autos

diff --git a/src/main/deploy/pathplanner/autos/Left 2 runs (middle neutral) - hairpin.auto b/src/main/deploy/pathplanner/autos/Left 2 runs (middle neutral) - hairpin.auto
new file mode 100644 (file)
index 0000000..44ea307
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/Left 2 runs (middle neutral) - hairpin.auto
@@ -0,0 +1,49 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Left Trench Start"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Left start to far neutral - down the middle"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Far neutral to left start - down the middle"
+          }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 0.0
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Left start hairpain back"
+          }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 0
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}
\ No newline at end of file

diff --git a/src/main/deploy/pathplanner/autos/Left 2 runs (middle neutral) - no hairpin.auto b/src/main/deploy/pathplanner/autos/Left 2 runs (middle neutral) - no hairpin.auto
new file mode 100644 (file)
index 0000000..daa1292
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/Left 2 runs (middle neutral) - no hairpin.auto
@@ -0,0 +1,49 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Left Trench Start"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Left start to far neutral - down the middle"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Far neutral to left start - down the middle"
+          }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 0.0
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Left start to near neutral - straight back"
+          }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 0
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}
\ No newline at end of file

diff --git a/src/main/deploy/pathplanner/paths/Far neutral to left start - down the middle.path b/src/main/deploy/pathplanner/paths/Far neutral to left start - down the middle.path
new file mode 100644 (file)
index 0000000..b74ca0b
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/Far neutral to left start - down the middle.path
@@ -0,0 +1,102 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 8.3085588666341,
+        "y": 4.665
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 8.313036773428234,
+        "y": 5.998552787663108
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 8.3085588666341,
+        "y": 6.3956595017040465
+      },
+      "prevControl": {
+        "x": 8.302277580071175,
+        "y": 5.977034400948992
+      },
+      "nextControl": {
+        "x": 8.322326911855162,
+        "y": 7.313250071745635
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 3.7,
+        "y": 7.623
+      },
+      "prevControl": {
+        "x": 5.031482799530884,
+        "y": 7.59091340451309
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 1.4067495559502714,
+      "rotationDegrees": -24.634740281575162
+    }
+  ],
+  "constraintZones": [
+    {
+      "name": "Get out of trench",
+      "minWaypointRelativePos": 0,
+      "maxWaypointRelativePos": 0.3996431757359485,
+      "constraints": {
+        "maxVelocity": 5.4,
+        "maxAcceleration": 1.5,
+        "maxAngularVelocity": 200.0,
+        "maxAngularAcceleration": 150.0,
+        "nominalVoltage": 12.0,
+        "unlimited": false
+      }
+    },
+    {
+      "name": "Balls in neutral zone",
+      "minWaypointRelativePos": 0.7100802854594145,
+      "maxWaypointRelativePos": 2.0,
+      "constraints": {
+        "maxVelocity": 3.0,
+        "maxAcceleration": 1.5,
+        "maxAngularVelocity": 200.0,
+        "maxAngularAcceleration": 150.0,
+        "nominalVoltage": 12.0,
+        "unlimited": false
+      }
+    }
+  ],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 1.5,
+    "maxAcceleration": 1.5,
+    "maxAngularVelocity": 200.0,
+    "maxAngularAcceleration": 150.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0.0,
+    "rotation": -0.6883662028604366
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": -90.0
+  },
+  "useDefaultConstraints": false
+}
\ No newline at end of file

