new week 2 auto

diff --git a/src/main/deploy/pathplanner/autos/Left Week 2.auto b/src/main/deploy/pathplanner/autos/Left Week 2.auto
new file mode 100644 (file)
index 0000000..7ffb8ca
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/Left Week 2.auto
@@ -0,0 +1,25 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Step 1 Left Near Scoop"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Step 2 Left Return to Alliance Zone"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}
\ No newline at end of file

diff --git a/src/main/deploy/pathplanner/paths/Step 1 Left Near Scoop.path b/src/main/deploy/pathplanner/paths/Step 1 Left Near Scoop.path
new file mode 100644 (file)
index 0000000..39411b3
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/Step 1 Left Near Scoop.path
@@ -0,0 +1,106 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 4.418208778173192,
+        "y": 7.666227758007118
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 5.446060605950143,
+        "y": 7.836540115984649
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 7.4307829181494665,
+        "y": 6.471957295373666
+      },
+      "prevControl": {
+        "x": 7.383924347134917,
+        "y": 6.717526581568976
+      },
+      "nextControl": {
+        "x": 7.726832024394402,
+        "y": 4.920468077387175
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 7.431,
+        "y": 4.578339264531436
+      },
+      "prevControl": {
+        "x": 7.352398493947435,
+        "y": 4.815661415301793
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 1.0,
+      "rotationDegrees": -90.0
+    }
+  ],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [
+    {
+      "name": "Hood Down",
+      "waypointRelativePos": 0,
+      "endWaypointRelativePos": null,
+      "command": null
+    },
+    {
+      "name": "Extend intake",
+      "waypointRelativePos": 0,
+      "endWaypointRelativePos": null,
+      "command": null
+    },
+    {
+      "name": "Spin Intake Rollers",
+      "waypointRelativePos": 0.2412241224122456,
+      "endWaypointRelativePos": null,
+      "command": null
+    },
+    {
+      "name": "Stop Hood Down",
+      "waypointRelativePos": 0.4248424842484219,
+      "endWaypointRelativePos": null,
+      "command": null
+    },
+    {
+      "name": "Start Spindexer",
+      "waypointRelativePos": 1.0189018901890188,
+      "endWaypointRelativePos": null,
+      "command": null
+    }
+  ],
+  "globalConstraints": {
+    "maxVelocity": 2.0,
+    "maxAcceleration": 2.0,
+    "maxAngularVelocity": 200.0,
+    "maxAngularAcceleration": 300.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": -90.18847227912985
+  },
+  "reversed": false,
+  "folder": "week 2 autos",
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "useDefaultConstraints": true
+}
\ No newline at end of file

