From aae00f42775ab556385aa2f44b2607727bf89e38 Mon Sep 17 00:00:00 2001 From: Wesley28w Date: Tue, 21 Apr 2026 06:18:28 -0700 Subject: [PATCH] added right conservative + fixed commands to be in path for isolated paths --- .../autos/LeftConservativeDoubleSwipe.auto | 14 +- .../autos/LeftLiberalDoubleSwipe.auto | 12 ++ .../autos/LeftShallowDoubleSwipe.auto | 12 ++ .../pathplanner/autos/LeftSwipeThree.auto | 19 +++ .../deploy/pathplanner/autos/New Auto.auto | 12 ++ .../pathplanner/autos/New New Auto.auto | 12 ++ .../pathplanner/autos/New New New Auto.auto | 12 ++ .../autos/New New New New Auto.auto | 12 ++ .../autos/New New New New New Auto.auto | 12 ++ .../autos/RightConservativeDoubleSwipe.auto | 139 +++++++++++++++++ .../autos/RightLiberalDoubleSwipe.auto | 12 ++ .../autos/RightShallowDoubleSwipe.auto | 12 ++ .../pathplanner/autos/RightSwipeThree.auto | 19 +++ .../deploy/pathplanner/paths/Left Swipe1.path | 25 +--- .../deploy/pathplanner/paths/Left Swipe2.path | 24 +-- ...wipe1.path => LeftConservativeSwipe1.path} | 25 +--- .../pathplanner/paths/Right Swipe1.path | 25 +--- .../pathplanner/paths/Right Swipe2.path | 24 +-- .../pathplanner/paths/Right Swipe3.path | 27 +--- .../paths/RightConservativeSwipe1.path | 141 ++++++++++++++++++ 20 files changed, 468 insertions(+), 122 deletions(-) create mode 100644 src/main/deploy/pathplanner/autos/LeftSwipeThree.auto create mode 100644 src/main/deploy/pathplanner/autos/New Auto.auto create mode 100644 src/main/deploy/pathplanner/autos/New New Auto.auto create mode 100644 src/main/deploy/pathplanner/autos/New New New Auto.auto create mode 100644 src/main/deploy/pathplanner/autos/New New New New Auto.auto create mode 100644 src/main/deploy/pathplanner/autos/New New New New New Auto.auto create mode 100644 src/main/deploy/pathplanner/autos/RightConservativeDoubleSwipe.auto create mode 100644 src/main/deploy/pathplanner/autos/RightSwipeThree.auto rename src/main/deploy/pathplanner/paths/{ConservativeSwipe1.path => LeftConservativeSwipe1.path} (85%) create mode 100644 src/main/deploy/pathplanner/paths/RightConservativeSwipe1.path diff --git a/src/main/deploy/pathplanner/autos/LeftConservativeDoubleSwipe.auto b/src/main/deploy/pathplanner/autos/LeftConservativeDoubleSwipe.auto index 8a15518..017b58b 100644 --- a/src/main/deploy/pathplanner/autos/LeftConservativeDoubleSwipe.auto +++ b/src/main/deploy/pathplanner/autos/LeftConservativeDoubleSwipe.auto @@ -31,7 +31,19 @@ { "type": "path", "data": { - "pathName": "ConservativeSwipe1" + "pathName": "LeftConservativeSwipe1" + } + }, + { + "type": "named", + "data": { + "name": "Stop Hood Down" + } + }, + { + "type": "named", + "data": { + "name": "Start Spindexer" } }, { diff --git a/src/main/deploy/pathplanner/autos/LeftLiberalDoubleSwipe.auto b/src/main/deploy/pathplanner/autos/LeftLiberalDoubleSwipe.auto index d0e29ae..82a60e8 100644 --- a/src/main/deploy/pathplanner/autos/LeftLiberalDoubleSwipe.auto +++ b/src/main/deploy/pathplanner/autos/LeftLiberalDoubleSwipe.auto @@ -34,6 +34,18 @@ "pathName": "Left Swipe1" } }, + { + "type": "named", + "data": { + "name": "Stop Hood Down" + } + }, + { + "type": "named", + "data": { + "name": "Start Spindexer" + } + }, { "type": "wait", "data": { diff --git a/src/main/deploy/pathplanner/autos/LeftShallowDoubleSwipe.auto b/src/main/deploy/pathplanner/autos/LeftShallowDoubleSwipe.auto index e4002fa..2a9a8d0 100644 --- a/src/main/deploy/pathplanner/autos/LeftShallowDoubleSwipe.auto +++ b/src/main/deploy/pathplanner/autos/LeftShallowDoubleSwipe.auto @@ -34,6 +34,18 @@ "pathName": "Left Swipe3" } }, + { + "type": "named", + "data": { + "name": "Stop Hood Down" + } + }, + { + "type": "named", + "data": { + "name": "Start Spindexer" + } + }, { "type": "wait", "data": { diff --git a/src/main/deploy/pathplanner/autos/LeftSwipeThree.auto b/src/main/deploy/pathplanner/autos/LeftSwipeThree.auto new file mode 100644 index 0000000..eb7c984 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/LeftSwipeThree.auto @@ -0,0 +1,19 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "Left Swipe3" + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/New Auto.auto b/src/main/deploy/pathplanner/autos/New Auto.auto new file mode 100644 index 0000000..440a1ea --- /dev/null +++ b/src/main/deploy/pathplanner/autos/New Auto.auto @@ -0,0 +1,12 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/New New Auto.auto b/src/main/deploy/pathplanner/autos/New New Auto.auto new file mode 100644 index 0000000..440a1ea --- /dev/null +++ b/src/main/deploy/pathplanner/autos/New New Auto.auto @@ -0,0 +1,12 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/New New New Auto.auto b/src/main/deploy/pathplanner/autos/New New New Auto.auto new file mode 100644 index 0000000..440a1ea --- /dev/null +++ b/src/main/deploy/pathplanner/autos/New New New Auto.auto @@ -0,0 +1,12 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/New New New New Auto.auto b/src/main/deploy/pathplanner/autos/New New New New Auto.auto new file mode 100644 index 0000000..440a1ea --- /dev/null +++ b/src/main/deploy/pathplanner/autos/New New New New Auto.auto @@ -0,0 +1,12 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/New New New New New Auto.auto b/src/main/deploy/pathplanner/autos/New New New New New Auto.auto new file mode 100644 index 0000000..440a1ea --- /dev/null +++ b/src/main/deploy/pathplanner/autos/New New New New New Auto.auto @@ -0,0 +1,12 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/RightConservativeDoubleSwipe.auto b/src/main/deploy/pathplanner/autos/RightConservativeDoubleSwipe.auto new file mode 100644 index 0000000..41da4ae --- /dev/null +++ b/src/main/deploy/pathplanner/autos/RightConservativeDoubleSwipe.auto @@ -0,0 +1,139 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "Hood Down" + } + }, + { + "type": "named", + "data": { + "name": "Extend Intake" + } + }, + { + "type": "path", + "data": { + "pathName": "W5 Right Trench Start" + } + }, + { + "type": "named", + "data": { + "name": "Spin Intake Rollers" + } + }, + { + "type": "path", + "data": { + "pathName": "RightConservativeSwipe1" + } + }, + { + "type": "named", + "data": { + "name": "Stop Hood Down" + } + }, + { + "type": "named", + "data": { + "name": "Start Spindexer" + } + }, + { + "type": "wait", + "data": { + "waitTime": 1.5 + } + }, + { + "type": "named", + "data": { + "name": "Start Intake Seizure" + } + }, + { + "type": "wait", + "data": { + "waitTime": 2.5 + } + }, + { + "type": "named", + "data": { + "name": "Stop Intake Seizure" + } + }, + { + "type": "named", + "data": { + "name": "Extend Intake" + } + }, + { + "type": "named", + "data": { + "name": "Stop Spindexer" + } + }, + { + "type": "named", + "data": { + "name": "Reset Spindexer" + } + }, + { + "type": "named", + "data": { + "name": "Hood