From 6539dd4bb7130a8bf0369f983da7f678368dbb04 Mon Sep 17 00:00:00 2001 From: eileha Date: Thu, 19 Mar 2026 15:59:13 -0700 Subject: [PATCH] autos --- .../autos/Depot Outpost Left Week V1.auto | 2 +- .../autos/Left 1 Run (SHIFTED).auto | 25 ++ .../pathplanner/autos/Left Week V1.auto | 2 +- .../autos/Right 1 Run (SHIFTED).auto | 25 ++ .../pathplanner/autos/Right Week V1.auto | 2 +- .../autos/Shoot Only Left Week V1.auto | 2 +- .../pathplanner/autos/Test default auto.auto | 2 +- .../paths/Full Left Path v3 (SHIFTED).path | 283 ++++++++++++++++++ .../paths/Full Right Path v3 (SHIFTED).path | 283 ++++++++++++++++++ ...tart to far neutral - down the middle.path | 140 +++++++++ .../pathplanner/paths/Velocity TEST.path | 68 +++++ src/main/deploy/pathplanner/settings.json | 10 +- src/main/java/frc/robot/RobotContainer.java | 2 + 13 files changed, 838 insertions(+), 8 deletions(-) create mode 100644 src/main/deploy/pathplanner/autos/Left 1 Run (SHIFTED).auto create mode 100644 src/main/deploy/pathplanner/autos/Right 1 Run (SHIFTED).auto create mode 100644 src/main/deploy/pathplanner/paths/Full Left Path v3 (SHIFTED).path create mode 100644 src/main/deploy/pathplanner/paths/Full Right Path v3 (SHIFTED).path create mode 100644 src/main/deploy/pathplanner/paths/Left start to far neutral - down the middle.path create mode 100644 src/main/deploy/pathplanner/paths/Velocity TEST.path diff --git a/src/main/deploy/pathplanner/autos/Depot Outpost Left Week V1.auto b/src/main/deploy/pathplanner/autos/Depot Outpost Left Week V1.auto index 5714807..bf984a6 100644 --- a/src/main/deploy/pathplanner/autos/Depot Outpost Left Week V1.auto +++ b/src/main/deploy/pathplanner/autos/Depot Outpost Left Week V1.auto @@ -56,6 +56,6 @@ } }, "resetOdom": true, - "folder": null, + "folder": "Week 2 autos", "choreoAuto": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Left 1 Run (SHIFTED).auto b/src/main/deploy/pathplanner/autos/Left 1 Run (SHIFTED).auto new file mode 100644 index 0000000..320cb79 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/Left 1 Run (SHIFTED).auto @@ -0,0 +1,25 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "Left Trench Start Shifted" + } + }, + { + "type": "path", + "data": { + "pathName": "Full Left Path v3 (SHIFTED)" + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Left Week V1.auto b/src/main/deploy/pathplanner/autos/Left Week V1.auto index 45567bf..8c81abb 100644 --- a/src/main/deploy/pathplanner/autos/Left Week V1.auto +++ b/src/main/deploy/pathplanner/autos/Left Week V1.auto @@ -56,6 +56,6 @@ } }, "resetOdom": true, - "folder": null, + "folder": "Week 2 autos", "choreoAuto": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Right 1 Run (SHIFTED).auto b/src/main/deploy/pathplanner/autos/Right 1 Run (SHIFTED).auto new file mode 100644 index 0000000..46f1bb4 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/Right 1 Run (SHIFTED).auto @@ -0,0 +1,25 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "Right Trench Start Shifted" + } + }, + { + "type": "path", + "data": { + "pathName": "Full Right Path v3 (SHIFTED)" + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Right Week V1.auto b/src/main/deploy/pathplanner/autos/Right Week V1.auto index d698cfb..1ce3940 100644 --- a/src/main/deploy/pathplanner/autos/Right Week V1.auto +++ b/src/main/deploy/pathplanner/autos/Right Week V1.auto @@ -56,6 +56,6 @@ } }, "resetOdom": true, - "folder": null, + "folder": "Week 2 autos", "choreoAuto": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Shoot Only Left Week V1.auto b/src/main/deploy/pathplanner/autos/Shoot Only Left Week V1.auto index 88242af..4d23226 100644 --- a/src/main/deploy/pathplanner/autos/Shoot Only Left Week V1.auto +++ b/src/main/deploy/pathplanner/autos/Shoot Only Left Week V1.auto @@ -50,6 +50,6 @@ } }, "resetOdom": true, - "folder": null, + "folder": "Week 2 autos", "choreoAuto": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Test default auto.auto b/src/main/deploy/pathplanner/autos/Test default auto.auto index 1d68e36..a1bb626 100644 --- a/src/main/deploy/pathplanner/autos/Test default auto.auto +++ b/src/main/deploy/pathplanner/autos/Test default auto.auto @@ -14,6 +14,6 @@ } }, "resetOdom": true, - "folder": null, + "folder": "Testing", "choreoAuto": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Full Left Path v3 (SHIFTED).path b/src/main/deploy/pathplanner/paths/Full Left Path v3 (SHIFTED).path new file mode 100644 index 0000000..afdadc5 --- /dev/null +++ b/src/main/deploy/pathplanner/paths/Full Left Path v3 (SHIFTED).path @@ -0,0 +1,283 @@ +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 3.0, + "y": 7.623190984573506 + }, + "prevControl": null, + "nextControl": { + "x": 6.19392111698321, + "y": 7.623190984573506 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 7.667485172004747, + "y": 6.428920521945433 + }, + "prevControl": { + "x": 7.665365003292386, + "y": 6.686760835840097 + }, + "nextControl": { + "x": 7.684288184321054, + "y": 4.385453912541243 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 7.667485172004747, + "y": 4.6644128113879 + }, + "prevControl": { + "x": 7.722519349903317, + "y": 4.908280068851933 + }, + "nextControl": { + "x": 7.611361211994106, + "y": 4.415716515223697 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 6.236512455516015, + 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1.642405478054566 + }, + "prevControl": { + "x": 7.665365003292386, + "y": 1.3845651641599017 + }, + "nextControl": { + "x": 7.684288184321054, + "y": 3.6858720874587565 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 7.667485172004747, + "y": 3.406913188612099 + }, + "prevControl": { + "x": 7.722519349903317, + "y": 3.1630459311480665 + }, + "nextControl": { + "x": 7.611361211994106, + "y": 3.655609484776302 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 6.236512455516015, + "y": 2.987304647686832 + }, + "prevControl": { + "x": 7.118832485314941, + "y": 3.517259257915697 + }, + "nextControl": { + "x": 5.563661514586408, + "y": 2.583165054229189 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 6.236512455516015, + "y": 1.0398906500593113 + }, + "prevControl": { + "x": 6.607692290036552, + "y": 1.9733939152629345 + }, + "nextControl": { + "x": 5.905339551755663, + "y": 0.2070033047470511 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 0.6955278766310802, + "y": 0.4481350154264931 + }, + "prevControl": { + "x": -0.09030729073703303, + "y": 0.4481350154264932 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [ + { + "waypointRelativePos": 1.087033747779748, + "rotationDegrees": 90.0 + }, + { + "waypointRelativePos": 2.5364120781527437, + "rotationDegrees": -155.02674741986806 + }, + { + "waypointRelativePos": 3.85, + "rotationDegrees": -138.60721817200425 + }, + { + "waypointRelativePos": 4.4, + "rotationDegrees": -180.0 + }, + { + "waypointRelativePos": 4.660237388724038, + "rotationDegrees": -180.0 + }, + { + "waypointRelativePos": 5, + "rotationDegrees": -180.0 + } + ], + "constraintZones": [ + { + "name": "Depot", + "minWaypointRelativePos": 4.953880764904385, + "maxWaypointRelativePos": 5.5, + "constraints": { + "maxVelocity": 0.5, + "maxAcceleration": 2, + "maxAngularVelocity": 200, + "maxAngularAcceleration": 300, + "nominalVoltage": 12, + "unlimited": false + } + }, + { + "name": "Constraints