AutoTuning

diff --git a/src/main/deploy/pathplanner/autos/Double Swipe.auto b/src/main/deploy/pathplanner/autos/Double Swipe.auto
deleted file mode 100644 (file)
index 94d3ec7..0000000
--- a/src/main/deploy/pathplanner/autos/Double Swipe.auto
+++ /dev/null
@@ -1,25 +0,0 @@
-{
-  "version": "2025.0",
-  "command": {
-    "type": "sequential",
-    "data": {
-      "commands": [
-        {
-          "type": "path",
-          "data": {
-            "pathName": "Swipe 1"
-          }
-        },
-        {
-          "type": "path",
-          "data": {
-            "pathName": "Swipe 2"
-          }
-        }
-      ]
-    }
-  },
-  "resetOdom": true,
-  "folder": null,
-  "choreoAuto": false
-}
\ No newline at end of file

diff --git a/src/main/deploy/pathplanner/autos/DoubleSwipe.auto b/src/main/deploy/pathplanner/autos/DoubleSwipe.auto
new file mode 100644 (file)
index 0000000..3738c9e
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/DoubleSwipe.auto
@@ -0,0 +1,67 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "Hood Down"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Extend Intake"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "W5 Left Trench Start"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Spin Intake Rollers"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "W5 Full Left Path v3"
+          }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 3.0
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Stop Spindexer"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Hood Down"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Swipe2"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}
\ No newline at end of file

diff --git a/src/main/deploy/pathplanner/autos/Jame's Square path.auto b/src/main/deploy/pathplanner/autos/Jame's Square path.auto
deleted file mode 100644 (file)
index 47e02c3..0000000
--- a/src/main/deploy/pathplanner/autos/Jame's Square path.auto
+++ /dev/null
@@ -1,19 +0,0 @@
-{
-  "version": "2025.0",
-  "command": {
-    "type": "sequential",
-    "data": {
-      "commands": [
-        {
-          "type": "path",
-          "data": {
-            "pathName": "Jame's Square path"
-          }
-        }
-      ]
-    }
-  },
-  "resetOdom": true,
-  "folder": "Week 2 autos",
-  "choreoAuto": false
-}
\ No newline at end of file

diff --git a/src/main/deploy/pathplanner/autos/Left 1 Run (SHIFTED).auto b/src/main/deploy/pathplanner/autos/Left 1 Run (SHIFTED).auto
deleted file mode 100644 (file)
index 320cb79..0000000
--- a/src/main/deploy/pathplanner/autos/Left 1 Run (SHIFTED).auto
+++ /dev/null
@@ -1,25 +0,0 @@
-{
-  "version": "2025.0",
-  "command": {
-    "type": "sequential",
-    "data": {
-      "commands": [
-        {
-          "type": "path",
-          "data": {
-            "pathName": "Left Trench Start Shifted"
-          }
-        },
-        {
-          "type": "path",
-          "data": {
-            "pathName": "Full Left Path v3 (SHIFTED)"
-          }
-        }
-      ]
-    }
-  },
-  "resetOdom": true,
-  "folder": null,
-  "choreoAuto": false
-}
\ No newline at end of file

diff --git a/src/main/deploy/pathplanner/autos/Left 2 runs (middle neutral) - hairpin.auto b/src/main/deploy/pathplanner/autos/Left 2 runs (middle neutral) - hairpin.auto
deleted file mode 100644 (file)
index 70d2d20..0000000
--- a/src/main/deploy/pathplanner/autos/Left 2 runs (middle neutral) - hairpin.auto
+++ /dev/null
@@ -1,49 +0,0 @@
-{
-  "version": "2025.0",
-  "command": {
-    "type": "sequential",
-    "data": {
-      "commands": [
-        {
-          "type": "path",
-          "data": {
-            "pathName": "Left Trench Start"
-          }
-        },
-        {
-          "type": "path",
-          "data": {
-            "pathName": "Left start to far neutral - down the middle"
-          }
-        },
-        {
-          "type": "path",
-          "data": {
-            "pathName": "Far neutral to left start - down the middle"
-          }
-        },
-        {
-          "type": "wait",
-          "data": {
-            "waitTime": 3.0
-          }
-        },
-        {
-          "type": "path",
-          "data": {
-            "pathName": "Left start hairpain back"
-          }
-        },
-        {
-          "type": "wait",
-          "data": {
-            "waitTime": 0
-          }
-        }
-      ]
-    }
-  },
-  "resetOdom": true,
-  "folder": null,
-  "choreoAuto": false
-}
\ No newline at end of file

diff --git a/src/main/deploy/pathplanner/autos/Left 2 runs (middle neutral) - no hairpin.auto b/src/main/deploy/pathplanner/autos/Left 2 runs (middle neutral) - no hairpin.auto
deleted file mode 100644 (file)
index daa1292..0000000
--- a/src/main/deploy/pathplanner/autos/Left 2 runs (middle neutral) - no hairpin.auto
+++ /dev/null
@@ -1,49 +0,0 @@
-{
-  "version": "2025.0",
-  "command": {
-    "type": "sequential",
-    "data": {
-      "commands": [
-        {
-          "type": "path",
-          "data": {
-            "pathName": "Left Trench Start"
-          }
-        },
-        {
-          "type": "path",
-          "data": {
-            "pathName": "Left start to far neutral - down the middle"
-          }
-        },
-        {
-          "type": "path",
-          "data": {
-            "pathName": "Far neutral to left start - down the middle"
-          }
-        },
-        {
-          "type": "wait",
-          "data": {
-            "waitTime": 0.0
-          }
-        },
-        {
-          "type": "path",
-          "data": {
-            "pathName": "Left start to near neutral - straight back"
-          }
-        },
-        {
-          "type": "wait",
-          "data": {
-            "waitTime": 0
-          }
-        }
-      ]
-    }
-  },
-  "resetOdom": true,
-  "folder": null,
-  "choreoAuto": false
-}
\ No newline at end of file