Down" + } + }, + { + "type": "path", + "data": { + "pathName": "Right Swipe2" + } + }, + { + "type": "named", + "data": { + "name": "Stop Hood Down" + } + }, + { + "type": "named", + "data": { + "name": "Start Spindexer" + } + }, + { + "type": "wait", + "data": { + "waitTime": 1.0 + } + }, + { + "type": "named", + "data": { + "name": "Start Intake Seizure" + } + }, + { + "type": "wait", + "data": { + "waitTime": 1.0 + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/RightLiberalDoubleSwipe.auto b/src/main/deploy/pathplanner/autos/RightLiberalDoubleSwipe.auto index f007c36..67c81e8 100644 --- a/src/main/deploy/pathplanner/autos/RightLiberalDoubleSwipe.auto +++ b/src/main/deploy/pathplanner/autos/RightLiberalDoubleSwipe.auto @@ -34,6 +34,18 @@ "pathName": "Right Swipe1" } }, + { + "type": "named", + "data": { + "name": "Stop Hood Down" + } + }, + { + "type": "named", + "data": { + "name": "Start Spindexer" + } + }, { "type": "wait", "data": { diff --git a/src/main/deploy/pathplanner/autos/RightShallowDoubleSwipe.auto b/src/main/deploy/pathplanner/autos/RightShallowDoubleSwipe.auto index 6844829..51b09cb 100644 --- a/src/main/deploy/pathplanner/autos/RightShallowDoubleSwipe.auto +++ b/src/main/deploy/pathplanner/autos/RightShallowDoubleSwipe.auto @@ -34,6 +34,18 @@ "pathName": "Right Swipe3" } }, + { + "type": "named", + "data": { + "name": "Stop Hood Down" + } + }, + { + "type": "named", + "data": { + "name": "Start Spindexer" + } + }, { "type": "wait", "data": { diff --git a/src/main/deploy/pathplanner/autos/RightSwipeThree.auto b/src/main/deploy/pathplanner/autos/RightSwipeThree.auto new file mode 100644 index 0000000..42cdf9f --- /dev/null +++ b/src/main/deploy/pathplanner/autos/RightSwipeThree.auto @@ -0,0 +1,19 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "Right Swipe3" + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Left Swipe1.path b/src/main/deploy/pathplanner/paths/Left Swipe1.path index e5b768f..961203c 100644 --- a/src/main/deploy/pathplanner/paths/Left Swipe1.path +++ b/src/main/deploy/pathplanner/paths/Left Swipe1.path @@ -122,30 +122,7 @@ } ], "pointTowardsZones": [], - "eventMarkers": [ - { - "name": "Stop Hood Down", - "waypointRelativePos": 4.968503937007888, - "endWaypointRelativePos": null, - "command": { - "type": "named", - "data": { - "name": "Stop Hood Down" - } - } - }, - { - "name": "Start Spindexer", - "waypointRelativePos": 5.0, - "endWaypointRelativePos": null, - "command": { - "type": "named", - "data": { - "name": "Start Spindexer" - } - } - } - ], + "eventMarkers": [], "globalConstraints": { "maxVelocity": 3.0, "maxAcceleration": 2.5, diff --git a/src/main/deploy/pathplanner/paths/Left Swipe2.path b/src/main/deploy/pathplanner/paths/Left Swipe2.path index c2ec8f9..f1c97db 100644 --- a/src/main/deploy/pathplanner/paths/Left Swipe2.path +++ b/src/main/deploy/pathplanner/paths/Left Swipe2.path @@ -16,16 +16,16 @@ }, { "anchor": { - "x": 6.086, - "y": 6.719418742580623 + "x": 6.258030842230131, + "y": 6.330122034143519 }, "prevControl": { - "x": 6.200647682501698, - "y": 7.71282495803178 + "x": 6.372678524731828, + "y": 7.323528249594676 }, "nextControl": { - "x": 5.993947899726181, - "y": 5.92180010291915 + "x": 6.1659787419563115, + "y": 5.532503394482046 }, "isLocked": false, "linkedName": null @@ -64,16 +64,16 @@ }, { "anchor": { - "x": 6.258030842230131, - "y": 6.977639383155397 + "x": 6.376611255787037, + "y": 7.154124710648148 }, "prevControl": { - "x": 6.423269381273585, - "y": 6.7900328128685725 + "x": 6.541849794830491, + "y": 6.966518140361323 }, "nextControl": { - "x": 6.092792303186677, - "y": 7.165245953442221 + "x": 6.2113727167435835, + "y": 7.3417312809349715 }, "isLocked": false, "linkedName": null diff --git a/src/main/deploy/pathplanner/paths/ConservativeSwipe1.path b/src/main/deploy/pathplanner/paths/LeftConservativeSwipe1.path similarity index 85% rename from src/main/deploy/pathplanner/paths/ConservativeSwipe1.path rename to src/main/deploy/pathplanner/paths/LeftConservativeSwipe1.path index 879db65..82f4708 100644 --- a/src/main/deploy/pathplanner/paths/ConservativeSwipe1.path +++ b/src/main/deploy/pathplanner/paths/LeftConservativeSwipe1.path @@ -118,30 +118,7 @@ } ], "pointTowardsZones": [], - "eventMarkers": [ - { - "name": "Stop Hood Down", - "waypointRelativePos": 4.968503937007888, - "endWaypointRelativePos": null, - "command": { - "type": "named", - "data": { - "name": "Stop Hood Down" - } - } - }, - { - "name": "Start Spindexer", - "waypointRelativePos": 4.982332155477035, - "endWaypointRelativePos": null, - "command": { - "type": "named", - "data": { - "name": "Start Spindexer" - } - } - } - ], + "eventMarkers": [], "globalConstraints": { "maxVelocity": 2.0, "maxAcceleration": 2.0, diff --git a/src/main/deploy/pathplanner/paths/Right Swipe1.path b/src/main/deploy/pathplanner/paths/Right Swipe1.path index 3dbe18a..c30a7e0 100644 --- a/src/main/deploy/pathplanner/paths/Right Swipe1.path +++ b/src/main/deploy/pathplanner/paths/Right Swipe1.path @@ -122,30 +122,7 @@ } ], "pointTowardsZones": [], - "eventMarkers": [ - { - "name": "Stop Hood Down", - "waypointRelativePos": 4.968503937007888, - "endWaypointRelativePos": null, - "command": { - "type": "named", - "data": { - "name": "Stop Hood Down" - } - } - }, - { - "name": "Start Spindexer", - "waypointRelativePos": 5, - "endWaypointRelativePos": null, - "command": { - "type": "named", - "data": { - "name": "Start Spindexer" - } - } - } - ], + "eventMarkers": [], "globalConstraints": { "maxVelocity": 3, "maxAcceleration": 2.5, diff --git a/src/main/deploy/pathplanner/paths/Right Swipe2.path b/src/main/deploy/pathplanner/paths/Right Swipe2.path index e87b4ba..90ee543 100644 --- a/src/main/deploy/pathplanner/paths/Right Swipe2.path +++ b/src/main/deploy/pathplanner/paths/Right Swipe2.path @@ -16,16 +16,16 @@ }, { "anchor": { - "x": 6.086, - "y": 1.426 + "x": 6.258030842230131, + "y": 1.513718460648148 }, "prevControl": { - "x": 6.200647682501698, - "y": 0.432593784548843 + "x": 6.372678524731828, + "y": 0.520312245196991 }, "nextControl": { - "x": 5.993947899726181, - "y": 2.2236186396614723 + "x": 6.1659787419563115, + "y": 2.31133710030962 }, "isLocked": false, "linkedName": null @@ -64,16 +64,16 @@ }, { "anchor": { - "x": 6.258030842230131, - "y": 1.093686616844602 + "x": 6.510128689236111, + "y": 0.8553167679398155 }, "prevControl": { - "x": 6.423269381273585, - "y": 1.281293187131427 + "x": 6.675367228279565, + "y": 1.0429233382266405 }, "nextControl": { - "x": 6.092792303186677, - "y": 0.9060800465577783 + "x": 6.344890150192657, + "y": 0.6677101976529917 }, "isLocked": false, "linkedName": null diff --git a/src/main/deploy/pathplanner/paths/Right Swipe3.path b/src/main/deploy/pathplanner/paths/Right Swipe3.path index ea12079..74e04a8 100644 --- a/src/main/deploy/pathplanner/paths/Right