From 72ad187c0f7a795189fc509132d784367b806973 Mon Sep 17 00:00:00 2001 From: maxwtan <100314265+MaxwellTTan20@users.noreply.github.com> Date: Tue, 24 Feb 2026 16:37:17 -0800 Subject: [PATCH] a --- .../autos/Right - Under Trench.auto | 31 +++++ .../autos/Right(2) - Under Trench.auto | 31 +++++ .../paths/#1 Left under the trench.path | 8 +- .../paths/#1 Right - Under the trench.path | 8 +- .../paths/#1(2) Right - Under the trench.path | 106 ++++++++++++++++++ .../paths/#2 Left under the trench.path | 23 +++- .../paths/#2 Right - Under the trench.path | 22 ++-- .../paths/#2(2) Right - Under the trench.path | 89 +++++++++++++++ .../paths/#3 Right - Under the trench.path | 55 ++------- 9 files changed, 304 insertions(+), 69 deletions(-) create mode 100644 src/main/deploy/pathplanner/autos/Right - Under Trench.auto create mode 100644 src/main/deploy/pathplanner/autos/Right(2) - Under Trench.auto create mode 100644 src/main/deploy/pathplanner/paths/#1(2) Right - Under the trench.path create mode 100644 src/main/deploy/pathplanner/paths/#2(2) Right - Under the trench.path diff --git a/src/main/deploy/pathplanner/autos/Right - Under Trench.auto b/src/main/deploy/pathplanner/autos/Right - Under Trench.auto new file mode 100644 index 0000000..52444d1 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/Right - Under Trench.auto @@ -0,0 +1,31 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "#1 Right - Under the trench" + } + }, + { + "type": "path", + "data": { + "pathName": "#2 Right - Under the trench" + } + }, + { + "type": "path", + "data": { + "pathName": "#3 Right - Under the trench" + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Right(2) - Under Trench.auto b/src/main/deploy/pathplanner/autos/Right(2) - Under Trench.auto new file mode 100644 index 0000000..e8d7a5a --- /dev/null +++ b/src/main/deploy/pathplanner/autos/Right(2) - Under Trench.auto @@ -0,0 +1,31 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "#1(2) Right - Under the trench" + } + }, + { + "type": "path", + "data": { + "pathName": "#2(2) Right - Under the trench" + } + }, + { + "type": "path", + "data": { + "pathName": "#3 Right - Under the trench" + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/#1 Left under the trench.path b/src/main/deploy/pathplanner/paths/#1 Left under the trench.path index 3100918..90ed934 100644 --- a/src/main/deploy/pathplanner/paths/#1 Left under the trench.path +++ b/src/main/deploy/pathplanner/paths/#1 Left under the trench.path @@ -63,11 +63,11 @@ "rotationTargets": [ { "waypointRelativePos": 0.5, - "rotationDegrees": 180.0 + "rotationDegrees": 0.0 }, { "waypointRelativePos": 1.2283611599297022, - "rotationDegrees": 128.3482078226305 + "rotationDegrees": -51.65199999999999 } ], "constraintZones": [ @@ -136,13 +136,13 @@ }, "goalEndState": { "velocity": 0, - "rotation": 90.0 + "rotation": -90.0 }, "reversed": false, "folder": "Left Autos", "idealStartingState": { "velocity": 0.0, - "rotation": 180.0 + "rotation": 0.0 }, "useDefaultConstraints": true } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/#1 Right - Under the trench.path b/src/main/deploy/pathplanner/paths/#1 Right - Under the trench.path index b1b9d0a..ac80944 100644 --- a/src/main/deploy/pathplanner/paths/#1 Right - Under the trench.path +++ b/src/main/deploy/pathplanner/paths/#1 Right - Under the trench.path @@ -47,11 +47,11 @@ "rotationTargets": [ { "waypointRelativePos": 0.42628774422735277, - "rotationDegrees": -150.0 + "rotationDegrees": 29.999999999999996 }, { "waypointRelativePos": 0.6975023126734518, - "rotationDegrees": -104.15180975107518 + "rotationDegrees": 75.848 } ], "constraintZones": [ @@ -81,13 +81,13 @@ }, "goalEndState": { "velocity": 0, - "rotation": -90.0 + "rotation": 90.0 }, "reversed": false, "folder": "Right Autos", "idealStartingState": { "velocity": 0, - "rotation": 180.0 + "rotation": 0.0 }, "useDefaultConstraints": true } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/#1(2) Right - Under the trench.path b/src/main/deploy/pathplanner/paths/#1(2) Right - Under the trench.path new file mode 100644 index 0000000..4470532 --- /dev/null +++ b/src/main/deploy/pathplanner/paths/#1(2) Right - Under the trench.path @@ -0,0 +1,106 @@ +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 3.5467141162514837, + "y": 0.6942704626334513 + }, + "prevControl": null, + "nextControl": { + "x": 5.83681954887218, + "y": 0.7017406015037613 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 8.574917218543046, + "y": 1.5158029801324506 + }, + "prevControl": { + "x": 8.742932937101976, + "y": 0.1380740879492448 + }, + "nextControl": { + "x": 8.5023178807947, + "y": 2.1111175496688723 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 8.089, + "y": 3.57 + }, + "prevControl": { + "x": 8.519890563503097, + "y": 2.960165562913907 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [ + { + "waypointRelativePos": 0.42628774422735277, + "rotationDegrees": 29.999999999999996 + }, + { + "waypointRelativePos": 0.6975023126734518, + "rotationDegrees": 90.84924216679515 + } + ], + "constraintZones": [ + { + "name": "Constraints Zone", + "minWaypointRelativePos": 0.7792207792207767, + "maxWaypointRelativePos": 1.6989130434782616, + "constraints": { + "maxVelocity": 3.0, + "maxAcceleration": 3.0, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0, + "nominalVoltage": 12.0, + "unlimited": false + } + }, + { + "name": "Constraints Zone", + "minWaypointRelativePos": 0, + "maxWaypointRelativePos": 0.7151943462897536, + "constraints": { + "maxVelocity": 6.0, + "maxAcceleration": 5.0, + "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": 105.351 + }, + "reversed": false, + "folder": "Right Autos", + "idealStartingState": { + "velocity": 0, + "rotation": 0.0 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/#2 Left under the trench.path b/src/main/deploy/pathplanner/paths/#2 Left under the trench.path index e6e49d6..450d0fe 100644 --- a/src/main/deploy/pathplanner/paths/#2 Left under the trench.path +++ b/src/main/deploy/pathplanner/paths/#2 Left under the trench.path @@ -111,15 +111,15 @@ "rotationTargets": [ { "waypointRelativePos": 0.5, - "rotationDegrees": 110.55163716213218 + "rotationDegrees": -69.44799999999998 }, { "waypointRelativePos": 1.2283611599297022, - "rotationDegrees": -179.58662377366485 + "rotationDegrees": 0.4130000000000109 }, { "waypointRelativePos": 2.2978723404255277, - "rotationDegrees": 90.0 + "rotationDegrees": -90.0 } ], "constraintZones": [ @@ -148,6 +148,19 @@ "nominalVoltage": 12.0, "unlimited": false } + }, + { + "name": "Constraints Zone", + "minWaypointRelativePos": 2.7392226148409877, + "maxWaypointRelativePos": 3.697526501766785, + "constraints": { + "maxVelocity": 1.5, + "maxAcceleration": 3.0, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0, + "nominalVoltage": 12.0, + "unlimited": false + } } ], "pointTowardsZones": [], @@ -162,13 +175,13 @@ }, "goalEndState": { "velocity": 0, - "rotation": 90.0 + "rotation": -90.0 }, "reversed": false, "folder": "Left Autos", "idealStartingState": { "velocity": 0.0, - "rotation": 90.0 + "rotation": -90.0 }, "useDefaultConstraints": true } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/#2 Right - Under the trench.path b/src/main/deploy/pathplanner/paths/#2 Right - Under the trench.path index db980c2..a26fd7a 100644 --- a/src/main/deploy/pathplanner/paths/#2 Right - Under the trench.path +++ b/src/main/deploy/pathplanner/paths/#2 Right - Under the trench.path @@ -8,8 +8,8 @@ }, "prevControl": null, "nextControl": { - "x": 7.883, - "y": 1.178882383917025 + "x": 7.071290738661256, + "y": 0.9383553862482001 }, "isLocked": false, "linkedName": null @@ -20,12 +20,12 @@ "y": 0.5865314569536417 }, "prevControl": { - "x": 6.521218019907677, - "y": 0.5865314569536417 + "x": 6.035164509263001, + "y": 0.617600951415989 }, "nextControl": { - "x": 4.414975165562914, - "y": 0.586531456953642 + "x": 