diff --git a/src/main/deploy/pathplanner/autos/Left Week V1.auto b/src/main/deploy/pathplanner/autos/Left Week V1.auto
index 8c81abb139de3b55b4f00f0b7a566edbf9a5f8a0..13d485da9c1c3e3e532e31da58aa277c0541bd9a 100644 (file)
--- a/src/main/deploy/pathplanner/autos/Left Week V1.auto
+++ b/src/main/deploy/pathplanner/autos/Left Week V1.auto
@@ -34,12 +34,6 @@
             "waitTime": 1.0
           }
         },
-        {
-          "type": "named",
-          "data": {
-            "name": "Stop Spindexer"
-          }
-        },
         {
           "type": "named",
           "data": {

diff --git a/src/main/deploy/pathplanner/autos/Right 1 Run (SHIFTED).auto b/src/main/deploy/pathplanner/autos/Right 1 Run (SHIFTED).auto
deleted file mode 100644 (file)
index 46f1bb4..0000000
--- a/src/main/deploy/pathplanner/autos/Right 1 Run (SHIFTED).auto
+++ /dev/null
@@ -1,25 +0,0 @@
-{
-  "version": "2025.0",
-  "command": {
-    "type": "sequential",
-    "data": {
-      "commands": [
-        {
-          "type": "path",
-          "data": {
-            "pathName": "Right Trench Start Shifted"
-          }
-        },
-        {
-          "type": "path",
-          "data": {
-            "pathName": "Full Right Path v3 (SHIFTED)"
-          }
-        }
-      ]
-    }
-  },
-  "resetOdom": true,
-  "folder": null,
-  "choreoAuto": false
-}
\ No newline at end of file

diff --git a/src/main/deploy/pathplanner/autos/Trial Auto Path.auto b/src/main/deploy/pathplanner/autos/Trial Auto Path.auto
deleted file mode 100644 (file)
index c3224d3..0000000
--- a/src/main/deploy/pathplanner/autos/Trial Auto Path.auto
+++ /dev/null
@@ -1,19 +0,0 @@
-{
-  "version": "2025.0",
-  "command": {
-    "type": "sequential",
-    "data": {
-      "commands": [
-        {
-          "type": "path",
-          "data": {
-            "pathName": "Trial Left Path"
-          }
-        }
-      ]
-    }
-  },
-  "resetOdom": true,
-  "folder": null,
-  "choreoAuto": false
-}
\ No newline at end of file

diff --git a/src/main/deploy/pathplanner/paths/Far neutral to left start - down the middle.path b/src/main/deploy/pathplanner/paths/Far neutral to left start - down the middle.path
deleted file mode 100644 (file)
index 91fea95..0000000
--- a/src/main/deploy/pathplanner/paths/Far neutral to left start - down the middle.path
+++ /dev/null
@@ -1,89 +0,0 @@
-{
-  "version": "2025.0",
-  "waypoints": [
-    {
-      "anchor": {
-        "x": 8.3085588666341,
-        "y": 4.665
-      },
-      "prevControl": null,
-      "nextControl": {
-        "x": 8.313036773428234,
-        "y": 5.998552787663108
-      },
-      "isLocked": false,
-      "linkedName": null
-    },
-    {
-      "anchor": {
-        "x": 8.3085588666341,
-        "y": 6.3956595017040465
-      },
-      "prevControl": {
-        "x": 8.302277580071175,
-        "y": 5.977034400948992
-      },
-      "nextControl": {
-        "x": 8.322326911855162,
-        "y": 7.313250071745635
-      },
-      "isLocked": false,
-      "linkedName": null
-    },
-    {
-      "anchor": {
-        "x": 3.7,
-        "y": 7.623
-      },
-      "prevControl": {
-        "x": 5.031482799530884,
-        "y": 7.59091340451309
-      },
-      "nextControl": null,
-      "isLocked": false,
-      "linkedName": null
-    }
-  ],
-  "rotationTargets": [
-    {
-      "waypointRelativePos": 1.4067495559502714,
-      "rotationDegrees": -24.634740281575162
-    }
-  ],
-  "constraintZones": [
-    {
-      "name": "Go back to trench",
-      "minWaypointRelativePos": 0.7100802854594145,
-      "maxWaypointRelativePos": 2.0,
-      "constraints": {
-        "maxVelocity": 3.0,
-        "maxAcceleration": 1.5,
-        "maxAngularVelocity": 200.0,
-        "maxAngularAcceleration": 150.0,
-        "nominalVoltage": 12.0,
-        "unlimited": false
-      }
-    }
-  ],
-  "pointTowardsZones": [],
-  "eventMarkers": [],
-  "globalConstraints": {
-    "maxVelocity": 1.5,
-    "maxAcceleration": 1.5,
-    "maxAngularVelocity": 200.0,
-    "maxAngularAcceleration": 150.0,
-    "nominalVoltage": 12.0,
-    "unlimited": false
-  },
-  "goalEndState": {
-    "velocity": 0.0,
-    "rotation": -0.6883662028604366
-  },
-  "reversed": false,
-  "folder": null,
-  "idealStartingState": {
-    "velocity": 0,
-    "rotation": -90.0
-  },
-  "useDefaultConstraints": false
-}
\ No newline at end of file

