From: mixxlto Date: Mon, 19 Jan 2026 08:41:32 +0000 (-0800) Subject: changes X-Git-Url: https://git.taranathan.com/?a=commitdiff_plain;h=cb7fddcdfa1375a0ada76294e0e8dbdbe3b1c66f;p=FRC2026.git 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 c8c9377..41697e2 100644 --- 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 4eea959..abf72ff 100644 --- 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": { - 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"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 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 20d64ba..101c039 100644 --- 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,