added swipe path

diff --git a/src/main/deploy/pathplanner/autos/Double Swipe.auto b/src/main/deploy/pathplanner/autos/Double Swipe.auto
new file mode 100644 (file)
index 0000000..94d3ec7
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/Double Swipe.auto
@@ -0,0 +1,25 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Swipe 1"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Swipe 2"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}
\ No newline at end of file

diff --git a/src/main/deploy/pathplanner/paths/Swipe 1.path b/src/main/deploy/pathplanner/paths/Swipe 1.path
new file mode 100644 (file)
index 0000000..d2ef646
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/Swipe 1.path
@@ -0,0 +1,241 @@
+{
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+      "isLocked": false,
+      "linkedName": null
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+    {
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+    {
+      "anchor": {
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+        "y": 4.75
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+        "y": 4.501827210251541
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+    {
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+      "prevControl": {
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+        "y": 7.248722177237894
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+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
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+        "x": 4.723114173419624,
+        "y": 7.648624670893371
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+    {
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+    {
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+      "command": {
+        "type": "named",
+        "data": {
+          "name": "Extend Intake"
+        }
+      }
+    },
+    {
+      "name": "Stop Hood Down",
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+      "endWaypointRelativePos": null,
+      "command": {
+        "type": "named",
+        "data": {
+          "name": "Stop Hood Down"
+        }
+      }
+    },
+    {
+      "name": "Spin Intake Rollers",
+      "waypointRelativePos": 0.8409893992932987,
+      "endWaypointRelativePos": null,
+      "command": {
+        "type": "named",
+        "data": {
+          "name": "Spin Intake Rollers"
+        }
+      }
+    },
+    {
+      "name": "Start Spindexer",
+      "waypointRelativePos": 1.0812720848056614,
+      "endWaypointRelativePos": null,
+      "command": {
+        "type": "named",
+        "data": {
+          "name": "Start Spindexer"
+        }
+      }
+    },
+    {
+      "name": "Stop Spindexer",
+      "waypointRelativePos": 2.3533568904593656,
+      "endWaypointRelativePos": null,
+      "command": {
+        "type": "named",
+        "data": {
+          "name": "Stop Spindexer"
+        }
+      }
+    },
+    {
+      "name": "Hood Down",
+      "waypointRelativePos": 4.127208480565361,
+      "endWaypointRelativePos": null,
+      "command": {
+        "type": "named",
+        "data": {
+          "name": "Hood Down"
+        }
+      }
+    },
+    {
+      "name": "Stop Hood Down",
+      "waypointRelativePos": 5.0,
+      "endWaypointRelativePos": null,
+      "command": {
+        "type": "named",
+        "data": {
+          "name": "Stop Hood Down"
+        }
+      }
+    },
+    {
+      "name": "Start Spindexer",
+      "waypointRelativePos": 5.0,
+      "endWaypointRelativePos": null,
+      "command": {
+        "type": "named",
+        "data": {
+          "name": "Start Spindexer"
+        }
+      }
+    }
+  ],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 1.5,
+    "maxAngularVelocity": 200.0,
+    "maxAngularAcceleration": 150.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0.0,
+    "rotation": 0.22509637709833002
+  },
+  "reversed": false,
+  "folder": "week 2 autos",
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "useDefaultConstraints": false
+}
\ No newline at end of file

diff --git a/src/main/deploy/pathplanner/paths/Swipe 2.path b/src/main/deploy/pathplanner/paths/Swipe 2.path
new file mode 100644 (file)
index 0000000..bdd9a19
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/Swipe 2.path
@@ -0,0 +1,213 @@
+{
+  "version": "2025.0",
+  "waypoints": [
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+        "y": 7.623190984573506
+      },
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+        "y": 7.385766917790012
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 6.9269122516556285,
+        "y": 4.964271523178806
+      },
+      "prevControl": {
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+        "y": 5.284581297952253
+      },
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+        "y": 4.422651609245494
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
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+      "linkedName": null
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+    {
+      "anchor": {
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+      "prevControl": {
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+        "y": 7.621407284771841
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+  ],
+  "rotationTargets": [
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+  ],
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+    {
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+      "command": {
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+        "data": {
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+    {
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+      "endWaypointRelativePos": null,
+      "command": {
+        "type": "named",
+        "data": {
+          "name": "Spin Intake Rollers"
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+      }
+    },
+    {
+      "name": "Stop Hood Down",
+      "waypointRelativePos": 0.2968197879858761,
+      "endWaypointRelativePos": null,
+      "command": {
+        "type": "named",
+        "data": {
+          "name": "Stop Hood Down"
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+      }
+    },
+    {
+      "name": "Start Spindexer",
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+      "command": {
+        "type": "named",
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+    },
+    {
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+      "endWaypointRelativePos": null,
+      "command": {
+        "type": "named",
+        "data": {
+          "name": "Stop Spindexer"
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+    },
+    {
+      "name": "Hood Down",
+      "waypointRelativePos": 2.667137809187283,
+      "endWaypointRelativePos": null,
+      "command": {
+        "type": "named",
+        "data": {
+          "name": "Hood Down"
+        }
+      }
+    },
+    {
+      "name": "Stop Hood Down",
+      "waypointRelativePos": 3.0,
+      "endWaypointRelativePos": null,
+      "command": {
+        "type": "named",
+        "data": {
+          "name": "Stop Hood Down"
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+      }
+    },
+    {
+      "name": "Start Spindexer",
+      "waypointRelativePos": 3.0,
+      "endWaypointRelativePos": null,
+      "command": {
+        "type": "named",
+        "data": {
+          "name": "Start Spindexer"
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+      }
+    }
+  ],
+  "globalConstraints": {
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+  "reversed": false,
+  "folder": "week 2 autos",
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+}
\ No newline at end of file