diff --git a/src/main/deploy/pathplanner/paths/Far neutral to left start - down the side.path b/src/main/deploy/pathplanner/paths/Far neutral to left start - down the side.path
deleted file mode 100644 (file)
index a16a72a..0000000
--- a/src/main/deploy/pathplanner/paths/Far neutral to left start - down the side.path
+++ /dev/null
@@ -1,102 +0,0 @@
-{
-  "version": "2025.0",
-  "waypoints": [
-    {
-      "anchor": {
-        "x": 7.828873072360619,
-        "y": 4.718208778173191
-      },
-      "prevControl": null,
-      "nextControl": {
-        "x": 7.833350979154753,
-        "y": 6.0517615658362995
-      },
-      "isLocked": false,
-      "linkedName": null
-    },
-    {
-      "anchor": {
-        "x": 7.828873072360619,
-        "y": 6.439679715302491
-      },
-      "prevControl": {
-        "x": 7.8225917857976945,
-        "y": 6.021054614547436
-      },
-      "nextControl": {
-        "x": 7.842641117581682,
-        "y": 7.35727028534408
-      },
-      "isLocked": false,
-      "linkedName": null
-    },
-    {
-      "anchor": {
-        "x": 3.7,
-        "y": 7.623
-      },
-      "prevControl": {
-        "x": 5.031482799530884,
-        "y": 7.59091340451309
-      },
-      "nextControl": null,
-      "isLocked": false,
-      "linkedName": null
-    }
-  ],
-  "rotationTargets": [
-    {
-      "waypointRelativePos": 1.4067495559502714,
-      "rotationDegrees": -24.634740281575162
-    }
-  ],
-  "constraintZones": [
-    {
-      "name": "Get out of trench",
-      "minWaypointRelativePos": 0,
-      "maxWaypointRelativePos": 0.3996431757359485,
-      "constraints": {
-        "maxVelocity": 5.4,
-        "maxAcceleration": 1.5,
-        "maxAngularVelocity": 200.0,
-        "maxAngularAcceleration": 150.0,
-        "nominalVoltage": 12.0,
-        "unlimited": false
-      }
-    },
-    {
-      "name": "Balls in neutral zone",
-      "minWaypointRelativePos": 0.7100802854594145,
-      "maxWaypointRelativePos": 2.0,
-      "constraints": {
-        "maxVelocity": 3.0,
-        "maxAcceleration": 1.5,
-        "maxAngularVelocity": 200.0,
-        "maxAngularAcceleration": 150.0,
-        "nominalVoltage": 12.0,
-        "unlimited": false
-      }
-    }
-  ],
-  "pointTowardsZones": [],
-  "eventMarkers": [],
-  "globalConstraints": {
-    "maxVelocity": 1.5,
-    "maxAcceleration": 1.5,
-    "maxAngularVelocity": 200.0,
-    "maxAngularAcceleration": 150.0,
-    "nominalVoltage": 12.0,
-    "unlimited": false
-  },
-  "goalEndState": {
-    "velocity": 0.0,
-    "rotation": -0.6883662028604366
-  },
-  "reversed": false,
-  "folder": null,
-  "idealStartingState": {
-    "velocity": 0,
-    "rotation": -90.0
-  },
-  "useDefaultConstraints": false
-}
\ No newline at end of file

