From 6effab2cebe31482574153b22cdbf21a402b914b Mon Sep 17 00:00:00 2001 From: moo Date: Thu, 23 Apr 2026 20:33:31 -0700 Subject: [PATCH] depot auto and stuff Co-Authored-By: WesleyWong-972 <171457173+Wesley28w@users.noreply.github.com> Co-Authored-By: Timofei <108955303+iefomit@users.noreply.github.com> --- .../pathplanner/autos/DepotCenterPath.auto | 24 ++++ .../autos/LeftBumpDepotCenter.auto | 24 ++++ .../autos/LeftTrenchDepotCenter.auto | 24 ++++ .../pathplanner/paths/BookItToNeutral.path | 99 ++++++++++++++++ .../pathplanner/paths/Depot Center Path.path | 79 ++++++------ .../paths/Left Bump Depot Center Path.path | 79 +++++------- .../paths/Left Trench Depot Center Path.path | 112 +++++++++++------- 7 files changed, 317 insertions(+), 124 deletions(-) create mode 100644 src/main/deploy/pathplanner/paths/BookItToNeutral.path diff --git a/src/main/deploy/pathplanner/autos/DepotCenterPath.auto b/src/main/deploy/pathplanner/autos/DepotCenterPath.auto index 3604f48..8e1fb71 100644 --- a/src/main/deploy/pathplanner/autos/DepotCenterPath.auto +++ b/src/main/deploy/pathplanner/autos/DepotCenterPath.auto @@ -9,6 +9,30 @@ "data": { "pathName": "Depot Center Path" } + }, + { + "type": "wait", + "data": { + "waitTime": 2.5 + } + }, + { + "type": "named", + "data": { + "name": "Start Intake Seizure" + } + }, + { + "type": "wait", + "data": { + "waitTime": 5.5 + } + }, + { + "type": "path", + "data": { + "pathName": "BookItToNeutral" + } } ] } diff --git a/src/main/deploy/pathplanner/autos/LeftBumpDepotCenter.auto b/src/main/deploy/pathplanner/autos/LeftBumpDepotCenter.auto index 1851c11..1f19c8c 100644 --- a/src/main/deploy/pathplanner/autos/LeftBumpDepotCenter.auto +++ b/src/main/deploy/pathplanner/autos/LeftBumpDepotCenter.auto @@ -9,6 +9,30 @@ "data": { "pathName": "Left Bump Depot Center Path" } + }, + { + "type": "wait", + "data": { + "waitTime": 2.5 + } + }, + { + "type": "named", + "data": { + "name": "Start Intake Seizure" + } + }, + { + "type": "wait", + "data": { + "waitTime": 4.5 + } + }, + { + "type": "path", + "data": { + "pathName": "BookItToNeutral" + } } ] } diff --git a/src/main/deploy/pathplanner/autos/LeftTrenchDepotCenter.auto b/src/main/deploy/pathplanner/autos/LeftTrenchDepotCenter.auto index 26a5225..1af5322 100644 --- a/src/main/deploy/pathplanner/autos/LeftTrenchDepotCenter.auto +++ b/src/main/deploy/pathplanner/autos/LeftTrenchDepotCenter.auto @@ -9,6 +9,30 @@ "data": { "pathName": "Left Trench Depot Center Path" } + }, + { + "type": "wait", + "data": { + "waitTime": 2.0 + } + }, + { + "type": "named", + "data": { + "name": "Start Intake Seizure" + } + }, + { + "type": "wait", + "data": { + "waitTime": 4.5 + } + }, + { + "type": "path", + "data": { + "pathName": "BookItToNeutral" + } } ] } diff --git a/src/main/deploy/pathplanner/paths/BookItToNeutral.path b/src/main/deploy/pathplanner/paths/BookItToNeutral.path new file mode 100644 index 0000000..a69b998 --- /dev/null +++ b/src/main/deploy/pathplanner/paths/BookItToNeutral.path @@ -0,0 +1,99 @@ +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 1.5352, + "y": 7.408 + }, + "prevControl": null, + "nextControl": { + "x": 2.5351999999999997, + "y": 7.408 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 7.8611506524317925, + "y": 7.408 + }, + "prevControl": { + "x": 6.8611506524317925, + "y": 7.408 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [], + "constraintZones": [], + "pointTowardsZones": [], + "eventMarkers": [ + { + "name": "Hood Down", + "waypointRelativePos": 0, + "endWaypointRelativePos": null, + "command": { + "type": "named", + "data": { + "name": "Hood Down" + } + } + }, + { + "name": "Stop Intake Seizure", + "waypointRelativePos": 0, + "endWaypointRelativePos": null, + "command": { + "type": "named", + "data": { + "name": "Stop Intake Seizure" + } + } + }, + { + "name": "Stop Spindexer", + "waypointRelativePos": 0, + "endWaypointRelativePos": null, + "command": { + "type": "named", + "data": { + "name": "Stop Spindexer" + } + } + }, + { + "name": "Stop Hood Down", + "waypointRelativePos": 0.6051743532058476, + "endWaypointRelativePos": null, + "command": { + "type": "named", + "data": { + "name": "Stop Hood Down" + } + } + } + ], + "globalConstraints": { + "maxVelocity": 3.0, + "maxAcceleration": 2.5, + "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/paths/Depot Center Path.path b/src/main/deploy/pathplanner/paths/Depot Center Path.path index d3b0363..7143525 100644 --- a/src/main/deploy/pathplanner/paths/Depot Center Path.path +++ b/src/main/deploy/pathplanner/paths/Depot Center Path.path @@ -16,44 +16,44 @@ }, { "anchor": { - "x": 0.5018623962040341, - "y": 4.911874258600237 + "x": 0.1575682087781738, + "y": 4.9871886120996445 }, "prevControl": { - "x": 0.5018623962040341, - "y": 4.14140782882557 + "x": 0.1575682087781738, + "y": 4.216722182324977 }, "nextControl": { - "x": 0.5018623962040341, - "y": 5.342241992882562 + "x": 0.1575682087781738, + "y": 5.41755634638197 }, "isLocked": false, "linkedName": null }, { "anchor": { - "x": 0.6309727164887315, - "y": 6.988398576512456 + "x": 0.38351126927639445, + "y": 7.257378410438909 }, "prevControl": { - "x": 0.44012614514645276, - "y": 6.826913016145912 + "x": 0.06367204449278147, + "y": 7.034460162862452 }, "nextControl": { - "x": 1.038758919288973, - "y": 7.3334484404203515 + "x": 0.7385646500593126, + "y": 7.504839857651245 }, "isLocked": false, "linkedName": null }, { "anchor": { - "x": 4.5, - "y": 7.623 + "x": 1.5354, + "y": 7.408 }, "prevControl": { - "x": 3.9017674970344016, - "y": 7.0417129300118635 + "x": 0.932230130486359, + "y": 7.41876631079478 }, "nextControl": null, "isLocked": false, @@ -91,47 +91,60 @@ ], "pointTowardsZones": [], "eventMarkers": [ - { - "name": "Hood Down", - "waypointRelativePos": 0, - "endWaypointRelativePos": null, - "command": null - }, { "name": "Spin Intake Rollers", "waypointRelativePos": 0.9988974641675645, "endWaypointRelativePos": null, - "command": null + "command": { + "type": "named", + "data": { + "name": "Spin Intake Rollers" + } + } }, { "name": "Stop Spindexer", "waypointRelativePos": 1.0, "endWaypointRelativePos": null, - "command": null + "command": { + "type": "named", + "data": { + "name": "Stop Spindexer" + } + } }, { "name": "Extend Intake", "waypointRelativePos": 1.0, "endWaypointRelativePos": null, - "command": null + "command": { + "type": "named", + "data": { + "name": "Extend Intake" + } + } }, { "name": "Start Spindexer", "waypointRelativePos": 3.0, "endWaypointRelativePos": null, - "command": null + "command": { + "type": "named", + "data": { + "name": "Start Spindexer" + } + } }, { "name": "Stop Hood Down", "waypointRelativePos": 3.0, "endWaypointRelativePos": null, - "command": null - }, - { - "name": "Start Intake Seizure", - "waypointRelativePos": 3.0, - "endWaypointRelativePos": null, - "command": null + "command": { + "type": "named", + "data": { + "name": "Hood Down" + } + } } ], "globalConstraints": { diff --git a/src/main/deploy/pathplanner/paths/Left Bump Depot Center Path.path b/src/main/deploy/pathplanner/paths/Left Bump Depot Center Path.path index 9b9f2d4..5544e1e 100644 --- a/src/main/deploy/pathplanner/paths/Left Bump Depot Center Path.path +++ b/src/main/deploy/pathplanner/paths/Left Bump Depot Center Path.path @@ -8,68 +8,36 @@ }, "prevControl": null, "nextControl": { - "x": 3.073309608540926, - "y": 7.429525504151838 + "x": 2.1695373665480435, + "y": 6.353606168446026 }, "isLocked": false, "linkedName": null }, { "anchor": { - "x": 0.5341399762731966, - "y": 6.56879003558236 + "x": 0.12529062871188268, + "y": 4.847319098461843 }, "prevControl": { - "x": 0.4696627447231163, - "y": 7.879827077009309 + "x": 0.33332537129000794, + "y": 3.6429074309042764 }, "nextControl": { - "x": 0.5664175563463827, - "y": 5.9124792408066424 + "x": -0.07913404507222188, + "y": 6.030830367738237 }, "isLocked": false, "linkedName": null }, { "anchor": { - "x": 0.7062870699861263, - "y": 4.944151838666582 + "x": 1.534744958481614, + "y": 7.408007117443102 }, "prevControl": { - "x": 0.3297153024911038, - "y": 4.83655990510083 - }, - "nextControl": { - "x": 2.0901127912904798, - "y": 5.339530616166478 - }, - "isLocked": false, - "linkedName": null - }, - { - "anchor": { - "x": 2.7290154211130537, - "y": 6.041589561086512 - }, - "prevControl": { - "x": 2.6660894988160155, - "y": 5.549623259497286 - }, - "nextControl": { - "x": 2.847366548042706, - "y": 6.9668801897983395 - }, - "isLocked": false, - "linkedName": null - }, - { - "anchor": { - "x": 4.579596678529064, - "y": 7.590913404507711 - }, - "prevControl": { - "x": 3.545234957349378, - "y": 7.474544158360471 + "x": 0.157568208783057, + "y": 7.827615658366945 }, "nextControl": null, "isLocked": false, @@ -79,18 +47,22 @@ "rotationTargets": [ { "waypointRelativePos": 0.5, - "rotationDegrees": -90.0 + "rotationDegrees": 89.56096047431873 + }, + { + "waypointRelativePos": 1.35, + "rotationDegrees": 90.0 }, { - "waypointRelativePos": 1.8741258741258744, - "rotationDegrees": -90.0 + "waypointRelativePos": 1.5417406749555937, + "rotationDegrees": 58.875208713955935 } ], "constraintZones": [ { "name": "Constraints Zone", "minWaypointRelativePos": 0.0, - "maxWaypointRelativePos": 4.5, + "maxWaypointRelativePos": 1.8, "constraints": { "maxVelocity": 1.0, "maxAcceleration": 1.0, @@ -105,7 +77,7 @@ "eventMarkers": [ { "name": "Spin Intake Rollers", - "waypointRelativePos": 0, + "waypointRelativePos": 0.0, "endWaypointRelativePos": null, "command": { "type": "named", @@ -149,9 +121,14 @@ }, { "name": "Start Spindexer", - "waypointRelativePos": 0, + "waypointRelativePos": 2.0, "endWaypointRelativePos": null, - "command": null + "command": { + "type": "named", + "data": { + "name": "Start Spindexer" + } + } } ], "globalConstraints": { diff --git a/src/main/deploy/pathplanner/paths/Left Trench Depot Center Path.path b/src/main/deploy/pathplanner/paths/Left Trench Depot Center Path.path index 8a911fe..72e0848 100644 --- a/src/main/deploy/pathplanner/paths/Left Trench Depot Center Path.path +++ b/src/main/deploy/pathplanner/paths/Left Trench Depot Center Path.path @@ -8,68 +8,68 @@ }, "prevControl": null, "nextControl": { - "x": 2.492313167259787, - "y": 6.568790035587188 + "x": 2.836607354685647, + "y": 6.8485290628707 }, "isLocked": false, "linkedName": null }, { "anchor": { - "x": 0.5341399762731966, - "y": 6.56879003558236 + "x": 0.10377224199288304, + "y": 6.622586002372479 }, "prevControl": { - "x": 0.5341399762731968, - "y": 7.881411625143452 + "x": 0.10377224199288315, + "y": 7.93520759193357 }, "nextControl": { - "x": 0.5341399762731966, - "y": 5.899554370725603 + "x": 0.10377224199288304, + "y": 5.953350337515722 }, "isLocked": false, "linkedName": null }, { "anchor": { - "x": 0.8461565836298937, - "y": 4.997947805456701 + "x": 0.4803440094899176, + "y": 4.61061684460261 }, "prevControl": { - "x": 0.3722824691003634, - "y": 4.841233531360322 + "x": 0.2616461704685724, + "y": 4.489491887606174 }, "nextControl": { - "x": 2.212574139976275, - "y": 5.449833926453142 + "x": 1.1796915776986958, + "y": 4.997947805456701 }, "isLocked": false, "linkedName": null }, { "anchor": { - "x": 2.5138315539739033, - "y": 6.030830367734283 + "x": 1.3518386714116257, + "y": 5.923238434163701 }, "prevControl": { - "x": 2.3524436536180313, - "y": 5.471352313167261 + "x": 0.9099310791445863, + "y": 5.2840857560171 }, "nextControl": { - "x": 2.7881778575014478, - "y": 6.981897553296436 + "x": 1.5452491103202861, + "y": 6.202977461447212 }, "isLocked": false, "linkedName": null }, { "anchor": { - "x": 4.5, - "y": 7.623 + "x": 1.535, + "y": 7.408 }, "prevControl": { - "x": 3.5036773428232504, - "y": 7.354211150652431 + "x": 1.7391696322657184, + "y": 6.536512455516014 }, "nextControl": null, "isLocked": false, @@ -78,12 +78,20 @@ ], "rotationTargets": [ { - "waypointRelativePos": 0.5, + "waypointRelativePos": 0.3481349911189977, + "rotationDegrees": 0.0 + }, + { + "waypointRelativePos": 0.5186500888099518, "rotationDegrees": -90.0 }, { "waypointRelativePos": 1.8741258741258744, "rotationDegrees": -90.0 + }, + { + "waypointRelativePos": 2.6287744227353658, + "rotationDegrees": -90.0 } ], "constraintZones": [ @@ -107,43 +115,67 @@ "name": "Hood Down", "waypointRelativePos": 0, "endWaypointRelativePos": null, - "command": null + "command": { + "type": "named", + "data": { + "name": "Hood Down" + } + } }, { "name": "Stop Spindexer", "waypointRelativePos": 0.0, "endWaypointRelativePos": null, - "command": null + "command": { + "type": "named", + "data": { + "name": "Stop Spindexer" + } + } }, { "name": "Spin Intake Rollers", - "waypointRelativePos": 0.8996692392502725, + "waypointRelativePos": 0.0, "endWaypointRelativePos": null, - "command": null + "command": { + "type": "named", + "data": { + "name": "Spin Intake Rollers" + } + } }, { "name": "Extend Intake", - "waypointRelativePos": 0.9, + "waypointRelativePos": 0.0, "endWaypointRelativePos": null, - "command": null + "command": { + "type": "named", + "data": { + "name": "Extend Intake" + } + } }, { "name": "Start Spindexer", "waypointRelativePos": 4.0, "endWaypointRelativePos": null, - "command": null + "command": { + "type": "named", + "data": { + "name": "Start Spindexer" + } + } }, { "name": "Stop Hood Down", "waypointRelativePos": 4.0, "endWaypointRelativePos": null, - "command": null - }, - { - "name": "Start Intake Seizure", - "waypointRelativePos": 4.0, - "endWaypointRelativePos": null, - "command": null + "command": { + "type": "named", + "data": { + "name": "Stop Hood Down" + } + } } ], "globalConstraints": { @@ -162,7 +194,7 @@ "folder": null, "idealStartingState": { "velocity": 0, - "rotation": 180.0 + "rotation": 0.0 }, "useDefaultConstraints": true } \ No newline at end of file -- 2.39.5