depot auto and stuff

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
index 3604f4831674784882c17cf083d5dad91a299b78..8e1fb719405bb11ad2096cc74f3013b8cbbe2153 100644 (file)
--- a/src/main/deploy/pathplanner/autos/DepotCenterPath.auto
+++ b/src/main/deploy/pathplanner/autos/DepotCenterPath.auto
@@ -9,6 +9,30 @@
           "data": {
             "pathName": "Depot Center Path"
           }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 2.5
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Start Intake Seizure"
+          }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 5.5
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "BookItToNeutral"
+          }
         }
       ]
     }

diff --git a/src/main/deploy/pathplanner/autos/LeftBumpDepotCenter.auto b/src/main/deploy/pathplanner/autos/LeftBumpDepotCenter.auto
index 1851c118c678528fca0abbe6a24183ad03d91b43..1f19c8cbfec5c10b4361de4c1b7a78d020d73f99 100644 (file)
--- a/src/main/deploy/pathplanner/autos/LeftBumpDepotCenter.auto
+++ b/src/main/deploy/pathplanner/autos/LeftBumpDepotCenter.auto
@@ -9,6 +9,30 @@
           "data": {
             "pathName": "Left Bump Depot Center Path"
           }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 2.5
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Start Intake Seizure"
+          }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 4.5
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "BookItToNeutral"
+          }
         }
       ]
     }

diff --git a/src/main/deploy/pathplanner/autos/LeftTrenchDepotCenter.auto b/src/main/deploy/pathplanner/autos/LeftTrenchDepotCenter.auto
index 26a52259e804b23c80064454ed0ed6048a22c708..1af5322ab5b93a925b5a783f0243d96ff97be161 100644 (file)
--- a/src/main/deploy/pathplanner/autos/LeftTrenchDepotCenter.auto
+++ b/src/main/deploy/pathplanner/autos/LeftTrenchDepotCenter.auto
@@ -9,6 +9,30 @@
           "data": {
             "pathName": "Left Trench Depot Center Path"
           }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 2.0
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Start Intake Seizure"
+          }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 4.5
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "BookItToNeutral"
+          }
         }
       ]
     }

diff --git a/src/main/deploy/pathplanner/paths/BookItToNeutral.path b/src/main/deploy/pathplanner/paths/BookItToNeutral.path
new file mode 100644 (file)
index 0000000..a69b998
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/BookItToNeutral.path
@@ -0,0 +1,99 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 1.5352,
+        "y": 7.408
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 2.5351999999999997,
+        "y": 7.408
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 7.8611506524317925,
+        "y": 7.408
+      },
+      "prevControl": {
+        "x": 6.8611506524317925,
+        "y": 7.408
+      },
+      "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": "Stop Intake Seizure",
+      "waypointRelativePos": 0,
+      "endWaypointRelativePos": null,
+      "command": {
+        "type": "named",
+        "data": {
+          "name": "Stop Intake Seizure"
+        }
+      }
+    },
+    {
+      "name": "Stop Spindexer",
+      "waypointRelativePos": 0,
+      "endWaypointRelativePos": null,
+      "command": {
+        "type": "named",
+        "data": {
+          "name": "Stop Spindexer"
+        }
+      }
+    },
+    {
+      "name": "Stop Hood Down",
+      "waypointRelativePos": 0.6051743532058476,
+      "endWaypointRelativePos": null,
+      "command": {
+        "type": "named",
+        "data": {
+          "name": "Stop Hood Down"
+        }
+      }
+    }
+  ],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 2.5,
+    "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/Depot Center Path.path b/src/main/deploy/pathplanner/paths/Depot Center Path.path