diff --git a/src/main/deploy/pathplanner/paths/Full Left Path v3 (SHIFTED).path b/src/main/deploy/pathplanner/paths/Full Left Path v3 (SHIFTED).path
deleted file mode 100644 (file)
index afdadc5..0000000
--- a/src/main/deploy/pathplanner/paths/Full Left Path v3 (SHIFTED).path
+++ /dev/null
@@ -1,283 +0,0 @@
-{
-  "version": "2025.0",
-  "waypoints": [
-    {
-      "anchor": {
-        "x": 3.0,
-        "y": 7.623190984573506
-      },
-      "prevControl": null,
-      "nextControl": {
-        "x": 6.19392111698321,
-        "y": 7.623190984573506
-      },
-      "isLocked": false,
-      "linkedName": null
-    },
-    {
-      "anchor": {
-        "x": 7.667485172004747,
-        "y": 6.428920521945433
-      },
-      "prevControl": {
-        "x": 7.665365003292386,
-        "y": 6.686760835840097
-      },
-      "nextControl": {
-        "x": 7.684288184321054,
-        "y": 4.385453912541243
-      },
-      "isLocked": false,
-      "linkedName": null
-    },
-    {
-      "anchor": {
-        "x": 7.667485172004747,
-        "y": 4.6644128113879
-      },
-      "prevControl": {
-        "x": 7.722519349903317,
-        "y": 4.908280068851933
-      },
-      "nextControl": {
-        "x": 7.611361211994106,
-        "y": 4.415716515223697
-      },
-      "isLocked": false,
-      "linkedName": null
-    },
-    {
-      "anchor": {
-        "x": 6.236512455516015,
-        "y": 5.084021352313167
-      },
-      "prevControl": {
-        "x": 7.118832485314941,
-        "y": 4.554066742084302
-      },
-      "nextControl": {
-        "x": 5.563661514586408,
-        "y": 5.488160945770811
-      },
-      "isLocked": false,
-      "linkedName": null
-    },
-    {
-      "anchor": {
-        "x": 6.236512455516015,
-        "y": 7.031435349940688
-      },
-      "prevControl": {
-        "x": 6.607692290036552,
-        "y": 6.097932084737065
-      },
-      "nextControl": {
-        "x": 5.905339551755663,
-        "y": 7.864322695252948
-      },
-      "isLocked": false,
-      "linkedName": null
-    },
-    {
-      "anchor": {
-        "x": 0.6955278766310802,
-        "y": 7.623190984573506
-      },
-      "prevControl": {
-        "x": -0.09030729073703303,
-        "y": 7.623190984573506
-      },
-      "nextControl": null,
-      "isLocked": false,
-      "linkedName": null
-    }
-  ],
-  "rotationTargets": [
-    {
-      "waypointRelativePos": 1.087033747779748,
-      "rotationDegrees": -90.0
-    },
-    {
-      "waypointRelativePos": 2.5364120781527437,
-      "rotationDegrees": 155.02674741986806
-    },
-    {
-      "waypointRelativePos": 3.85,
-      "rotationDegrees": 138.60721817200425
-    },
-    {
-      "waypointRelativePos": 4.4,
-      "rotationDegrees": 180.0
-    },
-    {
-      "waypointRelativePos": 4.660237388724038,
-      "rotationDegrees": 180.0
-    },
-    {
-      "waypointRelativePos": 5,
-      "rotationDegrees": 180.0
-    }
-  ],
-  "constraintZones": [
-    {
-      "name": "Depot",
-      "minWaypointRelativePos": 4.953880764904385,
-      "maxWaypointRelativePos": 5.5,
-      "constraints": {
-        "maxVelocity": 0.5,
-        "maxAcceleration": 2.0,
-        "maxAngularVelocity": 200.0,
-        "maxAngularAcceleration": 300.0,
-        "nominalVoltage": 12.0,
-        "unlimited": false
-      }
-    },
-    {
-      "name": "Constraints Zone",
-      "minWaypointRelativePos": 0.9718785151856066,
-      "maxWaypointRelativePos": 2.4701912260967447,
-      "constraints": {
-        "maxVelocity": 0.3,
-        "maxAcceleration": 2.0,
-        "maxAngularVelocity": 200.0,
-        "maxAngularAcceleration": 300.0,
-        "nominalVoltage": 12.0,
-        "unlimited": false
-      }
-    },
-    {
-      "name": "Constraints Zone",
-      "minWaypointRelativePos": 2.767154105736777,
-      "maxWaypointRelativePos": 4.467941507311604,
-      "constraints": {
-        "maxVelocity": 2.0,
-        "maxAcceleration": 1.0,
-        "maxAngularVelocity": 200.0,
-        "maxAngularAcceleration": 300.0,
-        "nominalVoltage": 12.0,
-        "unlimited": false
-      }
-    }
-  ],
-  "pointTowardsZones": [],
-  "eventMarkers": [
-    {
-      "name": "Hood Down",
-      "waypointRelativePos": 0,
-      "endWaypointRelativePos": null,
-      "command": {
-        "type": "named",
-        "data": {
-          "name": "Hood Down"
-        }
-      }
-    },
-    {
-      "name": "Extend Intake",
-      "waypointRelativePos": 0.0944881889763795,
-      "endWaypointRelativePos": null,
-      "command": {
-        "type": "named",
-        "data": {
-          "name": "Extend Intake"
-        }
-      }
-    },
-    {
-      "name": "Spin Intake Rollers",
-      "waypointRelativePos": 0.17547806524185328,
-      "endWaypointRelativePos": null,
-      "command": {
-        "type": "named",
-        "data": {
-          "name": "Spin Intake Rollers"
-        }
-      }
-    },
-    {
-      "name": "Start Spindexer",
-      "waypointRelativePos": 0.3104611923509808,
-      "endWaypointRelativePos": null,
-      "command": {
-        "type": "named",
-        "data": {
-          "name": "Start Spindexer"
-        }
-      }
-    },
-    {
-      "name": "Stop Hood Down",
-      "waypointRelativePos": 0.39145106861638246,
-      "endWaypointRelativePos": null,
-      "command": {
-        "type": "named",
-        "data": {
-          "name": "Stop Hood Down"
-        }
-      }
-    },
-    {
-      "name": "Stop Spindexer",
-      "waypointRelativePos": 2.9156355455568033,
-      "endWaypointRelativePos": null,
-      "command": {
-        "type": "named",
-        "data": {
-          "name": "Stop Spindexer"
-        }
-      }
-    },
-    {
-      "name": "Hood Down",
-      "waypointRelativePos": 3.3745781777277815,
-      "endWaypointRelativePos": null,
-      "command": {
-        "type": "named",
-        "data": {
-          "name": "Hood Down"
-        }
-      }
-    },
-    {
-      "name": "Stop Hood Down",
-      "waypointRelativePos": 4.52,
-      "endWaypointRelativePos": null,
-      "command": {
-        "type": "named",
-        "data": {
-          "name": "Stop Hood Down"
-        }
-      }
-    },
-    {
-      "name": "Start Spindexer",
-      "waypointRelativePos": 4.54,
-      "endWaypointRelativePos": null,
-      "command": {
-        "type": "named",
-        "data": {
-          "name": "Start Spindexer"
-        }
-      }
-    }
-  ],
-  "globalConstraints": {
-    "maxVelocity": 1.5,
-    "maxAcceleration": 1.5,
-    "maxAngularVelocity": 200.0,
-    "maxAngularAcceleration": 150.0,
-    "nominalVoltage": 12.0,
-    "unlimited": false
-  },
-  "goalEndState": {
-    "velocity": 0.0,
-    "rotation": 180.0
-  },
-  "reversed": false,
-  "folder": "week 5 (new stuff)",
-  "idealStartingState": {
-    "velocity": 0,
-    "rotation": 0.0
-  },
-  "useDefaultConstraints": false
-}
\ No newline at end of file

