a

diff --git a/src/main/deploy/pathplanner/autos/Right - Under Trench.auto b/src/main/deploy/pathplanner/autos/Right - Under Trench.auto
new file mode 100644 (file)
index 0000000..52444d1
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/Right - Under Trench.auto
@@ -0,0 +1,31 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "#1 Right - Under the trench"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "#2 Right - Under the trench"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "#3 Right - Under the trench"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}
\ No newline at end of file

diff --git a/src/main/deploy/pathplanner/autos/Right(2) - Under Trench.auto b/src/main/deploy/pathplanner/autos/Right(2) - Under Trench.auto
new file mode 100644 (file)
index 0000000..e8d7a5a
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/Right(2) - Under Trench.auto
@@ -0,0 +1,31 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "#1(2) Right - Under the trench"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "#2(2) Right - Under the trench"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "#3 Right - Under the trench"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}
\ 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
index 31009181b6a168cae31e6a3274bf9acde4198f97..90ed93402d9f4c711e98bb976680047c010bfcf3 100644 (file)
--- a/src/main/deploy/pathplanner/paths/#1 Left under the trench.path
+++ b/src/main/deploy/pathplanner/paths/#1 Left under the trench.path
@@ -63,11 +63,11 @@
   "rotationTargets": [
     {
       "waypointRelativePos": 0.5,
-      "rotationDegrees": 180.0
+      "rotationDegrees": 0.0
     },
     {
       "waypointRelativePos": 1.2283611599297022,
-      "rotationDegrees": 128.3482078226305
+      "rotationDegrees": -51.65199999999999
     }
   ],
   "constraintZones": [
@@ -136,13 +136,13 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": 90.0
+    "rotation": -90.0
   },
   "reversed": false,
   "folder": "Left Autos",
   "idealStartingState": {
     "velocity": 0.0,
-    "rotation": 180.0
+    "rotation": 0.0
   },
   "useDefaultConstraints": true
 }
\ 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
index b1b9d0af1ab01eb2b63ead128fcd6077b4601e78..ac809449f4681dadc74570a074deb572615793a4 100644 (file)
--- a/src/main/deploy/pathplanner/paths/#1 Right - Under the trench.path
+++ b/src/main/deploy/pathplanner/paths/#1 Right - Under the trench.path
@@ -47,11 +47,11 @@
   "rotationTargets": [
     {
       "waypointRelativePos": 0.42628774422735277,
-      "rotationDegrees": -150.0
+      "rotationDegrees": 29.999999999999996
     },
     {
       "waypointRelativePos": 0.6975023126734518,
-      "rotationDegrees": -104.15180975107518
+      "rotationDegrees": 75.848
     }
   ],
   "constraintZones": [
@@ -81,13 +81,13 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": -90.0
+    "rotation": 90.0
   },
   "reversed": false,
   "folder": "Right Autos",
   "idealStartingState": {
     "velocity": 0,
-    "rotation": 180.0
+    "rotation": 0.0
   },
   "useDefaultConstraints": true
 }
\ No newline at end of file