index d3b03639236d50ef93de90f4d32a70633dee7a09..7143525dcf3359891452aaf61528ec31b10048a7 100644 (file)
--- a/src/main/deploy/pathplanner/paths/Depot Center Path.path
+++ b/src/main/deploy/pathplanner/paths/Depot Center Path.path
@@ -16,44 +16,44 @@
     },
     {
       "anchor": {
-        "x": 0.5018623962040341,
-        "y": 4.911874258600237
+        "x": 0.1575682087781738,
+        "y": 4.9871886120996445
       },
       "prevControl": {
-        "x": 0.5018623962040341,
-        "y": 4.14140782882557
+        "x": 0.1575682087781738,
+        "y": 4.216722182324977
       },
       "nextControl": {
-        "x": 0.5018623962040341,
-        "y": 5.342241992882562
+        "x": 0.1575682087781738,
+        "y": 5.41755634638197
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 0.6309727164887315,
-        "y": 6.988398576512456
+        "x": 0.38351126927639445,
+        "y": 7.257378410438909
       },
       "prevControl": {
-        "x": 0.44012614514645276,
-        "y": 6.826913016145912
+        "x": 0.06367204449278147,
+        "y": 7.034460162862452
       },
       "nextControl": {
-        "x": 1.038758919288973,
-        "y": 7.3334484404203515
+        "x": 0.7385646500593126,
+        "y": 7.504839857651245
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 4.5,
-        "y": 7.623
+        "x": 1.5354,
+        "y": 7.408
       },
       "prevControl": {
-        "x": 3.9017674970344016,
-        "y": 7.0417129300118635
+        "x": 0.932230130486359,
+        "y": 7.41876631079478
       },
       "nextControl": null,
       "isLocked": false,
@@ -91,47 +91,60 @@
   ],
   "pointTowardsZones": [],
   "eventMarkers": [
-    {
-      "name": "Hood Down",
-      "waypointRelativePos": 0,
-      "endWaypointRelativePos": null,
-      "command": null
-    },
     {
       "name": "Spin Intake Rollers",
       "waypointRelativePos": 0.9988974641675645,
       "endWaypointRelativePos": null,
-      "command": null
+      "command": {
+        "type": "named",
+        "data": {
+          "name": "Spin Intake Rollers"
+        }
+      }
     },
     {
       "name": "Stop Spindexer",
       "waypointRelativePos": 1.0,
       "endWaypointRelativePos": null,
-      "command": null
+      "command": {
+        "type": "named",
+        "data": {
+          "name": "Stop Spindexer"
+        }
+      }
     },
     {
       "name": "Extend Intake",
       "waypointRelativePos": 1.0,
       "endWaypointRelativePos": null,
-      "command": null
+      "command": {
+        "type": "named",
+        "data": {
+          "name": "Extend Intake"
+        }
+      }
     },
     {
       "name": "Start Spindexer",
       "waypointRelativePos": 3.0,
       "endWaypointRelativePos": null,
-      "command": null
+      "command": {
+        "type": "named",
+        "data": {
+          "name": "Start Spindexer"
+        }
+      }
     },
     {
       "name": "Stop Hood Down",
       "waypointRelativePos": 3.0,
       "endWaypointRelativePos": null,
-      "command": null
-    },
-    {
-      "name": "Start Intake Seizure",
-      "waypointRelativePos": 3.0,
-      "endWaypointRelativePos": null,
-      "command": null
+      "command": {
+        "type": "named",
+        "data": {
+          "name": "Hood Down"
+        }
+      }
     }
   ],
   "globalConstraints": {

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 9b9f2d433179c01045e2f709c8f3abb03e3ae908..5544e1edda20d41ae807d4d6d5bf6c351ddcbe37 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
@@ -8,68 +8,36 @@
       },
       "prevControl": null,
       "nextControl": {
-        "x": 3.073309608540926,
-        "y": 7.429525504151838
+        "x": 2.1695373665480435,
+        "y": 6.353606168446026
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 0.5341399762731966,