diff --git a/src/main/deploy/pathplanner/paths/Full Left Path v3.path b/src/main/deploy/pathplanner/paths/Full Left Path v3.path
index 72bd96ec3c6772a59de7d6f672edebbd0ea5b7b3..e5c6f67b7ec65233255439b0ff9a9ca4bf90881d 100644 (file)
--- a/src/main/deploy/pathplanner/paths/Full Left Path v3.path
+++ b/src/main/deploy/pathplanner/paths/Full Left Path v3.path
@@ -161,28 +161,6 @@
   ],
   "pointTowardsZones": [],
   "eventMarkers": [
-    {
-      "name": "Hood Down",
-      "waypointRelativePos": 0,
-      "endWaypointRelativePos": null,
-      "command": {
-        "type": "named",
-        "data": {
-          "name": "Hood Down"
-        }
-      }
-    },
-    {
-      "name": "Extend Intake",
-      "waypointRelativePos": 0.0944881889763795,
-      "endWaypointRelativePos": null,
-      "command": {
-        "type": "named",
-        "data": {
-          "name": "Extend Intake"
-        }
-      }
-    },
     {
       "name": "Spin Intake Rollers",
       "waypointRelativePos": 0.17547806524185328,
@@ -194,17 +172,6 @@
         }
       }
     },
-    {
-      "name": "Start Spindexer",
-      "waypointRelativePos": 0.3104611923509808,
-      "endWaypointRelativePos": null,
-      "command": {
-        "type": "named",
-        "data": {
-          "name": "Start Spindexer"
-        }
-      }
-    },
     {
       "name": "Stop Hood Down",
       "waypointRelativePos": 0.39145106861638246,
@@ -276,7 +243,7 @@
   "reversed": false,
   "folder": "week 2 autos",
   "idealStartingState": {
-    "velocity": 0,
+    "velocity": 0.5,
     "rotation": 0.0
   },
   "useDefaultConstraints": false

diff --git a/src/main/deploy/pathplanner/paths/Full Right Path v3 (SHIFTED).path b/src/main/deploy/pathplanner/paths/Full Right Path v3 (SHIFTED).path
deleted file mode 100644 (file)
index 2eddedd..0000000
--- a/src/main/deploy/pathplanner/paths/Full Right Path v3 (SHIFTED).path
+++ /dev/null
@@ -1,283 +0,0 @@
-{
-  "version": "2025.0",
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-    {
-      "anchor": {
-        "x": 3.0,
-        "y": 0.4481350154264931
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-      "isLocked": false,
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-        "y": 1.642405478054566
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-      "command": {
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-      "endWaypointRelativePos": null,
-      "command": {
-        "type": "named",
-        "data": {
-          "name": "Spin Intake Rollers"
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-    {
-      "name": "Start Spindexer",
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-      "endWaypointRelativePos": null,
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-          "name": "Start Spindexer"
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-          "name": "Hood Down"
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-      "endWaypointRelativePos": null,
-      "command": {
-        "type": "named",
-        "data": {
-          "name": "Stop Hood Down"
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-  "goalEndState": {
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-    "rotation": -180.0
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-  "folder": "week 5 (new stuff)",
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\ No newline at end of file

diff --git a/src/main/deploy/pathplanner/paths/Kousha S1.path b/src/main/deploy/pathplanner/paths/Kousha S1.path
deleted file mode 100644 (file)
index de1f0b2..0000000
--- a/src/main/deploy/pathplanner/paths/Kousha S1.path
+++ /dev/null
@@ -1,178 +0,0 @@
-{
-  "version": "2025.0",
-  "waypoints": [
-    {
-      "anchor": {
-        "x": 4.436754966887417,
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-  "pointTowardsZones": [],
-  "eventMarkers": [
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-      "command": null
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-    {
-      "name": "Stop Hood Down",
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-      "endWaypointRelativePos": null,
-      "command": null
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-    {
-      "name": "Start Spindexer",
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-      "endWaypointRelativePos": null,
-      "command": null
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-    {
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\ No newline at end of file

diff --git a/src/main/deploy/pathplanner/paths/Left Trench Start Shifted.path b/src/main/deploy/pathplanner/paths/Left Trench Start Shifted.path
deleted file mode 100644 (file)
index 5c0e031..0000000
--- a/src/main/deploy/pathplanner/paths/Left Trench Start Shifted.path
+++ /dev/null
@@ -1,68 +0,0 @@
-{
-  "version": "2025.0",
-  "waypoints": [
-    {
-      "anchor": {
-        "x": 2.9,
-        "y": 7.623
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-  "rotationTargets": [],
-  "constraintZones": [
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-      "name": "Constraints Zone",
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\ No newline at end of file

diff --git a/src/main/deploy/pathplanner/paths/Left Trench Start.path b/src/main/deploy/pathplanner/paths/Left Trench Start.path
index af5abecd25fd227da1ad66df92db81b1fe977b32..1c0b8f58024393d2d7d6c5b629cceac6061de51d 100644 (file)
--- a/src/main/deploy/pathplanner/paths/Left Trench Start.path
+++ b/src/main/deploy/pathplanner/paths/Left Trench Start.path
@@ -55,7 +55,7 @@
     "unlimited": false
   },
   "goalEndState": {
-    "velocity": 0,
+    "velocity": 0.5,
     "rotation": 0.0
   },
   "reversed": false,

