a

diff --git a/src/main/deploy/pathplanner/autos/Left - Under trench.auto b/src/main/deploy/pathplanner/autos/Left - Under trench.auto
new file mode 100644 (file)
index 0000000..ae89730
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/Left - Under trench.auto
@@ -0,0 +1,25 @@
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+          }
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+          "data": {
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+}
\ No newline at end of file

diff --git a/src/main/deploy/pathplanner/paths/#1 Left to neutral to depot.path b/src/main/deploy/pathplanner/paths/#1 Left to neutral to depot.path
new file mode 100644 (file)
index 0000000..86d6607
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/#1 Left to neutral to depot.path
@@ -0,0 +1,240 @@
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\ No newline at end of file

diff --git a/src/main/deploy/pathplanner/paths/#1 Left under the trench.path b/src/main/deploy/pathplanner/paths/#1 Left under the trench.path
new file mode 100644 (file)
index 0000000..3100918
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/#1 Left under the trench.path
@@ -0,0 +1,148 @@
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\ No newline at end of file

diff --git a/src/main/deploy/pathplanner/paths/#1 Right - Under the trench.path b/src/main/deploy/pathplanner/paths/#1 Right - Under the trench.path
new file mode 100644 (file)
index 0000000..b1b9d0a
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/#1 Right - Under the trench.path
@@ -0,0 +1,93 @@
+{
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\ No newline at end of file

diff --git a/src/main/deploy/pathplanner/paths/#1 Right to neutral to outpost.path b/src/main/deploy/pathplanner/paths/#1 Right to neutral to outpost.path
new file mode 100644 (file)
index 0000000..abf72ff
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/#1 Right to neutral to outpost.path
@@ -0,0 +1,177 @@
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\ No newline at end of file

diff --git a/src/main/deploy/pathplanner/paths/#2 Left under the trench.path b/src/main/deploy/pathplanner/paths/#2 Left under the trench.path
new file mode 100644 (file)
index 0000000..e6e49d6
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/#2 Left under the trench.path
@@ -0,0 +1,174 @@
+{
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diff --git a/src/main/deploy/pathplanner/paths/#2 Right - Under the trench.path b/src/main/deploy/pathplanner/paths/#2 Right - Under the trench.path
new file mode 100644 (file)
index 0000000..db980c2
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/#2 Right - Under the trench.path
@@ -0,0 +1,89 @@
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diff --git a/src/main/deploy/pathplanner/paths/#3 Right - Under the trench.path b/src/main/deploy/pathplanner/paths/#3 Right - Under the trench.path
new file mode 100644 (file)
index 0000000..6beccd5
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/#3 Right - Under the trench.path
@@ -0,0 +1,89 @@
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\ No newline at end of file

diff --git a/src/main/deploy/pathplanner/paths/Depot to left climb.path b/src/main/deploy/pathplanner/paths/Depot to left climb.path
new file mode 100644 (file)
index 0000000..58d333f
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/Depot to left climb.path
@@ -0,0 +1,54 @@
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\ No newline at end of file

diff --git a/src/main/deploy/pathplanner/paths/Hub to depot.path b/src/main/deploy/pathplanner/paths/Hub to depot.path
new file mode 100644 (file)
index 0000000..e0e7a15
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/Hub to depot.path
@@ -0,0 +1,107 @@
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\ No newline at end of file

diff --git a/src/main/deploy/pathplanner/paths/Left bump to full neutral to left climb.path b/src/main/deploy/pathplanner/paths/Left bump to full neutral to left climb.path
new file mode 100644 (file)
index 0000000..c4d9ec2
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/Left bump to full neutral to left climb.path
@@ -0,0 +1,167 @@
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\ No newline at end of file

diff --git a/src/main/deploy/pathplanner/paths/Outpost to right climb.path b/src/main/deploy/pathplanner/paths/Outpost to right climb.path
new file mode 100644 (file)
index 0000000..b98defd
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/Outpost to right climb.path
@@ -0,0 +1,54 @@
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\ No newline at end of file

diff --git a/src/main/deploy/pathplanner/paths/Over the bump diagonal.path b/src/main/deploy/pathplanner/paths/Over the bump diagonal.path
new file mode 100644 (file)
index 0000000..6138a9e
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/Over the bump diagonal.path
@@ -0,0 +1,142 @@
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+      "nextControl": {
+        "x": 4.568488721804512,
+        "y": 5.5746954887218045
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 5.7049398496240595,
+        "y": 5.5746954887218045
+      },
+      "prevControl": {
+        "x": 5.005963194577661,
+        "y": 5.569841484172872
+      },
+      "nextControl": {
+        "x": 6.654473684210526,
+        "y": 5.58128947368421
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 6.984172932330827,
+        "y": 4.321838345864662
+      },
+      "prevControl": {
+        "x": 7.234744360902256,
+        "y": 4.908703007518798
+      },
+      "nextControl": {
+        "x": 6.802997893642992,
+        "y": 3.89750733420105
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 5.7049398496240595,
+        "y": 4.038296992481204
+      },
+      "prevControl": {
+        "x": 6.311586466165413,
+        "y": 4.025109022556391
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 0.7534675615212593,
+      "rotationDegrees": 45.0
+    },
+    {
+      "waypointRelativePos": 2.0778523489932774,
+      "rotationDegrees": 45.0
+    },
+    {
+      "waypointRelativePos": 2.521700223713649,
+      "rotationDegrees": -51.12369435851797
+    }
+  ],
+  "constraintZones": [
+    {
+      "name": "Constraints Zone",
+      "minWaypointRelativePos": 0,
+      "maxWaypointRelativePos": 0.5239130434782816,
+      "constraints": {
+        "maxVelocity": 1.0,
+        "maxAcceleration": 3.0,
+        "maxAngularVelocity": 540.0,
+        "maxAngularAcceleration": 720.0,
+        "nominalVoltage": 12.0,
+        "unlimited": false
+      }
+    },
+    {
+      "name": "Constraints Zone",
+      "minWaypointRelativePos": 2.380434782608708,
+      "maxWaypointRelativePos": 4.0,
+      "constraints": {
+        "maxVelocity": 1.0,
+        "maxAcceleration": 3.0,
+        "maxAngularVelocity": 540.0,
+        "maxAngularAcceleration": 720.0,
+        "nominalVoltage": 12.0,
+        "unlimited": false
+      }
+    }
+  ],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": -90.0
+  },
+  "reversed": false,
+  "folder": "Field Testing Autos",
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 90.0
+  },
+  "useDefaultConstraints": true
+}
\ No newline at end of file