Swipe3.path +++ b/src/main/deploy/pathplanner/paths/Right Swipe3.path @@ -73,7 +73,7 @@ }, "nextControl": { "x": 6.092792303186677, - "y": 0.9060800465577783 + "y": 0.9060800465577782 }, "isLocked": false, "linkedName": null @@ -108,30 +108,7 @@ ], "constraintZones": [], "pointTowardsZones": [], - "eventMarkers": [ - { - "name": "Stop Hood Down", - "waypointRelativePos": 5.0, - "endWaypointRelativePos": null, - "command": { - "type": "named", - "data": { - "name": "Stop Hood Down" - } - } - }, - { - "name": "Start Spindexer", - "waypointRelativePos": 5.0, - "endWaypointRelativePos": null, - "command": { - "type": "named", - "data": { - "name": "Start Spindexer" - } - } - } - ], + "eventMarkers": [], "globalConstraints": { "maxVelocity": 3, "maxAcceleration": 2.5, diff --git a/src/main/deploy/pathplanner/paths/RightConservativeSwipe1.path b/src/main/deploy/pathplanner/paths/RightConservativeSwipe1.path new file mode 100644 index 0000000..456c7b0 --- /dev/null +++ b/src/main/deploy/pathplanner/paths/RightConservativeSwipe1.path @@ -0,0 +1,141 @@ +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 4.5, + "y": 0.448 + }, + "prevControl": null, + "nextControl": { + "x": 6.819805487632309, + "y": 1.2953701901837102 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 7.159230132450332, + "y": 1.430009774834437 + }, + "prevControl": { + "x": 6.869067715509156, + "y": 1.151963267477233 + }, + "nextControl": { + "x": 7.339735203900921, + "y": 1.6029777463800896 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 7.398505338078292, + "y": 2.5044799735099326 + }, + "prevControl": { + "x": 7.64577301033512, + "y": 2.3655623616020853 + }, + "nextControl": { + "x": 7.031343434260263, + "y": 2.710755441695528 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 6.46953642384106, + "y": 1.6695875894039724 + }, + "prevControl": { + "x": 6.69147920841791, + "y": 1.9711945337019008 + }, + "nextControl": { + "x": 6.078640973388454, + "y": 1.1383840966851129 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 5.6124792408066435, + "y": 0.6633188825622768 + }, + "prevControl": { + "x": 5.8389868583347635, + "y": 0.7691219978365208 + }, + "nextControl": { + "x": 5.3859716232785235, + "y": 0.5575157672880328 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 4, + "y": 0.571325999999999 + }, + "prevControl": { + "x": 4.396406066666464, + "y": 0.660896800108719 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [ + { + "waypointRelativePos": 0.9685230024212932, + "rotationDegrees": 64.90375286541574 + }, + { + "waypointRelativePos": 3.86, + "rotationDegrees": 0.0 + } + ], + "constraintZones": [ + { + "name": "Constraints Zone", + "minWaypointRelativePos": 0.7761529808773961, + "maxWaypointRelativePos": 1.8335208098987592, + "constraints": { + "maxVelocity": 1, + "maxAcceleration": 1.5, + "maxAngularVelocity": 200, + "maxAngularAcceleration": 150, + "nominalVoltage": 12, + "unlimited": false + } + } + ], + "pointTowardsZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 2, + "maxAcceleration": 2, + "maxAngularVelocity": 200, + "maxAngularAcceleration": 300, + "nominalVoltage": 12, + "unlimited": false + }, + "goalEndState": { + "velocity": 0, + "rotation": 0.0 + }, + "reversed": false, + "folder": "week 5 (new stuff)", + "idealStartingState": { + "velocity": 0.5, + "rotation": 0.0 + }, + "useDefaultConstraints": false +} \ No newline at end of file -- 2.39.5