diff --git a/src/main/deploy/pathplanner/paths/Far neutral to left start - down the side.path b/src/main/deploy/pathplanner/paths/Far neutral to left start - down the side.path
new file mode 100644 (file)
index 0000000..a16a72a
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/Far neutral to left start - down the side.path
@@ -0,0 +1,102 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 7.828873072360619,
+        "y": 4.718208778173191
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 7.833350979154753,
+        "y": 6.0517615658362995
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 7.828873072360619,
+        "y": 6.439679715302491
+      },
+      "prevControl": {
+        "x": 7.8225917857976945,
+        "y": 6.021054614547436
+      },
+      "nextControl": {
+        "x": 7.842641117581682,
+        "y": 7.35727028534408
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 3.7,
+        "y": 7.623
+      },
+      "prevControl": {
+        "x": 5.031482799530884,
+        "y": 7.59091340451309
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 1.4067495559502714,
+      "rotationDegrees": -24.634740281575162
+    }
+  ],
+  "constraintZones": [
+    {
+      "name": "Get out of trench",
+      "minWaypointRelativePos": 0,
+      "maxWaypointRelativePos": 0.3996431757359485,
+      "constraints": {
+        "maxVelocity": 5.4,
+        "maxAcceleration": 1.5,
+        "maxAngularVelocity": 200.0,
+        "maxAngularAcceleration": 150.0,
+        "nominalVoltage": 12.0,
+        "unlimited": false
+      }
+    },
+    {
+      "name": "Balls in neutral zone",
+      "minWaypointRelativePos": 0.7100802854594145,
+      "maxWaypointRelativePos": 2.0,
+      "constraints": {
+        "maxVelocity": 3.0,
+        "maxAcceleration": 1.5,
+        "maxAngularVelocity": 200.0,
+        "maxAngularAcceleration": 150.0,
+        "nominalVoltage": 12.0,
+        "unlimited": false
+      }
+    }
+  ],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 1.5,
+    "maxAcceleration": 1.5,
+    "maxAngularVelocity": 200.0,
+    "maxAngularAcceleration": 150.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0.0,
+    "rotation": -0.6883662028604366
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": -90.0
+  },
+  "useDefaultConstraints": false
+}
\ No newline at end of file

diff --git a/src/main/deploy/pathplanner/paths/Jame's Square path.path b/src/main/deploy/pathplanner/paths/Jame's Square path.path
index 9a5343b0e2265b6d2bc47d1ef376113d15a5bf58..112b9c6321cd804213994c0b6b7f3f6936a421b3 100644 (file)
--- a/src/main/deploy/pathplanner/paths/Jame's Square path.path
+++ b/src/main/deploy/pathplanner/paths/Jame's Square path.path
@@ -105,7 +105,7 @@
     "rotation": -0.4151795411448859
   },
   "reversed": false,
-  "folder": null,
+  "folder": "Field Testing Autos",
   "idealStartingState": {
     "velocity": 0,
     "rotation": 0.0

diff --git a/src/main/deploy/pathplanner/paths/Left start hairpain back.path b/src/main/deploy/pathplanner/paths/Left start hairpain back.path
new file mode 100644 (file)
index 0000000..4aa49c5
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/Left start hairpain back.path
@@ -0,0 +1,157 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 3.7,
+        "y": 7.623
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 4.741672185434092,
+        "y": 7.621407284764581
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 5.779842715231788,
+        "y": 7.323749999999999
+      },
+      "prevControl": {
+        "x": 5.478585301234161,
+        "y": 7.614248220640568
+      },
+      "nextControl": {
+        "x": 5.965070209476892,
+        "y": 7.145137773406506
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 6.730894039735099,
+        "y": 5.421647350993377
+      },
+      "prevControl": {
+        "x": 6.788077844644052,
+        "y": 6.027795683028284
+      },
+      "nextControl": {
+        "x": 6.658294701986755,
+        "y": 4.652094370860926
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 6.38967715231788,
+        "y": 4.194718543046358
+      },
+      "prevControl": {
+        "x": 6.65103476821192,
+        "y": 4.064039735099337
+      },
+      "nextControl": {
+        "x": 5.902665989337589,
+        "y": 4.4382241245365055
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 6.099279801328132,
+        "y": 6.546937086089085
+      },
+      "prevControl": {
+        "x": 6.19365894040098,
+        "y": 6.169420529797695
+      },
+      "nextControl": {
+        "x": 5.769538198460845,
+        "y": 7.865903497558222
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 3.7,
+        "y": 7.623
+      },
+      "prevControl": {
+        "x": 4.748932119208927,
+        "y": 7.5342880794665685
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 1.5879218472468923,
+      "rotationDegrees": -55.13536895595034
+    },
+    {
+      "waypointRelativePos": 2.493946731234874,
+      "rotationDegrees": -110.505671767915
+    },
+    {
+      "waypointRelativePos": 3.1053268765133044,
+      "rotationDegrees": 123.04484387897493
+    },
+    {
+      "waypointRelativePos": 3.595026642984005,
+      "rotationDegrees": 97.2472243534571
+    },
+    {
+      "waypointRelativePos": 4.111900532859716,
+      "rotationDegrees": 135.08368838364203
+    },
+    {
+      "waypointRelativePos": 4.370460048426136,
+      "rotationDegrees": 179.51813791569148
+    }
+  ],
+  "constraintZones": [
+    {
+      "name": "Constraints Zone",
+      "minWaypointRelativePos": 1.0035335689046465,
+      "maxWaypointRelativePos": 2.7279151943463056,
+      "constraints": {
+        "maxVelocity": 2.5,
+        "maxAcceleration": 2.0,
+        "maxAngularVelocity": 200.0,
+        "maxAngularAcceleration": 300.0,
+        "nominalVoltage": 12.0,
+        "unlimited": false
+      }
+    }
+  ],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 2.0,
+    "maxAcceleration": 2.0,
+    "maxAngularVelocity": 200.0,
+    "maxAngularAcceleration": 300.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 178.86227098552752
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": -2.772363175589155
+  },
+  "useDefaultConstraints": true
+}
\ No newline at end of file