diff --git a/src/main/deploy/pathplanner/paths/Left start hairpain back.path b/src/main/deploy/pathplanner/paths/Left start hairpain back.path
deleted file mode 100644 (file)
index 4017e9f..0000000
--- a/src/main/deploy/pathplanner/paths/Left start hairpain back.path
+++ /dev/null
@@ -1,170 +0,0 @@
-{
-  "version": "2025.0",
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diff --git a/src/main/deploy/pathplanner/paths/Left start to far neutral - down the middle.path b/src/main/deploy/pathplanner/paths/Left start to far neutral - down the middle.path
deleted file mode 100644 (file)
index 45ee354..0000000
--- a/src/main/deploy/pathplanner/paths/Left start to far neutral - down the middle.path
+++ /dev/null
@@ -1,140 +0,0 @@
-{
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diff --git a/src/main/deploy/pathplanner/paths/Left start to near neutral - straight back.path b/src/main/deploy/pathplanner/paths/Left start to near neutral - straight back.path
deleted file mode 100644 (file)
index e9ea1cc..0000000
--- a/src/main/deploy/pathplanner/paths/Left start to near neutral - straight back.path
+++ /dev/null
@@ -1,115 +0,0 @@
-{
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diff --git a/src/main/deploy/pathplanner/paths/Right Trench Start Shifted.path b/src/main/deploy/pathplanner/paths/Right Trench Start Shifted.path
deleted file mode 100644 (file)
index b105fa3..0000000
--- a/src/main/deploy/pathplanner/paths/Right Trench Start Shifted.path
+++ /dev/null
@@ -1,68 +0,0 @@
-{
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diff --git a/src/main/deploy/pathplanner/paths/Swipe 1.path b/src/main/deploy/pathplanner/paths/Swipe 1.path
deleted file mode 100644 (file)
index d2ef646..0000000
--- a/src/main/deploy/pathplanner/paths/Swipe 1.path
+++ /dev/null
@@ -1,241 +0,0 @@
-{
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diff --git a/src/main/deploy/pathplanner/paths/Swipe 2.path b/src/main/deploy/pathplanner/paths/Swipe 2.path
deleted file mode 100644 (file)
index bdd9a19..0000000
--- a/src/main/deploy/pathplanner/paths/Swipe 2.path
+++ /dev/null
@@ -1,213 +0,0 @@
-{
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-          "name": "Extend Intake"
-        }
-      }
-    },
-    {
-      "name": "Spin Intake Rollers",
-      "waypointRelativePos": 0.17547806524185328,
-      "endWaypointRelativePos": null,
-      "command": {
-        "type": "named",
-        "data": {
-          "name": "Spin Intake Rollers"
-        }
-      }
-    },
-    {
-      "name": "Stop Hood Down",
-      "waypointRelativePos": 0.2968197879858761,
-      "endWaypointRelativePos": null,
-      "command": {
-        "type": "named",
-        "data": {
-          "name": "Stop Hood Down"
-        }
-      }
-    },
-    {
-      "name": "Start Spindexer",
-      "waypointRelativePos": 0.3104611923509808,
-      "endWaypointRelativePos": null,
-      "command": {
-        "type": "named",
-        "data": {
-          "name": "Start Spindexer"
-        }
-      }
-    },
-    {
-      "name": "Stop Spindexer",
-      "waypointRelativePos": 1.5,
-      "endWaypointRelativePos": null,
-      "command": {
-        "type": "named",
-        "data": {
-          "name": "Stop Spindexer"
-        }
-      }
-    },
-    {
-      "name": "Hood Down",
-      "waypointRelativePos": 2.667137809187283,
-      "endWaypointRelativePos": null,
-      "command": {
-        "type": "named",
-        "data": {
-          "name": "Hood Down"
-        }
-      }
-    },
-    {
-      "name": "Stop Hood Down",
-      "waypointRelativePos": 3.0,
-      "endWaypointRelativePos": null,
-      "command": {
-        "type": "named",
-        "data": {
-          "name": "Stop Hood Down"
-        }
-      }
-    },
-    {
-      "name": "Start Spindexer",
-      "waypointRelativePos": 3.0,
-      "endWaypointRelativePos": null,
-      "command": {
-        "type": "named",
-        "data": {
-          "name": "Start Spindexer"
-        }
-      }
-    }
-  ],
-  "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 1.5,
-    "maxAngularVelocity": 200.0,
-    "maxAngularAcceleration": 150.0,
-    "nominalVoltage": 12.0,
-    "unlimited": false
-  },
-  "goalEndState": {
-    "velocity": 0.0,
-    "rotation": 0.22509637709833002
-  },
-  "reversed": false,
-  "folder": "week 2 autos",
-  "idealStartingState": {
-    "velocity": 0,
-    "rotation": 0.0
-  },
-  "useDefaultConstraints": false
-}
\ No newline at end of file

