints":true}
\ No newline at end of file

diff --git a/src/main/deploy/pathplanner/paths/BottomRight Swipe2.path b/src/main/deploy/pathplanner/paths/BottomRight Swipe2.path
new file mode 100644 (file)
index 0000000..3b29520
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/BottomRight Swipe2.path
@@ -0,0 +1 @@
+{"version":"2025.0","waypoints":[{"anchor":{"x":4,"y":0.571325999999999},"prevControl":null,"nextControl":{"x":5.75,"y":0.571325999999999},"isLocked":false,"linkedName":null},{"anchor":{"x":6.0213285883748515,"y":1.7822749916963225},"prevControl":{"x":6.135976270876549,"y":0.7888687762451656},"nextControl":{"x":5.929276488101032,"y":2.5798936313577956},"isLocked":false,"linkedName":null},{"anchor":{"x":6.258030842230131,"y":3.6220970557532612},"prevControl":{"x":5.653713425517404,"y":3.451970845017417},"nextControl":{"x":6.687014708632405,"y":3.7428637218123386},"isLocked":false,"linkedName":null},{"anchor":{"x":6.892823250296561,"y":2.524659333333331},"prevControl":{"x":6.892823250296561,"y":3.163459002664002},"nextControl":{"x":6.892823250296561,"y":1.7959563069579454},"isLocked":false,"linkedName":null},{"anchor":{"x":6.258030842230131,"y":1.093686616844602},"prevControl":{"x":6.423269381273585,"y":1.281293187131427},"nextControl":{"x":6.092792303186677,"y":0.9060800465577786},"isLocked":false,"linkedName":null},{"anchor":{"x":4,"y":0.571325999999999},"prevControl":{"x":5.5,"y":0.571325999999999},"nextControl":null,"isLocked":false,"linkedName":null}],"rotationTargets":[{"waypointRelativePos":0.8312611012433355,"rotationDegrees":90},{"waypointRelativePos":1.2433392539964518,"rotationDegrees":90},{"waypointRelativePos":3.0373001776198882,"rotationDegrees":-90},{"waypointRelativePos":4.129662522202486,"rotationDegrees":0}],"constraintZones":[],"pointTowardsZones":[],"eventMarkers":[],"globalConstraints":{"maxVelocity":3,"maxAcceleration":2.5,"maxAngularVelocity":200,"maxAngularAcceleration":300,"nominalVoltage":12,"unlimited":false},"goalEndState":{"velocity":0,"rotation":0},"reversed":false,"folder":null,"idealStartingState":{"velocity":0,"rotation":0},"useDefaultConstraints":true}
\ No newline at end of file

diff --git a/src/main/deploy/pathplanner/paths/BottomRight W5 Right Trench Start.path b/src/main/deploy/pathplanner/paths/BottomRight W5 Right Trench Start.path
new file mode 100644 (file)
index 0000000..23574ec
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/BottomRight W5 Right Trench Start.path
@@ -0,0 +1 @@
+{"version":"2025.0","waypoints":[{"anchor":{"x":4.4,"y":0.4483259999999985},"prevControl":null,"nextControl":{"x":4.650000000000023,"y":0.4483259999999985},"isLocked":false,"linkedName":null},{"anchor":{"x":4.5,"y":0.4483259999999985},"prevControl":{"x":4.249999999999994,"y":0.4483259999999985},"nextControl":null,"isLocked":false,"linkedName":null}],"rotationTargets":[],"constraintZones":[],"pointTowardsZones":[],"eventMarkers":[],"globalConstraints":{"maxVelocity":3,"maxAcceleration":2.5,"maxAngularVelocity":200,"maxAngularAcceleration":300,"nominalVoltage":12,"unlimited":false},"goalEndState":{"velocity":3,"rotation":0},"reversed":false,"folder":null,"idealStartingState":{"velocity":0,"rotation":0},"useDefaultConstraints":true}
\ No newline at end of file