made each rotation + 90 degrees and also adjusted some paths

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
deleted file mode 100644 (file)
index 41697e2..0000000
--- a/src/main/deploy/pathplanner/paths/#1 Left to neutral to depot.path
+++ /dev/null
@@ -1,240 +0,0 @@
-{
-  "version": "2025.0",
-  "waypoints": [
-    {
-      "anchor": {
-        "x": 3.566008403832779,
-        "y": 7.457340509007208
-      },
-      "prevControl": null,
-      "nextControl": {
-        "x": 4.521985876085326,
-        "y": 7.480627842977369
-      },
-      "isLocked": false,
-      "linkedName": null
-    },
-    {
-      "anchor": {
-        "x": 6.74844449371633,
-        "y": 7.323051878639669
-      },
-      "prevControl": {
-        "x": 6.2291917985744085,
-        "y": 7.524060964793236
-      },
-      "nextControl": {
-        "x": 7.0431955211446535,
-        "y": 7.208950141238001
-      },
-      "isLocked": false,
-      "linkedName": null
-    },
-    {
-      "anchor": {
-        "x": 7.47952715610716,
-        "y": 6.691750705058882
-      },
-      "prevControl": {
-        "x": 7.292883599447913,
-        "y": 7.06382367183081
-      },
-      "nextControl": {
-        "x": 7.8379030178105324,
-        "y": 5.97733027463995
-      },
-      "isLocked": false,
-      "linkedName": null
-    },
-    {
-      "anchor": {
-        "x": 7.087382414476883,
-        "y": 4.590804334971547
-      },
-      "prevControl": {
-        "x": 7.936968923942251,
-        "y": 4.34583816663551
-      },
-      "nextControl": {
-        "x": 6.538459561492894,
-        "y": 4.749078420670237
-      },
-      "isLocked": false,
-      "linkedName": null
-    },
-    {
-      "anchor": {
-        "x": 5.916583026285472,
-        "y": 5.201112001911139
-      },
-      "prevControl": {
-        "x": 6.21376543175226,
-        "y": 5.1960727035599605
-      },
-      "nextControl": {
-        "x": 5.263739822137,
-        "y": 5.212182212063977
-      },
-      "isLocked": false,
-      "linkedName": null
-    },
-    {
-      "anchor": {
-        "x": 3.6937744360902256,
-        "y": 5.201112001911139
-      },
-      "prevControl": {
-        "x": 3.9888322003988153,
-        "y": 5.214306565468976
-      },
-      "nextControl": {
-        "x": 3.124067643786618,
-        "y": 5.1756355244559655
-      },
-      "isLocked": false,
-      "linkedName": null
-    },
-    {
-      "anchor": {
-        "x": 1.990149028832779,
-        "y": 4.837340907023949
-      },
-      "prevControl": {
-        "x": 2.8573154908051226,
-        "y": 4.945749181223366
-      },
-      "nextControl": {
-        "x": 1.6302225889184676,
-        "y": 4.792344927704011
-      },
-      "isLocked": false,
-      "linkedName": null
-    },
-    {
-      "anchor": {
-        "x": 0.6028322871115273,
-        "y": 4.9415105872459275
-      },
-      "prevControl": {
-        "x": 0.7909637244103318,
-        "y": 4.776869880554399
-      },
-      "nextControl": {
-        "x": 0.4147008498127227,
-        "y": 5.106151293937456
-      },
-      "isLocked": false,
-      "linkedName": null
-    },
-    {
-      "anchor": {
-        "x": 0.422,
-        "y": 5.773
-      },
-      "prevControl": {
-        "x": 0.33797610762372643,
-        "y": 5.2179935180131
-      },
-      "nextControl": null,
-      "isLocked": false,
-      "linkedName": null
-    }
-  ],
-  "rotationTargets": [
-    {
-      "waypointRelativePos": 0.5,
-      "rotationDegrees": 90.0
-    },
-    {
-      "waypointRelativePos": 1.2283611599297022,
-      "rotationDegrees": 39.34995956941872
-    },
-    {
-      "waypointRelativePos": 2.5766695957820738,
-      "rotationDegrees": 0.0
-    },
-    {
-      "waypointRelativePos": 3.847874720357959,