diff --git a/src/main/deploy/pathplanner/paths/Step 2 Left Return to Alliance Zone.path b/src/main/deploy/pathplanner/paths/Step 2 Left Return to Alliance Zone.path
new file mode 100644 (file)
index 0000000..4d45ac3
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/Step 2 Left Return to Alliance Zone.path
@@ -0,0 +1,144 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 7.431,
+        "y": 4.578339264531436
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 8.448096652146784,
+        "y": 4.443817359049041
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 8.097852906287072,
+        "y": 7.268137603795967
+      },
+      "prevControl": {
+        "x": 8.388197983214178,
+        "y": 7.161046321759119
+      },
+      "nextControl": {
+        "x": 7.053810025345407,
+        "y": 7.653223832241156
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 1.8790391459074738,
+        "y": 7.526358244365362
+      },
+      "prevControl": {
+        "x": 1.6365321729512556,
+        "y": 7.465609844653007
+      },
+      "nextControl": {
+        "x": 2.121546118863692,
+        "y": 7.587106644077717
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 0.8031198102016615,
+        "y": 7.268137603795967
+      },
+      "prevControl": {
+        "x": 0.8752107543682976,
+        "y": 7.507517836415879
+      },
+      "nextControl": {
+        "x": 0.42411399378818265,
+        "y": 6.009636948184546
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 0.4588256227758012,
+        "y": 5.084021352313167
+      },
+      "prevControl": {
+        "x": 0.4889387492292675,
+        "y": 5.458299710277916
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 0.28486646884272737,
+      "rotationDegrees": 76.69826503940088
+    },
+    {
+      "waypointRelativePos": 0.9139465875370935,
+      "rotationDegrees": -179.23505781164891
+    },
+    {
+      "waypointRelativePos": 1.7744807121661785,
+      "rotationDegrees": 180.0
+    },
+    {
+      "waypointRelativePos": 2.86053412462906,
+      "rotationDegrees": -89.5033421886735
+    }
+  ],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [
+    {
+      "name": "Stop Spindexer",
+      "waypointRelativePos": 0.0,
+      "endWaypointRelativePos": null,
+      "command": null
+    },
+    {
+      "name": "Hood Down",
+      "waypointRelativePos": 1.1917191719171927,
+      "endWaypointRelativePos": null,
+      "command": null
+    },
+    {
+      "name": "Stop Hood Down",
+      "waypointRelativePos": 1.5697569756975704,
+      "endWaypointRelativePos": null,
+      "command": null
+    },
+    {
+      "name": "Start Spindexer",
+      "waypointRelativePos": 1.598559855985599,
+      "endWaypointRelativePos": null,
+      "command": null
+    }
+  ],
+  "globalConstraints": {
+    "maxVelocity": 2.0,
+    "maxAcceleration": 2.0,
+    "maxAngularVelocity": 200.0,
+    "maxAngularAcceleration": 300.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": -90.37860096211433
+  },
+  "reversed": false,
+  "folder": "week 2 autos",
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": -90.0
+  },
+  "useDefaultConstraints": true
+}
\ No newline at end of file

diff --git a/src/main/deploy/pathplanner/settings.json b/src/main/deploy/pathplanner/settings.json
index 4eb087b011d2418f6a6de1094a9d5f2cd3c5fd33..7e11e48eaa008c5f9d68056311a32527e96ec72f 100644 (file)
--- a/src/main/deploy/pathplanner/settings.json
+++ b/src/main/deploy/pathplanner/settings.json
@@ -4,9 +4,10 @@
   "holonomicMode": true,
   "pathFolders": [
     "Center Autos",
+    "Field Testing Autos",
     "Left Autos",
     "Miscellaneous",
-    "Field Testing Autos",
+    "week 2 autos",
     "Right Autos"
   ],
   "autoFolders": [],

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 542a5b6939588a4b1a56893bb1a0fdb7ac325e04..5f5005343fc89d3e3738a0b268d90b7e31b95763 100644 (file)
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -141,7 +141,7 @@ public class RobotContainer {
         PathGroupLoader.loadPathGroups();
         // Load the auto command
         try {
-          String leftSideAuto = "Left(No SOTM) - Under Trench";
+          String leftSideAuto = "Left Week 2";
           // String rightSideAuto = "Right(2) - Under Trench";
           // String testing = "Straight Test";
           PathPlannerAuto.getPathGroupFromAutoFile(leftSideAuto);
@@ -225,6 +225,8 @@ public class RobotContainer {
     if (turret != null && drive != null && hood != null && shooter != null && spindexer != null){
       Command runSpindexer = new RunSpindexer(spindexer, turret);
       NamedCommands.registerCommand("Auto shoot", new AutoShootCommand(turret, drive, hood, shooter, spindexer));
+      NamedCommands.registerCommand("Auto shoot", new AutoShootCommand(turret, drive, hood, shooter, spindexer));
+
       NamedCommands.registerCommand("Start Spindexer", new InstantCommand(() -> runSpindexer.schedule()));
       NamedCommands.registerCommand("Stop Spindexer", new InstantCommand(() -> runSpindexer.cancel()));
     }