adding paths

Co-Authored-By: WesleyWong-972 <171457173+Wesley28w@users.noreply.github.com>
Co-Authored-By: Timofei <108955303+iefomit@users.noreply.github.com>

diff --git a/src/main/deploy/pathplanner/autos/DepotCenterPath.auto b/src/main/deploy/pathplanner/autos/DepotCenterPath.auto
new file mode 100644 (file)
index 0000000..3604f48
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/DepotCenterPath.auto
@@ -0,0 +1,19 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Depot Center Path"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}
\ No newline at end of file

diff --git a/src/main/deploy/pathplanner/autos/LeftBumpDepotCenter.auto b/src/main/deploy/pathplanner/autos/LeftBumpDepotCenter.auto
new file mode 100644 (file)
index 0000000..1851c11
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/LeftBumpDepotCenter.auto
@@ -0,0 +1,19 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Left Bump Depot Center Path"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}
\ No newline at end of file

diff --git a/src/main/deploy/pathplanner/autos/LeftTrenchDepotCenter.auto b/src/main/deploy/pathplanner/autos/LeftTrenchDepotCenter.auto
new file mode 100644 (file)
index 0000000..26a5225
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/LeftTrenchDepotCenter.auto
@@ -0,0 +1,19 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Left Trench Depot Center Path"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}
\ No newline at end of file

diff --git a/src/main/deploy/pathplanner/paths/Depot Center Path.path b/src/main/deploy/pathplanner/paths/Depot Center Path.path
index eca828c377b8c05dcf42d6add913ced5f4d2293a..d3b03639236d50ef93de90f4d32a70633dee7a09 100644 (file)
--- a/src/main/deploy/pathplanner/paths/Depot Center Path.path
+++ b/src/main/deploy/pathplanner/paths/Depot Center Path.path
@@ -36,7 +36,7 @@
         "y": 6.988398576512456
       },
       "prevControl": {
-        "x": 0.4401261451464529,
+        "x": 0.44012614514645276,
         "y": 6.826913016145912
       },
       "nextControl": {
@@ -74,7 +74,21 @@
       "rotationDegrees": 0.0
     }
   ],
-  "constraintZones": [],
+  "constraintZones": [
+    {
+      "name": "Constraints Zone",
+      "minWaypointRelativePos": 0.5061867266591578,
+      "maxWaypointRelativePos": 2.3284589426321785,
+      "constraints": {
+        "maxVelocity": 1.0,
+        "maxAcceleration": 1.0,
+        "maxAngularVelocity": 200.0,
+        "maxAngularAcceleration": 300.0,
+        "nominalVoltage": 12.0,
+        "unlimited": false
+      }
+    }
+  ],
   "pointTowardsZones": [],
   "eventMarkers": [
     {
@@ -136,7 +150,7 @@
   "folder": null,
   "idealStartingState": {
     "velocity": 0,
-    "rotation": 0.0
+    "rotation": 180.0
   },
   "useDefaultConstraints": true
 }
\ No newline at end of file