-      "rotationDegrees": -90.0
-    },
-    {
-      "waypointRelativePos": 5.3154362416107235,
-      "rotationDegrees": -90.0
-    }
-  ],
-  "constraintZones": [
-    {
-      "name": "Constraints Zone",
-      "minWaypointRelativePos": 1.908695652173902,
-      "maxWaypointRelativePos": 3.0565217391304893,
-      "constraints": {
-        "maxVelocity": 1.0,
-        "maxAcceleration": 3.0,
-        "maxAngularVelocity": 540.0,
-        "maxAngularAcceleration": 720.0,
-        "nominalVoltage": 12.0,
-        "unlimited": false
-      }
-    },
-    {
-      "name": "Constraints Zone",
-      "minWaypointRelativePos": 5.1521739130434785,
-      "maxWaypointRelativePos": 6.995652173913043,
-      "constraints": {
-        "maxVelocity": 2.0,
-        "maxAcceleration": 3.0,
-        "maxAngularVelocity": 540.0,
-        "maxAngularAcceleration": 720.0,
-        "nominalVoltage": 12.0,
-        "unlimited": false
-      }
-    },
-    {
-      "name": "Constraints Zone",
-      "minWaypointRelativePos": 6.61304347826087,
-      "maxWaypointRelativePos": 8.0,
-      "constraints": {
-        "maxVelocity": 1.0,
-        "maxAcceleration": 3.0,
-        "maxAngularVelocity": 540.0,
-        "maxAngularAcceleration": 720.0,
-        "nominalVoltage": 12.0,
-        "unlimited": false
-      }
-    },
-    {
-      "name": "Constraints Zone",
-      "minWaypointRelativePos": 0,
-      "maxWaypointRelativePos": 1.0565217391304353,
-      "constraints": {
-        "maxVelocity": 5.0,
-        "maxAcceleration": 5.0,
-        "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": 180.0
-  },
-  "reversed": false,
-  "folder": "Left Autos",
-  "idealStartingState": {
-    "velocity": 0,
-    "rotation": 90.0
-  },
-  "useDefaultConstraints": true
-}
\ No newline at end of file

diff --git a/src/main/deploy/pathplanner/paths/#1 Right to neutral to outpost (diagonal).path b/src/main/deploy/pathplanner/paths/#1 Right to neutral to outpost (diagonal).path
new file mode 100644 (file)
index 0000000..6a11bcb
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/#1 Right to neutral to outpost (diagonal).path
@@ -0,0 +1,177 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 3.5467141162514837,
+        "y": 0.6942704626334513
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 5.83681954887218,
+        "y": 0.7017406015037613
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 7.8826690391459096,
+        "y": 2.1682799525557948
+      },
+      "prevControl": {
+        "x": 7.781962564626875,
+        "y": 0.7840023835584544
+      },
+      "nextControl": {
+        "x": 8.006240601503759,
+        "y": 3.866853383458647
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 6.580806642941877,
+        "y": 3.308754448403956
+      },
+      "prevControl": {
+        "x": 7.1833214709371305,
+        "y": 3.6853262158956106
+      },
+      "nextControl": {
+        "x": 6.247722766288802,
+        "y": 3.100577025498758
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 5.892218268090155,
+        "y": 2.6094068801897983
+      },
+      "prevControl": {
+        "x": 6.200287730001162,
+        "y": 2.6999026882151997
+      },
+      "nextControl": {
+        "x": 5.424140073124572,
+        "y": 2.4719082972088007
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 3.5467141162514837,
+        "y": 2.6094068801897983
+      },
+      "prevControl": {
+        "x": 4.337992311740203,
+        "y": 2.6094068801897983
+      },
+      "nextControl": {
+        "x": 2.7662089773077088,
+        "y": 2.6094068801897983
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 1.6853736654804279,
+        "y": 1.67335705812574
+      },
+      "prevControl": {
