added do nothing paths, corrected default to be just shoot...

diff --git a/src/main/deploy/pathplanner/autos/Center Do Nothing.auto b/src/main/deploy/pathplanner/autos/Center Do Nothing.auto
new file mode 100644 (file)
index 0000000..58b2d1b
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/Center Do Nothing.auto
@@ -0,0 +1,49 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "Hood Down"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Stop Spindexer"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Center Drop Back Path"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Stop Hood Down"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Extend Intake"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Start Spindexer"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}
\ No newline at end of file

diff --git a/src/main/deploy/pathplanner/autos/Left Do Nothing.auto b/src/main/deploy/pathplanner/autos/Left Do Nothing.auto
new file mode 100644 (file)
index 0000000..34ae3f2
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/Left Do Nothing.auto
@@ -0,0 +1,49 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "Hood Down"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Stop Spindexer"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Left Drop Back Path"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Stop Hood Down"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Extend Intake"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Start Spindexer"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}
\ No newline at end of file

diff --git a/src/main/deploy/pathplanner/autos/LeftSwipeOne.auto b/src/main/deploy/pathplanner/autos/LeftSwipeOne.auto
new file mode 100644 (file)
index 0000000..d7d2d62
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/LeftSwipeOne.auto
@@ -0,0 +1,19 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Left Swipe1"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}
\ No newline at end of file

diff --git a/src/main/deploy/pathplanner/autos/LeftSwipeTwo.auto b/src/main/deploy/pathplanner/autos/LeftSwipeTwo.auto
new file mode 100644 (file)
index 0000000..ef19e46
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/LeftSwipeTwo.auto
@@ -0,0 +1,19 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Left Swipe2"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}
\ No newline at end of file

diff --git a/src/main/deploy/pathplanner/autos/New Auto.auto b/src/main/deploy/pathplanner/autos/New Auto.auto
new file mode 100644 (file)
index 0000000..d4dfd7b
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/New Auto.auto
@@ -0,0 +1,25 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "Stop Hood Down"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": null
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}
\ No newline at end of file

diff --git a/src/main/deploy/pathplanner/autos/Right Do Nothing.auto b/src/main/deploy/pathplanner/autos/Right Do Nothing.auto
new file mode 100644 (file)
index 0000000..e04cc7b
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/Right Do Nothing.auto
@@ -0,0 +1,49 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "Hood Down"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Stop Spindexer"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Right Drop Back Path"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Stop Hood Down"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Extend Intake"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Start Spindexer"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}
\ No newline at end of file

diff --git a/src/main/deploy/pathplanner/autos/RightSwipeOne.auto b/src/main/deploy/pathplanner/autos/RightSwipeOne.auto
new file mode 100644 (file)
index 0000000..a916cb5
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/RightSwipeOne.auto
@@ -0,0 +1,19 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Right Swipe1"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}
\ No newline at end of file

diff --git a/src/main/deploy/pathplanner/autos/RightSwipeTwo.auto b/src/main/deploy/pathplanner/autos/RightSwipeTwo.auto
new file mode 100644 (file)
index 0000000..623b9d7
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/RightSwipeTwo.auto
@@ -0,0 +1,19 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Right Swipe2"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}
\ No newline at end of file

diff --git a/src/main/deploy/pathplanner/paths/Center Drop Back Path.path b/src/main/deploy/pathplanner/paths/Center Drop Back Path.path
new file mode 100644 (file)
index 0000000..57966e8
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/Center Drop Back Path.path
@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 3.543,
+        "y": 4.217
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 2.044649240494815,
+        "y": 4.241017071760963
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 2.2,
+        "y": 4.217
+      },
+      "prevControl": {
+        "x": 2.5070000000000006,
+        "y": 4.217
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 2.5,
+    "maxAngularVelocity": 200.0,
+    "maxAngularAcceleration": 300.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "useDefaultConstraints": true
+}
\ No newline at end of file

diff --git a/src/main/deploy/pathplanner/paths/ConservativeSwipe1.path b/src/main/deploy/pathplanner/paths/ConservativeSwipe1.path
index aa33568d1cc75086a5b1add37eedb67c24bca706..879db6538a57f013d0d830c9f1af93284d193313 100644 (file)
--- a/src/main/deploy/pathplanner/paths/ConservativeSwipe1.path
+++ b/src/main/deploy/pathplanner/paths/ConservativeSwipe1.path
@@ -4,12 +4,12 @@
     {
       "anchor": {
         "x": 4.5,
-        "y": 7.623190984573506
+        "y": 7.623
       },
       "prevControl": null,
       "nextControl": {
         "x": 6.819805487632309,
-        "y": 6.775820794389796
+        "y": 6.77562980981629
       },
       "isLocked": false,
       "linkedName": null