diff --git a/src/main/deploy/pathplanner/paths/Left Bump Depot Center Path.path b/src/main/deploy/pathplanner/paths/Left Bump Depot Center Path.path
index 70879bfcda455115e56e1c8737b69f849cc7481a..9b9f2d433179c01045e2f709c8f3abb03e3ae908 100644 (file)
--- a/src/main/deploy/pathplanner/paths/Left Bump Depot Center Path.path
+++ b/src/main/deploy/pathplanner/paths/Left Bump Depot Center Path.path
@@ -36,7 +36,7 @@
         "y": 4.944151838666582
       },
       "prevControl": {
-        "x": 0.32971530249110376,
+        "x": 0.3297153024911038,
         "y": 4.83655990510083
       },
       "nextControl": {
@@ -52,24 +52,24 @@
         "y": 6.041589561086512
       },
       "prevControl": {
-        "x": 2.509641474721047,
-        "y": 5.48937238568611
+        "x": 2.6660894988160155,
+        "y": 5.549623259497286
       },
       "nextControl": {
-        "x": 3.041032028469752,
-        "y": 6.827010676156583
+        "x": 2.847366548042706,
+        "y": 6.9668801897983395
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 4.5,
-        "y": 7.623
+        "x": 4.579596678529064,
+        "y": 7.590913404507711
       },
       "prevControl": {
-        "x": 3.428383113987069,
-        "y": 7.720021902743396
+        "x": 3.545234957349378,
+        "y": 7.474544158360471
       },
       "nextControl": null,
       "isLocked": false,
@@ -87,26 +87,13 @@
     }
   ],
   "constraintZones": [
-    {
-      "name": "After Depot",
-      "minWaypointRelativePos": 1.5082690187431023,
-      "maxWaypointRelativePos": 2.2403528114663795,
-      "constraints": {
-        "maxVelocity": 1.0,
-        "maxAcceleration": 1.5,
-        "maxAngularVelocity": 200.0,
-        "maxAngularAcceleration": 300.0,
-        "nominalVoltage": 12.0,
-        "unlimited": false
-      }
-    },
     {
       "name": "Constraints Zone",
-      "minWaypointRelativePos": 3.5,
-      "maxWaypointRelativePos": 3.995589856670343,
+      "minWaypointRelativePos": 0.0,
+      "maxWaypointRelativePos": 4.5,
       "constraints": {
         "maxVelocity": 1.0,
-        "maxAcceleration": 1.5,
+        "maxAcceleration": 1.0,
         "maxAngularVelocity": 200.0,
         "maxAngularAcceleration": 300.0,
         "nominalVoltage": 12.0,
@@ -116,45 +103,53 @@
   ],
   "pointTowardsZones": [],
   "eventMarkers": [
-    {
-      "name": "Hood Down",
-      "waypointRelativePos": 0,
-      "endWaypointRelativePos": null,
-      "command": null
-    },
-    {
-      "name": "Stop Spindexer",
-      "waypointRelativePos": 0.0,
-      "endWaypointRelativePos": null,
-      "command": null
-    },
     {
       "name": "Spin Intake Rollers",
-      "waypointRelativePos": 0.899669239250276,
+      "waypointRelativePos": 0,
       "endWaypointRelativePos": null,
-      "command": null
+      "command": {
+        "type": "named",
+        "data": {
+          "name": "Spin Intake Rollers"
+        }
+      }
     },
     {
       "name": "Extend Intake",
-      "waypointRelativePos": 0.9,
+      "waypointRelativePos": 0,
       "endWaypointRelativePos": null,
-      "command": null
+      "command": {
+        "type": "named",
+        "data": {
+          "name": "Extend Intake"
+        }
+      }
     },
     {
-      "name": "Start Spindexer",
-      "waypointRelativePos": 4.0,
+      "name": "Stop Hood Down",
+      "waypointRelativePos": 0,
       "endWaypointRelativePos": null,
-      "command": null
+      "command": {
+        "type": "named",
+        "data": {
+          "name": "Stop Hood Down"
+        }
+      }
     },
     {
-      "name": "Stop Hood Down",
-      "waypointRelativePos": 4.0,
+      "name": "Stop Spindexer",
+      "waypointRelativePos": 0,
       "endWaypointRelativePos": null,
-      "command": null
+      "command": {
+        "type": "named",
+        "data": {
+          "name": "Stop Spindexer"
+        }
+      }
     },
     {
-      "name": "Start Intake Seizure",
-      "waypointRelativePos": 4.0,
+      "name": "Start Spindexer",
+      "waypointRelativePos": 0,
       "endWaypointRelativePos": null,
       "command": null
     }
@@ -175,7 +170,7 @@
   "folder": null,
   "idealStartingState": {
     "velocity": 0,
-    "rotation": 0.0
+    "rotation": 180.0
   },
   "useDefaultConstraints": true
 }
\ No newline at end of file