+        "x": 1.9977507225713445,
+        "y": 1.9030460706925902
+      },
+      "nextControl": {
+        "x": 1.3195610913404516,
+        "y": 1.4043772241992871
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 0.7278054567022547,
+        "y": 0.6942704626334513
+      },
+      "prevControl": {
+        "x": 0.9860260972716497,
+        "y": 0.9202135231370516
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 0.42628774422735277,
+      "rotationDegrees": -160.0
+    },
+    {
+      "waypointRelativePos": 1.2397868561279017,
+      "rotationDegrees": -84.49100000000003
+    },
+    {
+      "waypointRelativePos": 1.8117229129662467,
+      "rotationDegrees": 14.862293321968002
+    },
+    {
+      "waypointRelativePos": 3.01,
+      "rotationDegrees": 40.215
+    },
+    {
+      "waypointRelativePos": 3.9217002237136356,
+      "rotationDegrees": 48.235
+    },
+    {
+      "waypointRelativePos": 4.421476510067107,
+      "rotationDegrees": 43.588
+    },
+    {
+      "waypointRelativePos": 6.0,
+      "rotationDegrees": 0.0
+    }
+  ],
+  "constraintZones": [
+    {
+      "name": "Constraints Zone",
+      "minWaypointRelativePos": 0.6945652173913047,
+      "maxWaypointRelativePos": 1.6989130434782616,
+      "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": -1.1506568800235417
+  },
+  "reversed": false,
+  "folder": "Right Autos",
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 178.09084756700355
+  },
+  "useDefaultConstraints": true
+}
\ 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
index abf72ff485bf4f7154adf4692d5f2ae2ef09bbdb..4d5902bcf4936d8f69ac07dde11e9b39d895ec88 100644 (file)
--- 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
@@ -36,12 +36,12 @@
         "y": 3.308754448403956
       },
       "prevControl": {
-        "x": 7.1708636727820885,
-        "y": 3.643041962063449
+        "x": 7.1833214709371305,
+        "y": 3.6853262158956106
       },
       "nextControl": {
-        "x": 6.239052631578947,
-        "y": 3.115139097744361
+        "x": 6.247722766288802,
+        "y": 3.100577025498758
       },
       "isLocked": false,
       "linkedName": null
@@ -96,12 +96,12 @@
     },
     {
       "anchor": {
-        "x": 0.7001052631578946,
+        "x": 0.78,
         "y": 0.6942704626334513
       },
       "prevControl": {
-        "x": 1.41884962406015,
-        "y": 0.7017406015037613
+        "x": 1.4987444223942874,
+        "y": 0.7017346826620582
       },
       "nextControl": null,
       "isLocked": false,
@@ -111,31 +111,31 @@
   "rotationTargets": [
     {
       "waypointRelativePos": 0.42628774422735277,
-      "rotationDegrees": 110.0
+      "rotationDegrees": -160.0
     },
     {
       "waypointRelativePos": 1.2397868561279017,
-      "rotationDegrees": -174.49099985205402
+      "rotationDegrees": -84.49100000000003
     },
     {
       "waypointRelativePos": 1.8117229129662467,
-      "rotationDegrees": -84.53943478963535
+      "rotationDegrees": 14.862293321968002
     },
     {
       "waypointRelativePos": 3.01,
-      "rotationDegrees": -90.0
+      "rotationDegrees": 0.0
     },
     {
       "waypointRelativePos": 3.9217002237136356,
-      "rotationDegrees": -90.0
+      "rotationDegrees": 0.0
     },
     {
       "waypointRelativePos": 4.421476510067107,
-      "rotationDegrees": -46.41189920736874
+      "rotationDegrees": 43.588
     },
     {
       "waypointRelativePos": 5,
-      "rotationDegrees": -90.0
+      "rotationDegrees": 0.0
     }
   ],
   "constraintZones": [
@@ -165,13 +165,13 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": -90.0
+    "rotation": -1.1506568800235417
   },
   "reversed": false,
   "folder": "Right Autos",
   "idealStartingState": {