diff --git a/src/main/deploy/pathplanner/paths/Left Drop Back Path.path b/src/main/deploy/pathplanner/paths/Left Drop Back Path.path
new file mode 100644 (file)
index 0000000..bfb58a6
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/Left Drop Back Path.path
@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 4.5,
+        "y": 7.623
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 3.001456767975733,
+        "y": 7.623
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 3.2,
+        "y": 7.623
+      },
+      "prevControl": {
+        "x": 3.5070000000000006,
+        "y": 7.623
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 2.5,
+    "maxAngularVelocity": 200.0,
+    "maxAngularAcceleration": 300.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "useDefaultConstraints": true
+}
\ No newline at end of file

diff --git a/src/main/deploy/pathplanner/paths/Right Drop Back Path.path b/src/main/deploy/pathplanner/paths/Right Drop Back Path.path
new file mode 100644 (file)
index 0000000..b95982e
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/Right Drop Back Path.path
@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 4.5,
+        "y": 0.448
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 3.001456767975733,
+        "y": 0.4480000000000002
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 3.2,
+        "y": 0.448
+      },
+      "prevControl": {
+        "x": 3.506999999999998,
+        "y": 0.44799999999999995
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 2.5,
+    "maxAngularVelocity": 200.0,
+    "maxAngularAcceleration": 300.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "useDefaultConstraints": true
+}
\ No newline at end of file

diff --git a/src/main/deploy/pathplanner/paths/Right Swipe1.path b/src/main/deploy/pathplanner/paths/Right Swipe1.path
index 841e744941dd6e8c5cd4670c7da33e1323068752..3bd63f691bb3f9839b20808a755cf6d85384c441 100644 (file)
--- a/src/main/deploy/pathplanner/paths/Right Swipe1.path
+++ b/src/main/deploy/pathplanner/paths/Right Swipe1.path
@@ -4,12 +4,12 @@
     {
       "anchor": {
         "x": 4.5,
-        "y": 0.4481350154264931
+        "y": 0.448
       },
       "prevControl": null,
       "nextControl": {
         "x": 6.341153730575683,
-        "y": 0.7322587728145628
+        "y": 0.7321237573880697
       },
       "isLocked": false,
       "linkedName": null
@@ -21,7 +21,7 @@
       },
       "prevControl": {
         "x": 8.155370348167532,
-        "y": 0.8386737269319346
+        "y": 0.8386737269319345
       },
       "nextControl": {
         "x": 8.45722898958081,

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 6e531411e6730772e6be48b4fc28d6f05c52e9f8..15c3fecc54d2ccdb9b2c726a3288fb4b4d3f7bfc 100644 (file)
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -20,6 +20,7 @@ import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
 import edu.wpi.first.wpilibj2.command.InstantCommand;
+import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
 import frc.robot.commands.LogCommand;
 import frc.robot.commands.drive_comm.DefaultDriveCommand;
 import frc.robot.commands.gpm.AutoShootCommand;
@@ -288,7 +289,6 @@ public class RobotContainer {
    */
   public void autoChooserInit() {
     // add the options to the Chooser
-    String defaultAuto = "Trial Auto Path";
     String leftSideAuto = "Left Week V1";
     String rightSideAuto = "Right Week V1";
     String shootOnlyAuto = "Shoot Only Left Week V1";
@@ -296,8 +296,11 @@ public class RobotContainer {
     String rightLiberalSwipe = "RightLiberalDoubleSwipe";
     String leftLiberalSwipeTranslation = "LeftLiberalDoubleSwipeTranslation";
     String leftConservativeSwipe = "LeftConservativeDoubleSwipe";
+    String leftDoNothing = "Left Do Nothing";
+    String rightDoNothing = "Right Do Nothing";
+    String centerDoNothing = "Center Do Nothing";
 
-    autoChooser.setDefaultOption("Default", new PathPlannerAuto(defaultAuto));
+    autoChooser.setDefaultOption("Default", getDefaultAuto());
     addAuto(leftSideAuto);
     addAuto(rightSideAuto);
     addAuto(shootOnlyAuto);
@@ -305,7 +308,9 @@ public class RobotContainer {
     addAuto(leftLiberalSwipe);
     addAuto(rightLiberalSwipe);
     addAuto(leftLiberalSwipeTranslation);
-
+    addAuto(leftDoNothing);
+    addAuto(rightDoNothing);
+    addAuto(centerDoNothing);
 
     // put the Chooser on the SmartDashboard
     SmartDashboard.putData("Auto chooser", autoChooser);
@@ -334,6 +339,13 @@ public class RobotContainer {
     }
   }
 
+  public Command getDefaultAuto() {
+    ParallelCommandGroup defaultShoot = new ParallelCommandGroup(
+      new RunSpindexer(spindexer, turret, hood, intake)
+    );
+    return defaultShoot;
+  }
+
   public Command getAutoCommand() {
     return autoChooser.getSelected();
   }