diff --git a/src/main/deploy/pathplanner/paths/Left Trench Depot Center Path.path b/src/main/deploy/pathplanner/paths/Left Trench Depot Center Path.path
index 2c027a06c712b7820ff244c21739df6bf2d0ca69..8a911fed9c44bc32f601574d78252a25e86e3270 100644 (file)
--- a/src/main/deploy/pathplanner/paths/Left Trench Depot Center Path.path
+++ b/src/main/deploy/pathplanner/paths/Left Trench Depot Center Path.path
@@ -9,7 +9,7 @@
       "prevControl": null,
       "nextControl": {
         "x": 2.492313167259787,
-        "y": 6.891565836298932
+        "y": 6.568790035587188
       },
       "isLocked": false,
       "linkedName": null
@@ -32,32 +32,32 @@
     },
     {
       "anchor": {
-        "x": 0.7062870699861263,
-        "y": 4.944151838666582
+        "x": 0.8461565836298937,
+        "y": 4.997947805456701
       },
       "prevControl": {
-        "x": 0.23241295545659613,
-        "y": 4.787437564570203
+        "x": 0.3722824691003634,
+        "y": 4.841233531360322
       },
       "nextControl": {
-        "x": 2.0727046263325084,
-        "y": 5.396037959663023
+        "x": 2.212574139976275,
+        "y": 5.449833926453142
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 2.7290154211130537,
-        "y": 6.041589561086512
+        "x": 2.5138315539739033,
+        "y": 6.030830367734283
       },
       "prevControl": {
-        "x": 2.4159215599025865,
-        "y": 5.447156064644024
+        "x": 2.3524436536180313,
+        "y": 5.471352313167261
       },
       "nextControl": {
-        "x": 3.042109282323521,
-        "y": 6.636023057528999
+        "x": 2.7881778575014478,
+        "y": 6.981897553296436
       },
       "isLocked": false,
       "linkedName": null
@@ -68,8 +68,8 @@
         "y": 7.623
       },
       "prevControl": {
-        "x": 3.428383113987069,
-        "y": 7.720021902743396
+        "x": 3.5036773428232504,
+        "y": 7.354211150652431
       },
       "nextControl": null,
       "isLocked": false,
@@ -87,26 +87,13 @@
     }
   ],
   "constraintZones": [
-    {
-      "name": "After Depot",
-      "minWaypointRelativePos": 1.5082690187431023,
-      "maxWaypointRelativePos": 2.2403528114663795,
-      "constraints": {
-        "maxVelocity": 1.0,
-        "maxAcceleration": 1.5,
-        "maxAngularVelocity": 200.0,
-        "maxAngularAcceleration": 300.0,
-        "nominalVoltage": 12.0,
-        "unlimited": false
-      }
-    },
     {
       "name": "Constraints Zone",
-      "minWaypointRelativePos": 3.5,
-      "maxWaypointRelativePos": 3.995589856670343,
+      "minWaypointRelativePos": 0.4769403824521941,
+      "maxWaypointRelativePos": 3.1136107986502153,
       "constraints": {
         "maxVelocity": 1.0,
-        "maxAcceleration": 1.5,
+        "maxAcceleration": 1.0,
         "maxAngularVelocity": 200.0,
         "maxAngularAcceleration": 300.0,
         "nominalVoltage": 12.0,
@@ -175,7 +162,7 @@
   "folder": null,
   "idealStartingState": {
     "velocity": 0,
-    "rotation": 0.0
+    "rotation": 180.0
   },
   "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 7413aeb06575c447e6d3ebbea4865f01a7e5d7be..94b0c4288fe1dba8ea8a30d91a49db9c432f5458 100644 (file)
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -284,6 +284,11 @@ public class RobotContainer {
     String leftDoNothing = "Left Do Nothing";
     String rightDoNothing = "Right Do Nothing";
     String centerDoNothing = "Center Do Nothing";
+    String leftShallowDoubleSwipe = "LeftShallowDoubleSwipe";
+    String rightShallowDoubleSwipe = "RightShallowDoubleSwipe";
+    String leftBumpDepotCenter = "LeftBumpDepotCenter";
+    String leftTrenchDepotCenter = "LeftTrenchDepotCenter";
+    String depotCenterPath = "DepotCenterPath";
 
     autoChooser.setDefaultOption("Default", getDefaultAuto());
     addAuto(leftSideAuto);
@@ -296,8 +301,11 @@ public class RobotContainer {
     addAuto(leftDoNothing);
     addAuto(rightDoNothing);
     addAuto(centerDoNothing);
-    addAuto("LeftShallowDoubleSwipe");
-    addAuto("RightShallowDoubleSwipe");
+    addAuto(leftShallowDoubleSwipe);
+    addAuto(rightShallowDoubleSwipe);
+    addAuto(leftBumpDepotCenter);
+    addAuto(leftTrenchDepotCenter);
+    addAuto(depotCenterPath);
 
 
     DynamicAutoBuilder dynamicAutoBuilder = new DynamicAutoBuilder(spindexer, turret, hood, intake);