diff --git a/src/main/deploy/pathplanner/paths/Swipe2.path b/src/main/deploy/pathplanner/paths/Swipe2.path
new file mode 100644 (file)
index 0000000..1e8b833
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/Swipe2.path
@@ -0,0 +1,131 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 4.0,
+        "y": 7.623
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 6.0,
+        "y": 7.623
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 5.730830367734282,
+        "y": 5.729572953736655
+      },
+      "prevControl": {
+        "x": 5.730830367734282,
+        "y": 6.729572953736655
+      },
+      "nextControl": {
+        "x": 5.730830367734282,
+        "y": 4.729572953736655
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 6.03208778173191,
+        "y": 3.97582443653618
+      },
+      "prevControl": {
+        "x": 5.584874186231952,
+        "y": 4.199431234286158
+      },
+      "nextControl": {
+        "x": 6.5915658362989324,
+        "y": 3.696085409252669
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 6.699157769869515,
+        "y": 4.642894424673784
+      },
+      "prevControl": {
+        "x": 6.699157769869515,
+        "y": 4.183101989407747
+      },
+      "nextControl": {
+        "x": 6.699157769869515,
+        "y": 5.102686859939822
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 6.258030842230131,
+        "y": 6.730177935943061
+      },
+      "prevControl": {
+        "x": 6.081254146933494,
+        "y": 6.906954631239698
+      },
+      "nextControl": {
+        "x": 6.434807537526767,
+        "y": 6.553401240646425
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 4.0,
+        "y": 7.623
+      },
+      "prevControl": {
+        "x": 5.768466785290629,
+        "y": 7.738661328588376
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 0.8312611012433355,
+      "rotationDegrees": -90.0
+    },
+    {
+      "waypointRelativePos": 1.2433392539964518,
+      "rotationDegrees": -90.0
+    },
+    {
+      "waypointRelativePos": 3.0284191829485203,
+      "rotationDegrees": 90.0
+    }
+  ],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 2.0,
+    "maxAcceleration": 2.0,
+    "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/Trial Left Path.path b/src/main/deploy/pathplanner/paths/Trial Left Path.path
deleted file mode 100644 (file)
index 68eb1fa..0000000
--- a/src/main/deploy/pathplanner/paths/Trial Left Path.path
+++ /dev/null
@@ -1,186 +0,0 @@
-{
-  "version": "2025.0",
-  "waypoints": [
-    {
-      "anchor": {
-        "x": 4.458534768210455,
-        "y": 7.628667218546397
-      },
-      "prevControl": null,
-      "nextControl": {
-        "x": 7.754544701986754,
-        "y": 7.432649006622516
-      },
-      "isLocked": false,
-      "linkedName": null
-    },
-    {
-      "anchor": {
-        "x": 7.667425496687276,
-        "y": 6.677615894043087
-      },
-      "prevControl": {
-        "x": 7.671362748581045,
-        "y": 7.130399861826626
-      },
-      "nextControl": {
-        "x": 7.660165562912443,
-        "y": 5.8427235099371275
-      },
-      "isLocked": false,
-      "linkedName": null
-    },
-    {
-      "anchor": {
-        "x": 7.41332781456807,
-        "y": 4.405256622519909
-      },
-      "prevControl": {
-        "x": 7.485927152316415,
-        "y": 5.044130794705338
-      },
-      "nextControl": {
-        "x": 7.331274667469874,
-        "y": 3.6831889280557975
-      },
-      "isLocked": false,
-      "linkedName": null
-    },
-    {
-      "anchor": {
-        "x": 5.482185430463577,
-        "y": 0.3905132450331109
-      },
-      "prevControl": {
-        "x": 6.433236754965422,
-        "y": 0.4631125827848075
-      },
-      "nextControl": null,
-      "isLocked": false,
-      "linkedName": null
-    }
-  ],
-  "rotationTargets": [],
-  "constraintZones": [],
-  "pointTowardsZones": [],
-  "eventMarkers": [
-    {
-      "name": "Hood Down",
-      "waypointRelativePos": 0,
-      "endWaypointRelativePos": null,
-      "command": {
-        "type": "named",
-        "data": {
-          "name": "Hood Down"
-        }
-      }
-    },
-    {
-      "name": "Extend Intake",
-      "waypointRelativePos": 0.0944881889763795,
-      "endWaypointRelativePos": null,
-      "command": {
-        "type": "named",
-        "data": {
-          "name": "Extend Intake"
-        }
-      }
-    },
-    {
-      "name": "Spin Intake Rollers",
-      "waypointRelativePos": 0.17547806524185328,
-      "endWaypointRelativePos": null,
-      "command": {
-        "type": "named",
-        "data": {
-          "name": "Spin Intake Rollers"
-        }
-      }
-    },
-    {
-      "name": "Start Spindexer",
-      "waypointRelativePos": 0.3104611923509808,
-      "endWaypointRelativePos": null,
-      "command": {
-        "type": "named",
-        "data": {
-          "name": "Start Spindexer"
-        }
-      }
-    },
-    {
-      "name": "Stop Hood Down",
-      "waypointRelativePos": 0.39145106861638246,
-      "endWaypointRelativePos": null,
-      "command": {
-        "type": "named",
-        "data": {
-          "name": "Stop Hood Down"
-        }
-      }
-    },
-    {
-      "name": "Stop Spindexer",
-      "waypointRelativePos": 2.45,
-      "endWaypointRelativePos": null,
-      "command": {
-        "type": "named",
-        "data": {
-          "name": "Stop Spindexer"
-        }
-      }
-    },
-    {
-      "name": "Hood Down",
-      "waypointRelativePos": 2.6,
-      "endWaypointRelativePos": null,
-      "command": {
-        "type": "named",
-        "data": {
-          "name": "Hood Down"
-        }
-      }
-    },
-    {
-      "name": "Stop Hood Down",
-      "waypointRelativePos": 2.9,
-      "endWaypointRelativePos": null,
-      "command": {
-        "type": "named",
-        "data": {
-          "name": "Stop Hood Down"
-        }
-      }
-    },
-    {
-      "name": "Start Spindexer",
-      "waypointRelativePos": 2.9,
-      "endWaypointRelativePos": null,
-      "command": {
-        "type": "named",
-        "data": {
-          "name": "Start Spindexer"
-        }
-      }
-    }
-  ],
-  "globalConstraints": {
-    "maxVelocity": 2.75,
-    "maxAcceleration": 2.75,
-    "maxAngularVelocity": 200.0,
-    "maxAngularAcceleration": 150.0,
-    "nominalVoltage": 12.0,
-    "unlimited": false
-  },
-  "goalEndState": {
-    "velocity": 0.0,
-    "rotation": 180.0
-  },
-  "reversed": false,
-  "folder": "week 2 autos",
-  "idealStartingState": {
-    "velocity": 0,
-    "rotation": 0.0
-  },
-  "useDefaultConstraints": false
-}
\ No newline at end of file

