changes

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
index c8c93777fa99f7261d6ab930dbca18140bb50c6c..41697e2d857bee3e2d4d07e779fccea879969935 100644 (file)
--- 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
@@ -80,16 +80,16 @@
     },
     {
       "anchor": {
-        "x": 3.779533808672662,
-        "y": 5.089761644833263
+        "x": 3.6937744360902256,
+        "y": 5.201112001911139
       },
       "prevControl": {
-        "x": 4.074591572981252,
-        "y": 5.102956208391101
+        "x": 3.9888322003988153,
+        "y": 5.214306565468976
       },
       "nextControl": {
-        "x": 3.2098270163690543,
-        "y": 5.06428516737809
+        "x": 3.124067643786618,
+        "y": 5.1756355244559655
       },
       "isLocked": false,
       "linkedName": null
@@ -143,7 +143,7 @@
   "rotationTargets": [
     {
       "waypointRelativePos": 0.5,
-      "rotationDegrees": 88.99459011434789
+      "rotationDegrees": 90.0
     },
     {
       "waypointRelativePos": 1.2283611599297022,
@@ -154,15 +154,68 @@
       "rotationDegrees": 0.0
     },
     {
-      "waypointRelativePos": 4.08974077328647,
-      "rotationDegrees": -93.46305285742982
+      "waypointRelativePos": 3.847874720357959,
+      "rotationDegrees": -90.0
     },
     {
-      "waypointRelativePos": 5.605612917398945,
+      "waypointRelativePos": 5.3154362416107235,
       "rotationDegrees": -90.0
     }
   ],
-  "constraintZones": [],
+  "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": {

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 4eea95968f842545f033ac46ed445b8e2c5ddfcb..abf72ff485bf4f7154adf4692d5f2ae2ef09bbdb 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
@@ -8,8 +8,8 @@
       },
       "prevControl": null,
       "nextControl": {
-        "x": 5.9352550415183885,
-        "y": 0.5113641755688423
+        "x": 5.83681954887218,
+        "y": 0.7017406015037613
       },
       "isLocked": false,
       "linkedName": null
@@ -20,12 +20,12 @@
         "y": 2.1682799525557948
       },
       "prevControl": {
-        "x": 7.8826690391459096,
-        "y": 0.7803440094952954
+        "x": 7.781962564626875,
+        "y": 0.7840023835584544
       },
       "nextControl": {
-        "x": 7.8826690391459096,
-        "y": 3.556215895616294
+        "x": 8.006240601503759,
+        "y": 3.866853383458647
       },
       "isLocked": false,
       "linkedName": null
@@ -36,56 +36,72 @@
         "y": 3.308754448403956
       },
       "prevControl": {
-        "x": 7.233416643252293,
-        "y": 3.4931877093612465
+        "x": 7.1708636727820885,
+        "y": 3.643041962063449
+      },
+      "nextControl": {
+        "x": 6.239052631578947,
+        "y": 3.115139097744361
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 5.896165413533835,
+        "y": 2.3898007518797
+      },
+      "prevControl": {
+        "x": 6.23245864661654,
+        "y": 2.3963947368421064
       },
       "nextControl": {
-        "x": 6.085883748517202,
-        "y": 3.1688849347622012
+        "x": 5.408403599071362,
+        "y": 2.3802367947333765
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 5.397295373665482,
-        "y": 2.8353499406933995
+        "x": 3.3970451127819548,
+        "y": 2.3898007518797
       },
       "prevControl": {
-        "x": 6.032087781731912,
-        "y": 3.125848161333969
+        "x": 4.188323308270675,
+        "y": 2.3898007518797
       },
       "nextControl": {
-        "x": 4.9536844505525455,
-        "y": 2.632341552150191
+        "x": 2.61653997383818,
+        "y": 2.3898007518797
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 3.8479715302491124,
-        "y": 2.3942230130540154
+        "x": 1.9727443609022557,
+        "y": 0.6942704626334513
       },
       "prevControl": {
-        "x": 4.590355871886123,
-        "y": 2.6201660735522365
+        "x": 2.625548872180451,
+        "y": 0.6951466165413536
       },
       "nextControl": {
-        "x": 3.101282650281106,
-        "y": 2.166969875672448
+        "x": 1.2779706810951832,
+        "y": 0.6933379802989178
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 0.684768683274023,
+        "x": 0.7001052631578946,
         "y": 0.6942704626334513
       },
       "prevControl": {
-        "x": 1.0503360229905447,
-        "y": 0.13517787626462363
+        "x": 1.41884962406015,
+        "y": 0.7017406015037613
       },
       "nextControl": null,
       "isLocked": false,
@@ -99,18 +115,44 @@
     },
     {
       "waypointRelativePos": 1.2397868561279017,
-      "rotationDegrees": -156.55715287251223
+      "rotationDegrees": -174.49099985205402
     },
     {
       "waypointRelativePos": 1.8117229129662467,
       "rotationDegrees": -84.53943478963535
     },
+    {
+      "waypointRelativePos": 3.01,
+      "rotationDegrees": -90.0
+    },
+    {
+      "waypointRelativePos": 3.9217002237136356,
+      "rotationDegrees": -90.0
+    },
+    {
+      "waypointRelativePos": 4.421476510067107,
+      "rotationDegrees": -46.41189920736874
+    },
     {
       "waypointRelativePos": 5,
-      "rotationDegrees": -91.50743575877497
+      "rotationDegrees": -90.0
+    }
+  ],
+  "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
+      }
     }
   ],
-  "constraintZones": [],
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {

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 20d64badbd9797f46132a5725357aae8b2dc8705..101c039551f6d528e1fcd76fcb562defafa38ff1 100644 (file)
--- a/src/main/deploy/pathplanner/settings.json
+++ b/src/main/deploy/pathplanner/settings.json
@@ -5,8 +5,9 @@
   "pathFolders": [
     "Center Autos",
     "Left Autos",
-    "Right Autos",
-    "Miscellaneous"
+    "Miscellaneous",
+    "Field Testing Autos",
+    "Right Autos"
   ],
   "autoFolders": [],
   "defaultMaxVel": 3.0,