3.0682440376782023, + "y": 0.24599719472861176 }, "isLocked": false, "linkedName": null @@ -36,8 +36,8 @@ "y": 0.65 }, "prevControl": { - "x": 1.837698675496689, - "y": 0.6064403973509934 + "x": 1.0581491579606932, + "y": 0.7153598580391806 }, "nextControl": null, "isLocked": false, @@ -46,8 +46,8 @@ ], "rotationTargets": [ { - "waypointRelativePos": 0.5, - "rotationDegrees": 0.0 + "waypointRelativePos": 1.4412580943570767, + "rotationDegrees": 180.0 } ], "constraintZones": [ @@ -77,7 +77,7 @@ }, "goalEndState": { "velocity": 0, - "rotation": 0.0 + "rotation": 180.0 }, "reversed": false, "folder": "Right Autos", diff --git a/src/main/deploy/pathplanner/paths/#2(2) Right - Under the trench.path b/src/main/deploy/pathplanner/paths/#2(2) Right - Under the trench.path new file mode 100644 index 0000000..d854b68 --- /dev/null +++ b/src/main/deploy/pathplanner/paths/#2(2) Right - Under the trench.path @@ -0,0 +1,89 @@ +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 8.089, + "y": 3.57 + }, + "prevControl": null, + "nextControl": { + "x": 7.277290738661256, + "y": 1.0393553862482001 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 5.7871026490066235, + "y": 0.5865314569536417 + }, + "prevControl": { + "x": 6.035164509263001, + "y": 0.617600951415989 + }, + "nextControl": { + "x": 3.0682440376782023, + "y": 0.24599719472861176 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 0.6398096026490065, + "y": 0.65 + }, + "prevControl": { + "x": 1.0581491579606932, + "y": 0.7153598580391806 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [ + { + "waypointRelativePos": 1.4412580943570767, + "rotationDegrees": 180.0 + } + ], + "constraintZones": [ + { + "name": "Constraints Zone", + "minWaypointRelativePos": 0.3407792207792205, + "maxWaypointRelativePos": 1.1968831168831167, + "constraints": { + "maxVelocity": 4.0, + "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": 180.0 + }, + "reversed": false, + "folder": "Right Autos", + "idealStartingState": { + "velocity": 0, + "rotation": 105.351 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/#3 Right - Under the trench.path b/src/main/deploy/pathplanner/paths/#3 Right - Under the trench.path index 6beccd5..f8ec91e 100644 --- a/src/main/deploy/pathplanner/paths/#3 Right - Under the trench.path +++ b/src/main/deploy/pathplanner/paths/#3 Right - Under the trench.path @@ -8,63 +8,28 @@ }, "prevControl": null, "nextControl": { - "x": 0.6399999999999997, - "y": -1.640117616082975 + "x": 1.5400413907284771, + "y": 1.4359437086129003 }, "isLocked": false, "linkedName": null }, { "anchor": { - "x": 5.7871026490066235, - "y": 0.5865314569536417 + "x": 1.7650993377483442, + "y": 2.844370860930782 }, "prevControl": { - "x": 6.521218019907677, - "y": 0.5865314569536417 - }, - "nextControl": { - "x": 4.414975165562914, - "y": 0.586531456953642 - }, - "isLocked": false, - "linkedName": null - }, - { - "anchor": { - "x": 0.64, - "y": 0.65 - }, - "prevControl": { - "x": 1.8378890728476827, - "y": 0.6064403973509934 + "x": 1.6634602649006622, + "y": 2.1038576158976685 }, "nextControl": null, "isLocked": false, "linkedName": null } ], - "rotationTargets": [ - { - "waypointRelativePos": 0.5, - "rotationDegrees": 0.0 - } - ], - "constraintZones": [ - { - "name": "Constraints Zone", - "minWaypointRelativePos": 0.3407792207792205, - "maxWaypointRelativePos": 1.1968831168831167, - "constraints": { - "maxVelocity": 4.0, - "maxAcceleration": 3.0, - "maxAngularVelocity": 540.0, - "maxAngularAcceleration": 720.0, - "nominalVoltage": 12.0, - "unlimited": false - } - } - ], + "rotationTargets": [], + "constraintZones": [], "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { @@ -77,13 +42,13 @@ }, "goalEndState": { "velocity": 0, - "rotation": 0.0 + "rotation": -90.0 }, "reversed": false, "folder": "Right Autos", "idealStartingState": { "velocity": 0, - "rotation": 90.0 + "rotation": 180.0 }, "useDefaultConstraints": true } \ No newline at end of file -- 2.39.5