diff --git a/src/main/deploy/pathplanner/paths/Left start to near neutral - straight back.path b/src/main/deploy/pathplanner/paths/Left start to near neutral - straight back.path
new file mode 100644 (file)
index 0000000..e9ea1cc
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/Left start to near neutral - straight back.path
@@ -0,0 +1,115 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 3.7,
+        "y": 7.623
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 4.598631012653913,
+        "y": 7.642462536186107
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 5.649163907284768,
+        "y": 7.258410596026489
+      },
+      "prevControl": {
+        "x": 5.2833259585688115,
+        "y": 7.461653900868686
+      },
+      "nextControl": {
+        "x": 5.910521523178807,
+        "y": 7.1132119205298014
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 5.779842715231788,
+        "y": 4.456076158940396
+      },
+      "prevControl": {
+        "x": 5.779842715231788,
+        "y": 5.015844830247635
+      },
+      "nextControl": {
+        "x": 5.779842715231788,
+        "y": 4.049519867549668
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 5.779842715231788,
+        "y": 6.655836092715231
+      },
+      "prevControl": {
+        "x": 5.794362582781457,
+        "y": 5.421647350993377
+      },
+      "nextControl": {
+        "x": 5.7661765687778415,
+        "y": 7.817458541300683
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 3.7,
+        "y": 7.623
+      },
+      "prevControl": {
+        "x": 4.211825331125829,
+        "y": 7.662929635761589
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 1.5879218472468923,
+      "rotationDegrees": -89.04639577102074
+    },
+    {
+      "waypointRelativePos": 2.745762711864446,
+      "rotationDegrees": -91.40096856637498
+    },
+    {
+      "waypointRelativePos": 3.1912832929782167,
+      "rotationDegrees": -69.22194608592294
+    }
+  ],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 2.0,
+    "maxAcceleration": 2.0,
+    "maxAngularVelocity": 200.0,
+    "maxAngularAcceleration": 300.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": -0.14704518962322474
+  },
+  "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/Random default auto.path b/src/main/deploy/pathplanner/paths/Random default auto.path
index 4fe49150365a5e456adf1512f68e87f97578092b..9721d35af03c3bd93ac1086e043278186af08eec 100644 (file)
--- a/src/main/deploy/pathplanner/paths/Random default auto.path
+++ b/src/main/deploy/pathplanner/paths/Random default auto.path
@@ -45,7 +45,7 @@
     "rotation": 0.0
   },
   "reversed": false,
-  "folder": null,
+  "folder": "Field Testing Autos",
   "idealStartingState": {
     "velocity": 0,
     "rotation": 0.0

diff --git a/src/main/deploy/pathplanner/paths/Velocity TEST.path b/src/main/deploy/pathplanner/paths/Velocity TEST.path
index e11d1ee04d1558ed1968eed354f703a4eaabe0b8..1eaeab17316f9791e3ee4b34a77c7f6ca396b6a5 100644 (file)
--- a/src/main/deploy/pathplanner/paths/Velocity TEST.path
+++ b/src/main/deploy/pathplanner/paths/Velocity TEST.path
@@ -59,7 +59,7 @@
     "rotation": 0.0
   },
   "reversed": false,
-  "folder": null,
+  "folder": "Field Testing Autos",
   "idealStartingState": {
     "velocity": 0,
     "rotation": 0.0