diff --git a/src/main/deploy/pathplanner/paths/#1(2) Right - Under the trench.path b/src/main/deploy/pathplanner/paths/#1(2) Right - Under the trench.path
new file mode 100644 (file)
index 0000000..4470532
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/#1(2) Right - Under the trench.path
@@ -0,0 +1,106 @@
+{
+  "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": 8.574917218543046,
+        "y": 1.5158029801324506
+      },
+      "prevControl": {
+        "x": 8.742932937101976,
+        "y": 0.1380740879492448
+      },
+      "nextControl": {
+        "x": 8.5023178807947,
+        "y": 2.1111175496688723
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 8.089,
+        "y": 3.57
+      },
+      "prevControl": {
+        "x": 8.519890563503097,
+        "y": 2.960165562913907
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 0.42628774422735277,
+      "rotationDegrees": 29.999999999999996
+    },
+    {
+      "waypointRelativePos": 0.6975023126734518,
+      "rotationDegrees": 90.84924216679515
+    }
+  ],
+  "constraintZones": [
+    {
+      "name": "Constraints Zone",
+      "minWaypointRelativePos": 0.7792207792207767,
+      "maxWaypointRelativePos": 1.6989130434782616,
+      "constraints": {
+        "maxVelocity": 3.0,
+        "maxAcceleration": 3.0,
+        "maxAngularVelocity": 540.0,
+        "maxAngularAcceleration": 720.0,
+        "nominalVoltage": 12.0,
+        "unlimited": false
+      }
+    },
+    {
+      "name": "Constraints Zone",
+      "minWaypointRelativePos": 0,
+      "maxWaypointRelativePos": 0.7151943462897536,
+      "constraints": {
+        "maxVelocity": 6.0,
+        "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": 105.351
+  },
+  "reversed": false,
+  "folder": "Right Autos",
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "useDefaultConstraints": true
+}
\ 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
index e6e49d60a97188ed4ba0981cd926ba2284a69e80..450d0fecbb06605cdcec0ab62ceb63b1701180bd 100644 (file)
--- a/src/main/deploy/pathplanner/paths/#2 Left under the trench.path
+++ b/src/main/deploy/pathplanner/paths/#2 Left under the trench.path
@@ -111,15 +111,15 @@
   "rotationTargets": [
     {
       "waypointRelativePos": 0.5,
-      "rotationDegrees": 110.55163716213218
+      "rotationDegrees": -69.44799999999998
     },
     {
       "waypointRelativePos": 1.2283611599297022,
-      "rotationDegrees": -179.58662377366485
+      "rotationDegrees": 0.4130000000000109
     },
     {
       "waypointRelativePos": 2.2978723404255277,
-      "rotationDegrees": 90.0
+      "rotationDegrees": -90.0
     }
   ],
   "constraintZones": [
@@ -148,6 +148,19 @@
         "nominalVoltage": 12.0,
         "unlimited": false
       }
+    },
+    {
+      "name": "Constraints Zone",
+      "minWaypointRelativePos": 2.7392226148409877,
+      "maxWaypointRelativePos": 3.697526501766785,
+      "constraints": {
+        "maxVelocity": 1.5,
+        "maxAcceleration": 3.0,
+        "maxAngularVelocity": 540.0,
+        "maxAngularAcceleration": 720.0,
+        "nominalVoltage": 12.0,
+        "unlimited": false
+      }
     }
   ],
   "pointTowardsZones": [],
@@ -162,13 +175,13 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": 90.0
+    "rotation": -90.0
   },
   "reversed": false,
   "folder": "Left Autos",
   "idealStartingState": {
     "velocity": 0.0,
-    "rotation": 90.0
+    "rotation": -90.0
   },
   "useDefaultConstraints": true
 }
\ No newline at end of file

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
index db980c23fd70dcba57bff1fb23b4bb53c89dccee..a26fd7a9d3082c9f96da4d176b06f5fb702f0f10 100644 (file)
--- a/src/main/deploy/pathplanner/paths/#2 Right - Under the trench.path
+++ b/src/main/deploy/pathplanner/paths/#2 Right - Under the trench.path
@@ -8,8 +8,8 @@
       },
       "prevControl": null,
       "nextControl": {
-        "x": 7.883,
-        "y": 1.178882383917025
+        "x": 7.071290738661256,
+        "y": 0.9383553862482001
       },
       "isLocked": false,
       "linkedName": null
@@ -20,12 +20,12 @@
         "y": 0.5865314569536417
       },
       "prevControl": {
-        "x": 6.521218019907677,
-        "y": 0.5865314569536417
+        "x": 6.035164509263001,
+        "y": 0.617600951415989
       },
       "nextControl": {
-        "x": 4.414975165562914,
-        "y": 0.586531456953642
+        "x": 3.0682440376782023,
+        "y": 0.24599719472861176
       },
       "isLocked": false,
       "linkedName": null
@@ -36,8 +36,8 @@
         "y": 0.65
       },
       "prevControl": {
-        "x": 1.837698675496689,
-        "y": 0.6064403973509934
+        "x": 1.0581491579606932,
+        "y": 0.7153598580391806
       },
       "nextControl": null,
       "isLocked": false,
@@ -46,8 +46,8 @@
   ],
   "rotationTargets": [
     {
-      "waypointRelativePos": 0.5,
-      "rotationDegrees": 0.0
+      "waypointRelativePos": 1.4412580943570767,
+      "rotationDegrees": 180.0
     }
   ],
   "constraintZones": [
@@ -77,7 +77,7 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": 0.0
+    "rotation": 180.0
   },
   "reversed": false,
   "folder": "Right Autos",