Zone", + "minWaypointRelativePos": 0.9718785151856066, + "maxWaypointRelativePos": 2.4701912260967447, + "constraints": { + "maxVelocity": 0.3, + "maxAcceleration": 2, + "maxAngularVelocity": 200, + "maxAngularAcceleration": 300, + "nominalVoltage": 12, + "unlimited": false + } + }, + { + "name": "Constraints Zone", + "minWaypointRelativePos": 2.767154105736777, + "maxWaypointRelativePos": 4.467941507311604, + "constraints": { + "maxVelocity": 2, + "maxAcceleration": 1, + "maxAngularVelocity": 200, + "maxAngularAcceleration": 300, + "nominalVoltage": 12, + "unlimited": false + } + } + ], + "pointTowardsZones": [], + "eventMarkers": [ + { + "name": "Hood Down", + "waypointRelativePos": 0, + "endWaypointRelativePos": null, + "command": { + "type": "named", + "data": { + "name": "Hood Down" + } + } + }, + { + "name": "Extend Intake", + "waypointRelativePos": 0.0944881889763795, + "endWaypointRelativePos": null, + "command": { + "type": "named", + "data": { + "name": "Extend Intake" + } + } + }, + { + "name": "Spin Intake Rollers", + "waypointRelativePos": 0.17547806524185328, + "endWaypointRelativePos": null, + "command": { + "type": "named", + "data": { + "name": "Spin Intake Rollers" + } + } + }, + { + "name": "Start Spindexer", + "waypointRelativePos": 0.3104611923509808, + "endWaypointRelativePos": null, + "command": { + "type": "named", + "data": { + "name": "Start Spindexer" + } + } + }, + { + "name": "Stop Hood Down", + "waypointRelativePos": 0.39145106861638246, + "endWaypointRelativePos": null, + "command": { + "type": "named", + "data": { + "name": "Stop Hood Down" + } + } + }, + { + "name": "Stop Spindexer", + "waypointRelativePos": 2.9156355455568033, + "endWaypointRelativePos": null, + "command": { + "type": "named", + "data": { + "name": "Stop Spindexer" + } + } + }, + { + "name": "Hood Down", + "waypointRelativePos": 3.3745781777277815, + "endWaypointRelativePos": null, + "command": { + "type": "named", + "data": { + "name": "Hood Down" + } + } + }, + { + "name": "Stop Hood Down", + "waypointRelativePos": 4.52, + "endWaypointRelativePos": null, + "command": { + "type": "named", + "data": { + "name": "Stop Hood Down" + } + } + }, + { + "name": "Start Spindexer", + "waypointRelativePos": 4.544431946006741, + "endWaypointRelativePos": null, + "command": { + "type": "named", + "data": { + "name": "Start Spindexer" + } + } + } + ], + "globalConstraints": { + "maxVelocity": 1.5, + "maxAcceleration": 1.5, + "maxAngularVelocity": 200, + "maxAngularAcceleration": 150, + "nominalVoltage": 12, + "unlimited": false + }, + "goalEndState": { + "velocity": 0, + "rotation": -180.0 + }, + "reversed": false, + "folder": "week 5 (new stuff)", + "idealStartingState": { + "velocity": 0, + "rotation": 0.0 + }, + "useDefaultConstraints": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Left start to far neutral - down the middle.path b/src/main/deploy/pathplanner/paths/Left start to far neutral - down the middle.path new file mode 100644 index 0000000..45ee354 --- /dev/null +++ b/src/main/deploy/pathplanner/paths/Left start to far neutral - down the middle.path @@ -0,0 +1,140 @@ +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 3.7, + "y": 7.623190984573506 + }, + "prevControl": null, + "nextControl": { + "x": 7.545950170981925, + "y": 7.578131411822177 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 8.3085588666341, + "y": 6.3956595017040465 + }, + "prevControl": { + "x": 8.306438697921738, + "y": 6.65349981559871 + }, + "nextControl": { + "x": 8.325361878950407, + "y": 4.352192892299856 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 8.3085588666341, + "y": 