diff --git a/src/main/deploy/pathplanner/paths/W5 Full Left Path v3.path b/src/main/deploy/pathplanner/paths/W5 Full Left Path v3.path
new file mode 100644 (file)
index 0000000..d2d8298
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/W5 Full Left Path v3.path
@@ -0,0 +1,154 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 4.5,
+        "y": 7.623190984573506
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 6.819003128648605,
+        "y": 7.795699388727487
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 7.841663907284769,
+        "y": 6.3509188741721845
+      },
+      "prevControl": {
+        "x": 7.474301880921233,
+        "y": 6.65544005378413
+      },
+      "nextControl": {
+        "x": 8.536734620002141,
+        "y": 5.774746765569564
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 7.943302980132451,
+        "y": 5.123990066225165
+      },
+      "prevControl": {
+        "x": 8.175624745513659,
+        "y": 5.216329642410886
+      },
+      "nextControl": {
+        "x": 7.220724340639356,
+        "y": 4.836790951574134
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 6.868832781456953,
+        "y": 6.024221854304635
+      },
+      "prevControl": {
+        "x": 6.860132910129963,
+        "y": 5.650613883255112
+      },
+      "nextControl": {
+        "x": 6.897180594033059,
+        "y": 7.2415925879837
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 5.58020166073547,
+        "y": 7.5
+      },
+      "prevControl": {
+        "x": 5.774037666645563,
+        "y": 7.342115222985805
+      },
+      "nextControl": {
+        "x": 5.363252370286202,
+        "y": 7.676711185236958
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 4.0,
+        "y": 7.623190984573506
+      },
+      "prevControl": {
+        "x": 4.34969659712891,
+        "y": 7.508772305482001
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 1.15,
+      "rotationDegrees": -90.0
+    },
+    {
+      "waypointRelativePos": 3.024213075060532,
+      "rotationDegrees": -74.10500133422103
+    },
+    {
+      "waypointRelativePos": 3.86,
+      "rotationDegrees": 0.0
+    }
+  ],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [
+    {
+      "name": "Stop Hood Down",
+      "waypointRelativePos": 4.968503937007888,
+      "endWaypointRelativePos": null,
+      "command": {
+        "type": "named",
+        "data": {
+          "name": "Stop Hood Down"
+        }
+      }
+    },
+    {
+      "name": "Start Spindexer",
+      "waypointRelativePos": 5.0,
+      "endWaypointRelativePos": null,
+      "command": {
+        "type": "named",
+        "data": {
+          "name": "Start Spindexer"
+        }
+      }
+    }
+  ],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 1.5,
+    "maxAngularVelocity": 200.0,
+    "maxAngularAcceleration": 150.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0.0,
+    "rotation": 0.0
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0.5,
+    "rotation": 0.0
+  },
+  "useDefaultConstraints": false
+}
\ No newline at end of file

diff --git a/src/main/deploy/pathplanner/paths/W5 Left Trench Start.path b/src/main/deploy/pathplanner/paths/W5 Left Trench Start.path
new file mode 100644 (file)
index 0000000..dabc7c0
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/W5 Left Trench Start.path
@@ -0,0 +1,68 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 4.4,
+        "y": 7.623
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 4.650000000000023,
+        "y": 7.623
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 4.5,
+        "y": 7.623
+      },
+      "prevControl": {
+        "x": 4.249999999999994,
+        "y": 7.623
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [
+    {
+      "name": "Constraints Zone",
+      "minWaypointRelativePos": 0,
+      "maxWaypointRelativePos": 1.0,
+      "constraints": {
+        "maxVelocity": 0.5,
+        "maxAcceleration": 0.5,
+        "maxAngularVelocity": 200.0,
+        "maxAngularAcceleration": 300.0,
+        "nominalVoltage": 12.0,
+        "unlimited": false
+      }
+    }
+  ],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 2.0,
+    "maxAcceleration": 2.0,
+    "maxAngularVelocity": 200.0,
+    "maxAngularAcceleration": 300.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0.5,
+    "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/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 57992defeadbeaa36303a1a3362cb213f3cebefa..59378b60228c7ffc910f0bd8ab1236aafa14201b 100644 (file)
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -264,17 +264,13 @@ public class RobotContainer {
     String leftSideAuto = "Left Week V1";
     String rightSideAuto = "Right Week V1";
     String shootOnlyAuto = "Shoot Only Left Week V1";
-    String koushaDouble = "Kousha Double";
-    String velocityTest = "Velocity TEST";
-    String jame = "Jame's Square path";
+    String doubleSwipe = "DoubleSwipe";
 
     autoChooser.setDefaultOption("Default", new PathPlannerAuto(defaultAuto));
     addAuto(leftSideAuto);
     addAuto(rightSideAuto);
     addAuto(shootOnlyAuto);
-    addAuto(koushaDouble);
-    addAuto(velocityTest);
-    addAuto(jame);
+    addAuto(doubleSwipe);
 
     // put the Chooser on the SmartDashboard
     SmartDashboard.putData("Auto chooser", autoChooser);