diff --git a/src/main/deploy/pathplanner/paths/#2(2) Right - Under the trench.path b/src/main/deploy/pathplanner/paths/#2(2) Right - Under the trench.path
new file mode 100644 (file)
index 0000000..d854b68
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/#2(2) Right - Under the trench.path
@@ -0,0 +1,89 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 8.089,
+        "y": 3.57
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 7.277290738661256,
+        "y": 1.0393553862482001
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 5.7871026490066235,
+        "y": 0.5865314569536417
+      },
+      "prevControl": {
+        "x": 6.035164509263001,
+        "y": 0.617600951415989
+      },
+      "nextControl": {
+        "x": 3.0682440376782023,
+        "y": 0.24599719472861176
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 0.6398096026490065,
+        "y": 0.65
+      },
+      "prevControl": {
+        "x": 1.0581491579606932,
+        "y": 0.7153598580391806
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 1.4412580943570767,
+      "rotationDegrees": 180.0
+    }
+  ],
+  "constraintZones": [
+    {
+      "name": "Constraints Zone",
+      "minWaypointRelativePos": 0.3407792207792205,
+      "maxWaypointRelativePos": 1.1968831168831167,
+      "constraints": {
+        "maxVelocity": 4.0,
+        "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": 180.0
+  },
+  "reversed": false,
+  "folder": "Right Autos",
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 105.351
+  },
+  "useDefaultConstraints": true
+}
\ No newline at end of file

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
index 6beccd5750521dd810c46073a58204f11deed23b..f8ec91ee4bf229e991ba3bfc4105f5477019a1fa 100644 (file)
--- a/src/main/deploy/pathplanner/paths/#3 Right - Under the trench.path
+++ b/src/main/deploy/pathplanner/paths/#3 Right - Under the trench.path
@@ -8,63 +8,28 @@
       },
       "prevControl": null,
       "nextControl": {
-        "x": 0.6399999999999997,
-        "y": -1.640117616082975
+        "x": 1.5400413907284771,
+        "y": 1.4359437086129003
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 5.7871026490066235,
-        "y": 0.5865314569536417
+        "x": 1.7650993377483442,
+        "y": 2.844370860930782
       },
       "prevControl": {
-        "x": 6.521218019907677,
-        "y": 0.5865314569536417
-      },
-      "nextControl": {
-        "x": 4.414975165562914,
-        "y": 0.586531456953642
-      },
-      "isLocked": false,
-      "linkedName": null
-    },
-    {
-      "anchor": {
-        "x": 0.64,
-        "y": 0.65
-      },
-      "prevControl": {
-        "x": 1.8378890728476827,
-        "y": 0.6064403973509934
+        "x": 1.6634602649006622,
+        "y": 2.1038576158976685
       },
       "nextControl": null,
       "isLocked": false,
       "linkedName": null
     }
   ],
-  "rotationTargets": [
-    {
-      "waypointRelativePos": 0.5,
-      "rotationDegrees": 0.0
-    }
-  ],
-  "constraintZones": [
-    {
-      "name": "Constraints Zone",
-      "minWaypointRelativePos": 0.3407792207792205,
-      "maxWaypointRelativePos": 1.1968831168831167,
-      "constraints": {
-        "maxVelocity": 4.0,
-        "maxAcceleration": 3.0,
-        "maxAngularVelocity": 540.0,
-        "maxAngularAcceleration": 720.0,
-        "nominalVoltage": 12.0,
-        "unlimited": false
-      }
-    }
-  ],
+  "rotationTargets": [],
+  "constraintZones": [],
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
@@ -77,13 +42,13 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": 0.0
+    "rotation": -90.0
   },
   "reversed": false,
   "folder": "Right Autos",
   "idealStartingState": {
     "velocity": 0,
-    "rotation": 90.0
+    "rotation": 180.0
   },
   "useDefaultConstraints": true
 }
\ No newline at end of file