     "velocity": 0,
-    "rotation": 90.0
+    "rotation": 178.09084756700355
   },
   "useDefaultConstraints": true
 }
\ 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
index 58d333f9fa43263d43593a9824e60d597889c830..f1eede8660d102578994f58c558deac7ffce8504 100644 (file)
--- a/src/main/deploy/pathplanner/paths/Depot to left climb.path
+++ b/src/main/deploy/pathplanner/paths/Depot to left climb.path
@@ -42,13 +42,13 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": -90.9548412538722
+    "rotation": -0.9549999999999983
   },
   "reversed": false,
   "folder": "Miscellaneous",
   "idealStartingState": {
     "velocity": 0,
-    "rotation": -178.93180799138455
+    "rotation": -88.93199999999999
   },
   "useDefaultConstraints": true
 }
\ 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
index e0e7a154b9b2906b7910fa08313c098112686de4..dcf54aa537bb326e338107878fc3c5dd4eb67e5c 100644 (file)
--- a/src/main/deploy/pathplanner/paths/Hub to depot.path
+++ b/src/main/deploy/pathplanner/paths/Hub to depot.path
@@ -79,7 +79,7 @@
   "rotationTargets": [
     {
       "waypointRelativePos": 1.0072639225181759,
-      "rotationDegrees": -153.03191204705334
+      "rotationDegrees": -36.64214894386708
     }
   ],
   "constraintZones": [],
@@ -95,13 +95,13 @@
   },
   "goalEndState": {
     "velocity": 0.0,
-    "rotation": 180.0
+    "rotation": -90.0
   },
   "reversed": false,
   "folder": "Miscellaneous",
   "idealStartingState": {
     "velocity": 0,
-    "rotation": 90.0
+    "rotation": -0.7957235527393031
   },
   "useDefaultConstraints": true
 }
\ No newline at end of file

diff --git a/src/main/deploy/pathplanner/paths/Left bump to full neutral to left climb (diagonal).path b/src/main/deploy/pathplanner/paths/Left bump to full neutral to left climb (diagonal).path
new file mode 100644 (file)
index 0000000..d4f3cce
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/Left bump to full neutral to left climb (diagonal).path
@@ -0,0 +1,163 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 3.5036773428232504,
+        "y": 2.5018149466192163
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 5.365017793588926,
+        "y": 2.501814946624596
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 6.021328588380232,
+        "y": 2.265112692763938
+      },
+      "prevControl": {
+        "x": 5.684663482195739,
+        "y": 2.685944075498938
+      },
+      "nextControl": {
+        "x": 6.537769869513642,
+        "y": 1.6195610913404517
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 7.473819691577701,
+        "y": 1.092360616844602
+      },
+      "prevControl": {
+        "x": 7.402130660098401,
+        "y": 0.8459295711345143
+      },
+      "nextControl": {
+        "x": 7.645966785290632,
+        "y": 1.6841162514827988
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 7.732040332152474,
+        "y": 5.7295729537312745
+      },
+      "prevControl": {
+        "x": 7.925705812579521,
+        "y": 4.330877817313717
+      },
+      "nextControl": {
+        "x": 7.6961360653480275,
+        "y": 5.988881547318945
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 5.225148279952552,
+        "y": 5.7295729537312745
+      },
+      "prevControl": {
+        "x": 5.475148279952552,
+        "y": 5.7295729537312745
+      },
+      "nextControl": {
+        "x": 4.975148279952552,
+        "y": 5.7295729537312745
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 2.944199288256229,
+        "y": 5.7295729537312745
+      },
+      "prevControl": {
+        "x": 3.7941200661690573,
+        "y": 5.75318186422295
+      },
+      "nextControl": {
+        "x": 2.1695373665480435,
+        "y": 5.708054567022539