-        "y": 6.56879003558236
+        "x": 0.12529062871188268,
+        "y": 4.847319098461843
       },
       "prevControl": {
-        "x": 0.4696627447231163,
-        "y": 7.879827077009309
+        "x": 0.33332537129000794,
+        "y": 3.6429074309042764
       },
       "nextControl": {
-        "x": 0.5664175563463827,
-        "y": 5.9124792408066424
+        "x": -0.07913404507222188,
+        "y": 6.030830367738237
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 0.7062870699861263,
-        "y": 4.944151838666582
+        "x": 1.534744958481614,
+        "y": 7.408007117443102
       },
       "prevControl": {
-        "x": 0.3297153024911038,
-        "y": 4.83655990510083
-      },
-      "nextControl": {
-        "x": 2.0901127912904798,
-        "y": 5.339530616166478
-      },
-      "isLocked": false,
-      "linkedName": null
-    },
-    {
-      "anchor": {
-        "x": 2.7290154211130537,
-        "y": 6.041589561086512
-      },
-      "prevControl": {
-        "x": 2.6660894988160155,
-        "y": 5.549623259497286
-      },
-      "nextControl": {
-        "x": 2.847366548042706,
-        "y": 6.9668801897983395
-      },
-      "isLocked": false,
-      "linkedName": null
-    },
-    {
-      "anchor": {
-        "x": 4.579596678529064,
-        "y": 7.590913404507711
-      },
-      "prevControl": {
-        "x": 3.545234957349378,
-        "y": 7.474544158360471
+        "x": 0.157568208783057,
+        "y": 7.827615658366945
       },
       "nextControl": null,
       "isLocked": false,
@@ -79,18 +47,22 @@
   "rotationTargets": [
     {
       "waypointRelativePos": 0.5,
-      "rotationDegrees": -90.0
+      "rotationDegrees": 89.56096047431873
+    },
+    {
+      "waypointRelativePos": 1.35,
+      "rotationDegrees": 90.0
     },
     {
-      "waypointRelativePos": 1.8741258741258744,
-      "rotationDegrees": -90.0
+      "waypointRelativePos": 1.5417406749555937,
+      "rotationDegrees": 58.875208713955935
     }
   ],
   "constraintZones": [
     {
       "name": "Constraints Zone",
       "minWaypointRelativePos": 0.0,
-      "maxWaypointRelativePos": 4.5,
+      "maxWaypointRelativePos": 1.8,
       "constraints": {
         "maxVelocity": 1.0,
         "maxAcceleration": 1.0,
@@ -105,7 +77,7 @@
   "eventMarkers": [
     {
       "name": "Spin Intake Rollers",
-      "waypointRelativePos": 0,
+      "waypointRelativePos": 0.0,
       "endWaypointRelativePos": null,
       "command": {
         "type": "named",
@@ -149,9 +121,14 @@
     },
     {
       "name": "Start Spindexer",
-      "waypointRelativePos": 0,
+      "waypointRelativePos": 2.0,
       "endWaypointRelativePos": null,
-      "command": null
+      "command": {
+        "type": "named",
+        "data": {
+          "name": "Start Spindexer"
+        }
+      }
     }
   ],
   "globalConstraints": {

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 8a911fed9c44bc32f601574d78252a25e86e3270..72e08481a8648e5059a8f4639c96d055fc215cc5 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
@@ -8,68 +8,68 @@
       },
       "prevControl": null,
       "nextControl": {
-        "x": 2.492313167259787,
-        "y": 6.568790035587188
+        "x": 2.836607354685647,
+        "y": 6.8485290628707
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 0.5341399762731966,
-        "y": 6.56879003558236
+        "x": 0.10377224199288304,
+        "y": 6.622586002372479
       },
       "prevControl": {
-        "x": 0.5341399762731968,
-        "y": 7.881411625143452
+        "x": 0.10377224199288315,
+        "y": 7.93520759193357
       },
       "nextControl": {
-        "x": 0.5341399762731966,
-        "y": 5.899554370725603
+        "x": 0.10377224199288304,
+        "y": 5.953350337515722
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 0.8461565836298937,