4.664794821684507 + }, + "prevControl": { + "x": 8.308558866629966, + "y": 5.461678065455878 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [ + { + "waypointRelativePos": 0.4005891016200316, + "rotationDegrees": -39.35848731500887 + }, + { + "waypointRelativePos": 1.05, + "rotationDegrees": -90.0 + } + ], + "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": 1.5, + "maxAcceleration": 1.5, + "maxAngularVelocity": 200.0, + "maxAngularAcceleration": 150.0, + "nominalVoltage": 12.0, + "unlimited": false + } + } + ], + "pointTowardsZones": [], + "eventMarkers": [ + { + "name": "Hood Down", + "waypointRelativePos": 0, + "endWaypointRelativePos": null, + "command": { + "type": "named", + "data": { + "name": "Hood Down" + } + } + }, + { + "name": "Extend Intake", + "waypointRelativePos": 0.0944881889763795, + "endWaypointRelativePos": null, + "command": { + "type": "named", + "data": { + "name": "Extend Intake" + } + } + }, + { + "name": "Spin Intake Rollers", + "waypointRelativePos": 0.17547806524185328, + "endWaypointRelativePos": null, + "command": { + "type": "named", + "data": { + "name": "Spin Intake Rollers" + } + } + } + ], + "globalConstraints": { + "maxVelocity": 1.5, + "maxAcceleration": 1.5, + "maxAngularVelocity": 200.0, + "maxAngularAcceleration": 150.0, + "nominalVoltage": 12.0, + "unlimited": false + }, + "goalEndState": { + "velocity": 0.0, + "rotation": -90.95484125387222 + }, + "reversed": false, + "folder": null, + "idealStartingState": { + "velocity": 0, + "rotation": 0.0 + }, + "useDefaultConstraints": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Velocity TEST.path b/src/main/deploy/pathplanner/paths/Velocity TEST.path new file mode 100644 index 0000000..e8c491d --- /dev/null +++ b/src/main/deploy/pathplanner/paths/Velocity TEST.path @@ -0,0 +1,68 @@ +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 0.48539325842696646, + "y": 7.458170493404982 + }, + "prevControl": null, + "nextControl": { + "x": 2.6532584269662918, + "y": 7.629543234000977 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 2.764650708353688, + "y": 4.064990229604298 + }, + "prevControl": { + "x": 2.953160723009282, + "y": 4.973265754763068 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [], + "constraintZones": [ + { + "name": "Constraints Zone", + "minWaypointRelativePos": 0.1427297056199817, + "maxWaypointRelativePos": 1.0, + "constraints": { + "maxVelocity": 3.5, + "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": 0.0 + }, + "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/settings.json b/src/main/deploy/pathplanner/settings.json index 7e11e48..38af8e3 100644 --- a/src/main/deploy/pathplanner/settings.json +++ b/src/main/deploy/pathplanner/settings.json @@ -7,10 +7,14 @@ "Field Testing Autos", "Left Autos", "Miscellaneous", - "week 2 autos", - "Right Autos" + "week 5 (new stuff)", + "Right Autos", + "week 2 autos" + ], + "autoFolders": [ + "Week 2 autos", + "Testing" ], - "autoFolders": [], "defaultMaxVel": 2.0, "defaultMaxAccel": 2.0, "defaultMaxAngVel": 200.0, diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 8f30498..c6bf9a4 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -269,11 +269,13 @@ public class RobotContainer { String leftSideAuto = "Left Week V1"; String rightSideAuto = "Right Week V1"; String shootOnlyAuto = "Shoot Only Left Week V1"; + String velocityTest = "Velocity TEST"; autoChooser.setDefaultOption("Default", new PathPlannerAuto(defaultAuto)); addAuto(leftSideAuto); addAuto(rightSideAuto); addAuto(shootOnlyAuto); + addAuto(velocityTest); // put the Chooser on the SmartDashboard SmartDashboard.putData("Auto chooser", autoChooser); -- 2.39.5