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 1.179691577704076,
+        "y": 4.71820877816781
+      },
+      "prevControl": {
+        "x": 1.3948754448398584,
+        "y": 4.90111506524318
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 0.833037300177617,
+      "rotationDegrees": -142.0638398827282
+    },
+    {
+      "waypointRelativePos": 1.4547069271758435,
+      "rotationDegrees": -118.64711426474396
+    },
+    {
+      "waypointRelativePos": 2.5737122557726524,
+      "rotationDegrees": -90.0
+    },
+    {
+      "waypointRelativePos": 3.058614564831261,
+      "rotationDegrees": -77.42349918493551
+    },
+    {
+      "waypointRelativePos": 3.518650088809949,
+      "rotationDegrees": -44.622
+    },
+    {
+      "waypointRelativePos": 3.7708703374777905,
+      "rotationDegrees": -37.38240422021039
+    },
+    {
+      "waypointRelativePos": 4.774422735346352,
+      "rotationDegrees": -44.622
+    }
+  ],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 3.494863651734957e-10
+  },
+  "reversed": false,
+  "folder": "Left Autos",
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": -138.69138598737172
+  },
+  "useDefaultConstraints": true
+}
\ 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
index c4d9ec21151bf6fbeb4d160fb49911b2dd874e7e..f3ee45fcfe2ac89af2cbd9b12b2a392bdf8badad 100644 (file)
--- 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
@@ -127,19 +127,19 @@
   "rotationTargets": [
     {
       "waypointRelativePos": 0.833037300177617,
-      "rotationDegrees": 90.0
+      "rotationDegrees": 180.0
     },
     {
-      "waypointRelativePos": 2.0,
-      "rotationDegrees": 143.9183590696913
+      "waypointRelativePos": 2.436944937832985,
+      "rotationDegrees": -91.409937565867
     },
     {
       "waypointRelativePos": 2.5737122557726524,
-      "rotationDegrees": 180.0
+      "rotationDegrees": -90.0
     },
     {
       "waypointRelativePos": 3.7708703374777905,
-      "rotationDegrees": -90.0
+      "rotationDegrees": 0.0
     }
   ],
   "constraintZones": [],
@@ -155,13 +155,13 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": -90.0
+    "rotation": 3.494863651734957e-10
   },
   "reversed": false,
   "folder": "Left Autos",
   "idealStartingState": {
     "velocity": 0,
-    "rotation": 90.0
+    "rotation": 179.99999999941534
   },
   "useDefaultConstraints": true
 }
\ No newline at end of file

diff --git a/src/main/deploy/pathplanner/paths/Left to neutral to depot (diagonal).path b/src/main/deploy/pathplanner/paths/Left to neutral to depot (diagonal).path
new file mode 100644 (file)
index 0000000..75fcf0c
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/Left to neutral to depot (diagonal).path
@@ -0,0 +1,240 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 3.566008403832779,
+        "y": 7.457340509007208
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 4.521985876085326,
+        "y": 7.480627842977369
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 6.74844449371633,
+        "y": 7.323051878639669
+      },
+      "prevControl": {
+        "x": 6.2291917985744085,
+        "y": 7.524060964793236
+      },
+      "nextControl": {
+        "x": 7.0431955211446535,
+        "y": 7.208950141238001
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 7.47952715610716,
+        "y": 6.691750705058882
+      },
+      "prevControl": {
+        "x": 7.292883599447913,
+        "y": 7.06382367183081
+      },
+      "nextControl": {
+        "x": 7.8379030178105324,
+        "y": 5.97733027463995
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 7.087382414476883,
+        "y": 4.590804334971547
+      },
+      "prevControl": {
+        "x": 7.936968923942251,
+        "y": 4.34583816663551
+      },