-        "y": 4.997947805456701
+        "x": 0.4803440094899176,
+        "y": 4.61061684460261
       },
       "prevControl": {
-        "x": 0.3722824691003634,
-        "y": 4.841233531360322
+        "x": 0.2616461704685724,
+        "y": 4.489491887606174
       },
       "nextControl": {
-        "x": 2.212574139976275,
-        "y": 5.449833926453142
+        "x": 1.1796915776986958,
+        "y": 4.997947805456701
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 2.5138315539739033,
-        "y": 6.030830367734283
+        "x": 1.3518386714116257,
+        "y": 5.923238434163701
       },
       "prevControl": {
-        "x": 2.3524436536180313,
-        "y": 5.471352313167261
+        "x": 0.9099310791445863,
+        "y": 5.2840857560171
       },
       "nextControl": {
-        "x": 2.7881778575014478,
-        "y": 6.981897553296436
+        "x": 1.5452491103202861,
+        "y": 6.202977461447212
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 4.5,
-        "y": 7.623
+        "x": 1.535,
+        "y": 7.408
       },
       "prevControl": {
-        "x": 3.5036773428232504,
-        "y": 7.354211150652431
+        "x": 1.7391696322657184,
+        "y": 6.536512455516014
       },
       "nextControl": null,
       "isLocked": false,
@@ -78,12 +78,20 @@
   ],
   "rotationTargets": [
     {
-      "waypointRelativePos": 0.5,
+      "waypointRelativePos": 0.3481349911189977,
+      "rotationDegrees": 0.0
+    },
+    {
+      "waypointRelativePos": 0.5186500888099518,
       "rotationDegrees": -90.0
     },
     {
       "waypointRelativePos": 1.8741258741258744,
       "rotationDegrees": -90.0
+    },
+    {
+      "waypointRelativePos": 2.6287744227353658,
+      "rotationDegrees": -90.0
     }
   ],
   "constraintZones": [
@@ -107,43 +115,67 @@
       "name": "Hood Down",
       "waypointRelativePos": 0,
       "endWaypointRelativePos": null,
-      "command": null
+      "command": {
+        "type": "named",
+        "data": {
+          "name": "Hood Down"
+        }
+      }
     },
     {
       "name": "Stop Spindexer",
       "waypointRelativePos": 0.0,
       "endWaypointRelativePos": null,
-      "command": null
+      "command": {
+        "type": "named",
+        "data": {
+          "name": "Stop Spindexer"
+        }
+      }
     },
     {
       "name": "Spin Intake Rollers",
-      "waypointRelativePos": 0.8996692392502725,
+      "waypointRelativePos": 0.0,
       "endWaypointRelativePos": null,
-      "command": null
+      "command": {
+        "type": "named",
+        "data": {
+          "name": "Spin Intake Rollers"
+        }
+      }
     },
     {
       "name": "Extend Intake",
-      "waypointRelativePos": 0.9,
+      "waypointRelativePos": 0.0,
       "endWaypointRelativePos": null,
-      "command": null
+      "command": {
+        "type": "named",
+        "data": {
+          "name": "Extend Intake"
+        }
+      }
     },
     {
       "name": "Start Spindexer",
       "waypointRelativePos": 4.0,
       "endWaypointRelativePos": null,
-      "command": null
+      "command": {
+        "type": "named",
+        "data": {
+          "name": "Start Spindexer"
+        }
+      }
     },
     {
       "name": "Stop Hood Down",
       "waypointRelativePos": 4.0,
       "endWaypointRelativePos": null,
-      "command": null
-    },
-    {
-      "name": "Start Intake Seizure",
-      "waypointRelativePos": 4.0,
-      "endWaypointRelativePos": null,
-      "command": null
+      "command": {
+        "type": "named",
+        "data": {
+          "name": "Stop Hood Down"
+        }
+      }
     }
   ],
   "globalConstraints": {
@@ -162,7 +194,7 @@
   "folder": null,
   "idealStartingState": {
     "velocity": 0,
-    "rotation": 180.0
+    "rotation": 0.0
   },
   "useDefaultConstraints": true
 }
\ No newline at end of file