From 7ab52669d7b23434f32a5e9be2ff1248fabc7e47 Mon Sep 17 00:00:00 2001 From: eileha Date: Sat, 17 Jan 2026 13:01:43 -0800 Subject: [PATCH] more auto paths --- ....path => #1 Left to neutral to depot.path} | 4 +- ...th => #1 Right to neutral to outpost.path} | 2 +- .../paths/Depot to left climb.path | 54 ++++++ .../pathplanner/paths/Hub to depot.path | 107 +++++++++++ ...ft bump to full neutral to left climb.path | 167 ++++++++++++++++++ ...climb.path => Outpost to right climb.path} | 0 src/main/deploy/pathplanner/settings.json | 7 +- 7 files changed, 337 insertions(+), 4 deletions(-) rename src/main/deploy/pathplanner/paths/{New Path.path => #1 Left to neutral to depot.path} (98%) rename src/main/deploy/pathplanner/paths/{Trench to neutral to outpost.path => #1 Right to neutral to outpost.path} (99%) create mode 100644 src/main/deploy/pathplanner/paths/Depot to left climb.path create mode 100644 src/main/deploy/pathplanner/paths/Hub to depot.path create mode 100644 src/main/deploy/pathplanner/paths/Left bump to full neutral to left climb.path rename src/main/deploy/pathplanner/paths/{Outpost to side climb.path => Outpost to right climb.path} (100%) diff --git a/src/main/deploy/pathplanner/paths/New Path.path b/src/main/deploy/pathplanner/paths/#1 Left to neutral to depot.path similarity index 98% rename from src/main/deploy/pathplanner/paths/New Path.path rename to src/main/deploy/pathplanner/paths/#1 Left to neutral to depot.path index ba736a7..c8c9377 100644 --- a/src/main/deploy/pathplanner/paths/New Path.path +++ b/src/main/deploy/pathplanner/paths/#1 Left to neutral to depot.path @@ -132,7 +132,7 @@ "y": 5.773 }, "prevControl": { - "x": 0.3379761076237264, + "x": 0.33797610762372643, "y": 5.2179935180131 }, "nextControl": null, @@ -178,7 +178,7 @@ "rotation": 180.0 }, "reversed": false, - "folder": null, + "folder": "Left Autos", "idealStartingState": { "velocity": 0, "rotation": 90.0 diff --git a/src/main/deploy/pathplanner/paths/Trench to neutral to outpost.path b/src/main/deploy/pathplanner/paths/#1 Right to neutral to outpost.path similarity index 99% rename from src/main/deploy/pathplanner/paths/Trench to neutral to outpost.path rename to src/main/deploy/pathplanner/paths/#1 Right to neutral to outpost.path index 717c897..4eea959 100644 --- a/src/main/deploy/pathplanner/paths/Trench to neutral to outpost.path +++ b/src/main/deploy/pathplanner/paths/#1 Right to neutral to outpost.path @@ -126,7 +126,7 @@ "rotation": -90.0 }, "reversed": false, - "folder": null, + "folder": "Right Autos", "idealStartingState": { "velocity": 0, "rotation": 90.0 diff --git a/src/main/deploy/pathplanner/paths/Depot to left climb.path b/src/main/deploy/pathplanner/paths/Depot to left climb.path new file mode 100644 index 0000000..6d848be --- /dev/null +++ b/src/main/deploy/pathplanner/paths/Depot to left climb.path @@ -0,0 +1,54 @@ +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 0.422, + "y": 5.773 + }, + "prevControl": null, + "nextControl": { + "x": 1.0075444839911454, + "y": 5.277686832734832 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 1.0720996441334938, + "y": 4.675172004739578 + }, + "prevControl": { + "x": 0.6955278766364597, + "y": 5.568185053375403 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [], + "constraintZones": [], + "pointTowardsZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 3.0, + "maxAcceleration": 3.0, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0, + "nominalVoltage": 12.0, + "unlimited": false + }, + "goalEndState": { + "velocity": 0, + "rotation": -90.9548412538722 + }, + "reversed": false, + "folder": null, + "idealStartingState": { + "velocity": 0, + "rotation": -178.93180799138455 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Hub to depot.path b/src/main/deploy/pathplanner/paths/Hub to depot.path new file mode 100644 index 0000000..e0e7a15 --- /dev/null +++ b/src/main/deploy/pathplanner/paths/Hub to depot.path @@ -0,0 +1,107 @@ +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 3.3042052980132453, + "y": 4.034999999999999 + }, + "prevControl": null, + "nextControl": { + "x": 2.4910927152317885, + "y": 4.310877483443708 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 2.157135761589404, + "y": 4.499635761589404 + }, + "prevControl": { + "x": 3.0573675496688737, + "y": 4.064039735099337 + }, + "nextControl": { + "x": 1.4723524333341427, + "y": 4.8309825333258205 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 1.3658029801324503, + "y": 4.848112582781456 + }, + "prevControl": { + "x": 1.738682314703078, + "y": 4.7144388590674575 + }, + "nextControl": { + "x": 0.9810264900662253, + "y": 4.986051324503311 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 0.5889900662251655, + "y": 5.015091059602648 + }, + "prevControl": { + "x": 0.7414486754966887, + "y": 4.746473509933774 + }, + "nextControl": { + "x": 0.4330647443878781, + "y": 5.289816626649297 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 0.422, + "y": 5.773 + }, + "prevControl": { + "x": 0.4510513245033114, + "y": 5.276448675496688 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [ + { + "waypointRelativePos": 1.0072639225181759, + "rotationDegrees": -153.03191204705334 + } + ], + "constraintZones": [], + "pointTowardsZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 3.0, + "maxAcceleration": 3.0, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0, + "nominalVoltage": 12.0, + "unlimited": false + }, + "goalEndState": { + "velocity": 0.0, + "rotation": 180.0 + }, + "reversed": false, + "folder": "Miscellaneous", + "idealStartingState": { + "velocity": 0, + "rotation": 90.0 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Left bump to full neutral to left climb.path b/src/main/deploy/pathplanner/paths/Left bump to full neutral to left climb.path new file mode 100644 index 0000000..e181a7c --- /dev/null +++ b/src/main/deploy/pathplanner/paths/Left bump to full neutral to left climb.path @@ -0,0 +1,167 @@ +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 3.5144365361856895, + "y": 2.3081494661867907 + }, + "prevControl": null, + "nextControl": { + "x": 5.375776986956745, + "y": 2.297390272829732 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 6.021328588380232, + "y": 2.006892052189162 + }, + "prevControl": { + "x": 5.537164887312617, + "y": 2.351186239615023 + }, + "nextControl": { + "x": 6.555545334563053, + "y": 1.627004588236932 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 7.280154211156034, + "y": 1.8347449584762319 + }, + "prevControl": { + "x": 7.153399179515186, + "y": 1.6192614046867888 + }, + "nextControl": { + "x": 7.6657356562137, + "y": 2.4902334150742735 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 7.732040332152474, + "y": 5.7295729537312745 + }, + "prevControl": { + "x": 7.925705812579521, + "y": 4.330877817313717 + }, + "nextControl": { + "x": 7.6961360653480275, + "y": 5.988881547318945 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 6.021328588380232, + "y": 5.7295729537312745 + }, + "prevControl": { + "x": 6.271328588380232, + "y": 5.7295729537312745 + }, + "nextControl": { + "x": 5.771328588380232, + "y": 5.7295729537312745 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 4.633392645319734, + "y": 5.7295729537312745 + }, + "prevControl": { + "x": 5.483368920527327, + "y": 5.75109134044539 + }, + "nextControl": { + "x": 3.794892006271031, + "y": 5.708345089451561 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 2.65370106762104, + "y": 5.471352313161878 + }, + "prevControl": { + "x": 3.1055871886174815, + "y": 5.643499406874809 + }, + "nextControl": { + "x": 2.246145015870587, + "y": 5.316092864875991 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 1.179691577704076, + "y": 4.71820877816781 + }, + "prevControl": { + "x": 1.6520157455763769, + "y": 4.719509578231146 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [ + { + "waypointRelativePos": 0.833037300177617, + "rotationDegrees": 90.0 + }, + { + "waypointRelativePos": 2.0, + "rotationDegrees": 143.9183590696913 + }, + { + "waypointRelativePos": 2.5737122557726524, + "rotationDegrees": 180.0 + }, + { + "waypointRelativePos": 3.7708703374777905, + "rotationDegrees": -90.0 + } + ], + "constraintZones": [], + "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": null, + "idealStartingState": { + "velocity": 0, + "rotation": 90.0 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Outpost to side climb.path b/src/main/deploy/pathplanner/paths/Outpost to right climb.path similarity index 100% rename from src/main/deploy/pathplanner/paths/Outpost to side climb.path rename to src/main/deploy/pathplanner/paths/Outpost to right climb.path diff --git a/src/main/deploy/pathplanner/settings.json b/src/main/deploy/pathplanner/settings.json index 340019e..20d64ba 100644 --- a/src/main/deploy/pathplanner/settings.json +++ b/src/main/deploy/pathplanner/settings.json @@ -2,7 +2,12 @@ "robotWidth": 0.832, "robotLength": 0.832, "holonomicMode": true, - "pathFolders": [], + "pathFolders": [ + "Center Autos", + "Left Autos", + "Right Autos", + "Miscellaneous" + ], "autoFolders": [], "defaultMaxVel": 3.0, "defaultMaxAccel": 3.0, -- 2.39.5