+      "nextControl": {
+        "x": 6.538459561492894,
+        "y": 4.749078420670237
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 5.946014234875446,
+        "y": 5.492870699881376
+      },
+      "prevControl": {
+        "x": 6.2431966403422345,
+        "y": 5.487831401530197
+      },
+      "nextControl": {
+        "x": 5.293171030726975,
+        "y": 5.503940910034214
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 3.6865836298932395,
+        "y": 5.492870699881376
+      },
+      "prevControl": {
+        "x": 3.981641394201829,
+        "y": 5.506065263439213
+      },
+      "nextControl": {
+        "x": 3.116876837589632,
+        "y": 5.467394222426202
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 1.990149028832779,
+        "y": 4.837340907023949
+      },
+      "prevControl": {
+        "x": 2.8573154908051226,
+        "y": 4.945749181223366
+      },
+      "nextControl": {
+        "x": 1.6302225889184676,
+        "y": 4.792344927704011
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 0.6028322871115273,
+        "y": 4.9415105872459275
+      },
+      "prevControl": {
+        "x": 0.7909637244103318,
+        "y": 4.776869880554399
+      },
+      "nextControl": {
+        "x": 0.4147008498127227,
+        "y": 5.106151293937456
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 0.422,
+        "y": 5.773
+      },
+      "prevControl": {
+        "x": 0.33797610762372643,
+        "y": 5.2179935180131
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 0.4120781527531097,
+      "rotationDegrees": 180.0
+    },
+    {
+      "waypointRelativePos": 1.2283611599297022,
+      "rotationDegrees": 145.82109874494995
+    },
+    {
+      "waypointRelativePos": 2.5766695957820738,
+      "rotationDegrees": 90.0
+    },
+    {
+      "waypointRelativePos": 3.847874720357959,
+      "rotationDegrees": 40.392
+    },
+    {
+      "waypointRelativePos": 5.3154362416107235,
+      "rotationDegrees": 40.392
+    }
+  ],
+  "constraintZones": [
+    {
+      "name": "Constraints Zone",
+      "minWaypointRelativePos": 1.908695652173902,
+      "maxWaypointRelativePos": 3.0565217391304893,
+      "constraints": {
+        "maxVelocity": 1.0,
+        "maxAcceleration": 3.0,
+        "maxAngularVelocity": 540.0,
+        "maxAngularAcceleration": 720.0,
+        "nominalVoltage": 12.0,
+        "unlimited": false
+      }
+    },
+    {
+      "name": "Constraints Zone",
+      "minWaypointRelativePos": 5.1521739130434785,
+      "maxWaypointRelativePos": 6.995652173913043,
+      "constraints": {
+        "maxVelocity": 2.0,
+        "maxAcceleration": 3.0,
+        "maxAngularVelocity": 540.0,
+        "maxAngularAcceleration": 720.0,
+        "nominalVoltage": 12.0,
+        "unlimited": false
+      }
+    },
+    {
+      "name": "Constraints Zone",
+      "minWaypointRelativePos": 6.61304347826087,
+      "maxWaypointRelativePos": 8.0,
+      "constraints": {
+        "maxVelocity": 1.0,
+        "maxAcceleration": 3.0,
+        "maxAngularVelocity": 540.0,
+        "maxAngularAcceleration": 720.0,
+        "nominalVoltage": 12.0,
+        "unlimited": false
+      }
+    },
+    {
+      "name": "Constraints Zone",
+      "minWaypointRelativePos": 0,
+      "maxWaypointRelativePos": 1.0565217391304353,
+      "constraints": {
+        "maxVelocity": 5.0,
+        "maxAcceleration": 5.0,
+        "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": -89.60319923509195
+  },
+  "reversed": false,
+  "folder": "Left Autos",
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 179.44468519034675
+  },
+  "useDefaultConstraints": true
+}
\ No newline at end of file