diff --git a/src/main/deploy/pathplanner/paths/Over the bump.path b/src/main/deploy/pathplanner/paths/Over the bump.path
new file mode 100644 (file)
index 0000000..1ded5e0
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/Over the bump.path
@@ -0,0 +1,129 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 3.5684887218045116,
+        "y": 4.038296992481204
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 2.4211353383458647,
+        "y": 4.044890977443609
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 3.5684887218045116,
+        "y": 5.5746954887218045
+      },
+      "prevControl": {
+        "x": 2.5684887218045116,
+        "y": 5.5746954887218045
+      },
+      "nextControl": {
+        "x": 4.568488721804512,
+        "y": 5.5746954887218045
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 5.7049398496240595,
+        "y": 5.5746954887218045
+      },
+      "prevControl": {
+        "x": 5.005963194577661,
+        "y": 5.569841484172872
+      },
+      "nextControl": {
+        "x": 6.654473684210526,
+        "y": 5.58128947368421
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 6.984172932330827,
+        "y": 4.321838345864662
+      },
+      "prevControl": {
+        "x": 7.234744360902256,
+        "y": 4.908703007518798
+      },
+      "nextControl": {
+        "x": 6.802997893642992,
+        "y": 3.89750733420105
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 5.7049398496240595,
+        "y": 4.038296992481204
+      },
+      "prevControl": {
+        "x": 6.311586466165413,
+        "y": 4.025109022556391
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [
+    {
+      "name": "Constraints Zone",
+      "minWaypointRelativePos": 0,
+      "maxWaypointRelativePos": 0.5239130434782816,
+      "constraints": {
+        "maxVelocity": 1.0,
+        "maxAcceleration": 3.0,
+        "maxAngularVelocity": 540.0,
+        "maxAngularAcceleration": 720.0,
+        "nominalVoltage": 12.0,
+        "unlimited": false
+      }
+    },
+    {
+      "name": "Constraints Zone",
+      "minWaypointRelativePos": 2.380434782608708,
+      "maxWaypointRelativePos": 4.0,
+      "constraints": {
+        "maxVelocity": 1.0,
+        "maxAcceleration": 3.0,
+        "maxAngularVelocity": 540.0,
+        "maxAngularAcceleration": 720.0,
+        "nominalVoltage": 12.0,
+        "unlimited": false
+      }
+    }
+  ],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 90.0
+  },
+  "reversed": false,
+  "folder": "Field Testing 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 a13dccfefbec449a5357d4eb18ea1ae1d4fb7444..8e76fa56f5e160c1ba810faf104b5fde663834d1 100644 (file)
--- a/src/main/deploy/pathplanner/settings.json
+++ b/src/main/deploy/pathplanner/settings.json
@@ -3,12 +3,11 @@
   "robotLength": 0.832,
   "holonomicMode": true,
   "pathFolders": [
-    "Ground BSide",
-    "Ground LSide",
-    "Station RSide",
-    "Lollipop Path",
-    "Station Left",
-    "Sweep Right Side"
+    "Center Autos",
+    "Left Autos",
+    "Miscellaneous",
+    "Field Testing Autos",
+    "Right Autos"
   ],
   "autoFolders": [],
   "defaultMaxVel": 3.0,
@@ -20,7 +19,7 @@
   "robotMOI": 7.504,
   "robotTrackwidth": 0.546,
   "driveWheelRadius": 0.05,
-  "driveGearing": 5.903,
+  "driveGearing": 7.03,
   "maxDriveSpeed": 5.41,
   "driveMotorType": "krakenX60",
   "driveCurrentLimit": 52.0,
@@ -36,6 +35,6 @@
   "bumperOffsetX": 0.0,
   "bumperOffsetY": 0.0,
   "robotFeatures": [
-    "{\"name\":\"Rectangle\",\"type\":\"rounded_rect\",\"data\":{\"center\":{\"x\":-0.55,\"y\":0.0},\"size\":{\"width\":0.5967,\"length\":0.241},\"borderRadius\":0.05,\"strokeWidth\":0.02,\"filled\":false}}"
+    "{\"name\":\"Rectangle\",\"type\":\"rounded_rect\",\"data\":{\"center\":{\"x\":0.55,\"y\":0.0},\"size\":{\"width\":0.5967,\"length\":0.241},\"borderRadius\":0.05,\"strokeWidth\":0.02,\"filled\":false}}"
   ]
 }
\ No newline at end of file