diff --git a/src/main/deploy/pathplanner/paths/Left to neutral to depot.path b/src/main/deploy/pathplanner/paths/Left to neutral to depot.path
new file mode 100644 (file)
index 0000000..cc7a5a0
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/Left to neutral to depot.path
@@ -0,0 +1,240 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 3.566008403832779,
+        "y": 7.457340509007208
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 4.521985876085326,
+        "y": 7.480627842977369
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 6.74844449371633,
+        "y": 7.323051878639669
+      },
+      "prevControl": {
+        "x": 6.2291917985744085,
+        "y": 7.524060964793236
+      },
+      "nextControl": {
+        "x": 7.0431955211446535,
+        "y": 7.208950141238001
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 7.47952715610716,
+        "y": 6.691750705058882
+      },
+      "prevControl": {
+        "x": 7.292883599447913,
+        "y": 7.06382367183081
+      },
+      "nextControl": {
+        "x": 7.8379030178105324,
+        "y": 5.97733027463995
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 7.087382414476883,
+        "y": 4.590804334971547
+      },
+      "prevControl": {
+        "x": 7.936968923942251,
+        "y": 4.34583816663551
+      },
+      "nextControl": {
+        "x": 6.538459561492894,
+        "y": 4.749078420670237
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 5.946014234875446,
+        "y": 5.492870699881376
+      },
+      "prevControl": {
+        "x": 6.2431966403422345,
+        "y": 5.487831401530197
+      },
+      "nextControl": {
+        "x": 5.293171030726975,
+        "y": 5.503940910034214
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 3.6865836298932395,
+        "y": 5.492870699881376
+      },
+      "prevControl": {
+        "x": 3.981641394201829,
+        "y": 5.506065263439213
+      },
+      "nextControl": {
+        "x": 3.116876837589632,
+        "y": 5.467394222426202
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 1.990149028832779,
+        "y": 4.837340907023949
+      },
+      "prevControl": {
+        "x": 2.8573154908051226,
+        "y": 4.945749181223366
+      },
+      "nextControl": {
+        "x": 1.6302225889184676,
+        "y": 4.792344927704011
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 0.6028322871115273,
+        "y": 4.9415105872459275
+      },
+      "prevControl": {
+        "x": 0.7909637244103318,
+        "y": 4.776869880554399
+      },
+      "nextControl": {
+        "x": 0.4147008498127227,
+        "y": 5.106151293937456
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 0.422,
+        "y": 5.773
+      },
+      "prevControl": {
+        "x": 0.33797610762372643,
+        "y": 5.2179935180131
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 0.4120781527531097,
+      "rotationDegrees": 180.0
+    },
+    {
+      "waypointRelativePos": 1.2283611599297022,
+      "rotationDegrees": 145.82109874494995
+    },
+    {
+      "waypointRelativePos": 2.5766695957820738,
+      "rotationDegrees": 90.0
+    },
+    {
+      "waypointRelativePos": 3.847874720357959,
+      "rotationDegrees": 0.0
+    },
+    {
+      "waypointRelativePos": 5.3154362416107235,
+      "rotationDegrees": 0.0
+    }
+  ],
+  "constraintZones": [
+    {
+      "name": "Constraints Zone",
+      "minWaypointRelativePos": 1.908695652173902,
+      "maxWaypointRelativePos": 3.0565217391304893,
+      "constraints": {
+        "maxVelocity": 1.0,
+        "maxAcceleration": 3.0,
+        "maxAngularVelocity": 540.0,
+        "maxAngularAcceleration": 720.0,
+        "nominalVoltage": 12.0,
+        "unlimited": false
+      }
+    },
+    {
+      "name": "Constraints Zone",
+      "minWaypointRelativePos": 5.1521739130434785,
+      "maxWaypointRelativePos": 6.995652173913043,
+      "constraints": {
+        "maxVelocity": 2.0,
+        "maxAcceleration": 3.0,
+        "maxAngularVelocity": 540.0,
+        "maxAngularAcceleration": 720.0,
+        "nominalVoltage": 12.0,
+        "unlimited": false
+      }
+    },
+    {
+      "name": "Constraints Zone",
+      "minWaypointRelativePos": 6.61304347826087,
+      "maxWaypointRelativePos": 8.0,
+      "constraints": {
+        "maxVelocity": 1.0,
+        "maxAcceleration": 3.0,
+        "maxAngularVelocity": 540.0,
+        "maxAngularAcceleration": 720.0,
+        "nominalVoltage": 12.0,
+        "unlimited": false
+      }
+    },
+    {
+      "name": "Constraints Zone",
+      "minWaypointRelativePos": 0,
+      "maxWaypointRelativePos": 1.0565217391304353,
+      "constraints": {
+        "maxVelocity": 5.0,
+        "maxAcceleration": 5.0,
+        "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": -89.60319923509195
+  },
+  "reversed": false,
+  "folder": "Left Autos",
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 179.44468519034675
+  },
+  "useDefaultConstraints": true
+}
\ 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
index b98defdd9e5892f632b3934987b65eb7588ebd93..d94459877363597a3efdb259b9499964b595c620 100644 (file)
--- a/src/main/deploy/pathplanner/paths/Outpost to right climb.path
+++ b/src/main/deploy/pathplanner/paths/Outpost to right climb.path
@@ -42,13 +42,13 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": -90.88140399658214
+    "rotation": -0.8810000000000002
   },
   "reversed": false,
   "folder": "Miscellaneous",
   "idealStartingState": {
     "velocity": 0,
-    "rotation": -90.0
+    "rotation": 0.0
   },
   "useDefaultConstraints": true
 }
\ 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
index 6138a9ecad98ad8e291e95092a40f3b53faf35f9..73f6fc05bcb3a2f880e655ae8c40e43645e902ba 100644 (file)
--- a/src/main/deploy/pathplanner/paths/Over the bump diagonal.path
+++ b/src/main/deploy/pathplanner/paths/Over the bump diagonal.path
@@ -64,11 +64,11 @@
     },
     {
       "anchor": {
-        "x": 5.7049398496240595,
+        "x": 5.8960016556291395,
         "y": 4.038296992481204
       },
       "prevControl": {
-        "x": 6.311586466165413,
+        "x": 6.502648272170493,
         "y": 4.025109022556391
       },
       "nextControl": null,
@@ -79,15 +79,15 @@
   "rotationTargets": [
     {
       "waypointRelativePos": 0.7534675615212593,
-      "rotationDegrees": 45.0
+      "rotationDegrees": 135.0
     },
     {
       "waypointRelativePos": 2.0778523489932774,
-      "rotationDegrees": 45.0
+      "rotationDegrees": 135.0
     },
     {
       "waypointRelativePos": 2.521700223713649,
-      "rotationDegrees": -51.12369435851797
+      "rotationDegrees": 38.876
     }
   ],
   "constraintZones": [
@@ -130,13 +130,13 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": -90.0
+    "rotation": 0.0
   },
   "reversed": false,
   "folder": "Field Testing Autos",
   "idealStartingState": {
     "velocity": 0,
-    "rotation": 90.0
+    "rotation": 180.0
   },
   "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
index 1ded5e0044c3a5148a0746f86149defd36200c6a..a2259368f82aed5d24e51abdf659dbd49bf05690 100644 (file)
--- a/src/main/deploy/pathplanner/paths/Over the bump.path
+++ b/src/main/deploy/pathplanner/paths/Over the bump.path
@@ -117,13 +117,13 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": 90.0
+    "rotation": 180.0
   },
   "reversed": false,
   "folder": "Field Testing Autos",
   "idealStartingState": {
     "velocity": 0,
-    "rotation": 90.0
+    "rotation": 180.0
   },
   "useDefaultConstraints": true
 }
\ No newline at end of file