From efe355dbc68547582c65e92f45d9b1f5c1dd36c3 Mon Sep 17 00:00:00 2001 From: eileha Date: Mon, 23 Mar 2026 17:17:19 -0700 Subject: [PATCH] autos --- ...eft 2 runs (middle neutral) - hairpin.auto | 49 ++++++ ... 2 runs (middle neutral) - no hairpin.auto | 49 ++++++ ...utral to left start - down the middle.path | 102 ++++++++++++ ...neutral to left start - down the side.path | 102 ++++++++++++ .../pathplanner/paths/Jame's Square path.path | 2 +- .../paths/Left start hairpain back.path | 157 ++++++++++++++++++ ...start to near neutral - straight back.path | 115 +++++++++++++ .../paths/Random default auto.path | 2 +- .../pathplanner/paths/Velocity TEST.path | 2 +- 9 files changed, 577 insertions(+), 3 deletions(-) create mode 100644 src/main/deploy/pathplanner/autos/Left 2 runs (middle neutral) - hairpin.auto create mode 100644 src/main/deploy/pathplanner/autos/Left 2 runs (middle neutral) - no hairpin.auto create mode 100644 src/main/deploy/pathplanner/paths/Far neutral to left start - down the middle.path create mode 100644 src/main/deploy/pathplanner/paths/Far neutral to left start - down the side.path create mode 100644 src/main/deploy/pathplanner/paths/Left start hairpain back.path create mode 100644 src/main/deploy/pathplanner/paths/Left start to near neutral - straight back.path diff --git a/src/main/deploy/pathplanner/autos/Left 2 runs (middle neutral) - hairpin.auto b/src/main/deploy/pathplanner/autos/Left 2 runs (middle neutral) - hairpin.auto new file mode 100644 index 0000000..44ea307 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/Left 2 runs (middle neutral) - hairpin.auto @@ -0,0 +1,49 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "Left Trench Start" + } + }, + { + "type": "path", + "data": { + "pathName": "Left start to far neutral - down the middle" + } + }, + { + "type": "path", + "data": { + "pathName": "Far neutral to left start - down the middle" + } + }, + { + "type": "wait", + "data": { + "waitTime": 0.0 + } + }, + { + "type": "path", + "data": { + "pathName": "Left start hairpain back" + } + }, + { + "type": "wait", + "data": { + "waitTime": 0 + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Left 2 runs (middle neutral) - no hairpin.auto b/src/main/deploy/pathplanner/autos/Left 2 runs (middle neutral) - no hairpin.auto new file mode 100644 index 0000000..daa1292 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/Left 2 runs (middle neutral) - no hairpin.auto @@ -0,0 +1,49 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "Left Trench Start" + } + }, + { + "type": "path", + "data": { + "pathName": "Left start to far neutral - down the middle" + } + }, + { + "type": "path", + "data": { + "pathName": "Far neutral to left start - down the middle" + } + }, + { + "type": "wait", + "data": { + "waitTime": 0.0 + } + }, + { + "type": "path", + "data": { + "pathName": "Left start to near neutral - straight back" + } + }, + { + "type": "wait", + "data": { + "waitTime": 0 + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Far neutral to left start - down the middle.path b/src/main/deploy/pathplanner/paths/Far neutral to left start - down the middle.path new file mode 100644 index 0000000..b74ca0b --- /dev/null +++ b/src/main/deploy/pathplanner/paths/Far neutral to left start - down the middle.path @@ -0,0 +1,102 @@ +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 8.3085588666341, + "y": 4.665 + }, + "prevControl": null, + "nextControl": { + "x": 8.313036773428234, + "y": 5.998552787663108 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 8.3085588666341, + "y": 6.3956595017040465 + }, + "prevControl": { + "x": 8.302277580071175, + "y": 5.977034400948992 + }, + "nextControl": { + "x": 8.322326911855162, + "y": 7.313250071745635 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 3.7, + "y": 7.623 + }, + "prevControl": { + "x": 5.031482799530884, + "y": 7.59091340451309 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [ + { + "waypointRelativePos": 1.4067495559502714, + "rotationDegrees": -24.634740281575162 + } + ], + "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": 3.0, + "maxAcceleration": 1.5, + "maxAngularVelocity": 200.0, + "maxAngularAcceleration": 150.0, + "nominalVoltage": 12.0, + "unlimited": false + } + } + ], + "pointTowardsZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 1.5, + "maxAcceleration": 1.5, + "maxAngularVelocity": 200.0, + "maxAngularAcceleration": 150.0, + "nominalVoltage": 12.0, + "unlimited": false + }, + "goalEndState": { + "velocity": 0.0, + "rotation": -0.6883662028604366 + }, + "reversed": false, + "folder": null, + "idealStartingState": { + "velocity": 0, + "rotation": -90.0 + }, + "useDefaultConstraints": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Far neutral to left start - down the side.path b/src/main/deploy/pathplanner/paths/Far neutral to left start - down the side.path new file mode 100644 index 0000000..a16a72a --- /dev/null +++ b/src/main/deploy/pathplanner/paths/Far neutral to left start - down the side.path @@ -0,0 +1,102 @@ +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 7.828873072360619, + "y": 4.718208778173191 + }, + "prevControl": null, + "nextControl": { + "x": 7.833350979154753, + "y": 6.0517615658362995 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 7.828873072360619, + "y": 6.439679715302491 + }, + "prevControl": { + "x": 7.8225917857976945, + "y": 6.021054614547436 + }, + "nextControl": { + "x": 7.842641117581682, + "y": 7.35727028534408 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 3.7, + "y": 7.623 + }, + "prevControl": { + "x": 5.031482799530884, + "y": 7.59091340451309 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [ + { + "waypointRelativePos": 1.4067495559502714, + "rotationDegrees": -24.634740281575162 + } + ], + "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": 3.0, + "maxAcceleration": 1.5, + "maxAngularVelocity": 200.0, + "maxAngularAcceleration": 150.0, + "nominalVoltage": 12.0, + "unlimited": false + } + } + ], + "pointTowardsZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 1.5, + "maxAcceleration": 1.5, + "maxAngularVelocity": 200.0, + "maxAngularAcceleration": 150.0, + "nominalVoltage": 12.0, + "unlimited": false + }, + "goalEndState": { + "velocity": 0.0, + "rotation": -0.6883662028604366 + }, + "reversed": false, + "folder": null, + "idealStartingState": { + "velocity": 0, + "rotation": -90.0 + }, + "useDefaultConstraints": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Jame's Square path.path b/src/main/deploy/pathplanner/paths/Jame's Square path.path index 9a5343b..112b9c6 100644 --- a/src/main/deploy/pathplanner/paths/Jame's Square path.path +++ b/src/main/deploy/pathplanner/paths/Jame's Square path.path @@ -105,7 +105,7 @@ "rotation": -0.4151795411448859 }, "reversed": false, - "folder": null, + "folder": "Field Testing Autos", "idealStartingState": { "velocity": 0, "rotation": 0.0 diff --git a/src/main/deploy/pathplanner/paths/Left start hairpain back.path b/src/main/deploy/pathplanner/paths/Left start hairpain back.path new file mode 100644 index 0000000..4aa49c5 --- /dev/null +++ b/src/main/deploy/pathplanner/paths/Left start hairpain back.path @@ -0,0 +1,157 @@ +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 3.7, + "y": 7.623 + }, + "prevControl": null, + "nextControl": { + "x": 4.741672185434092, + "y": 7.621407284764581 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 5.779842715231788, + "y": 7.323749999999999 + }, + "prevControl": { + "x": 5.478585301234161, + "y": 7.614248220640568 + }, + "nextControl": { + "x": 5.965070209476892, + "y": 7.145137773406506 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 6.730894039735099, + "y": 5.421647350993377 + }, + "prevControl": { + "x": 6.788077844644052, + "y": 6.027795683028284 + }, + "nextControl": { + "x": 6.658294701986755, + "y": 4.652094370860926 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 6.38967715231788, + "y": 4.194718543046358 + }, + "prevControl": { + "x": 6.65103476821192, + "y": 4.064039735099337 + }, + "nextControl": { + "x": 5.902665989337589, + "y": 4.4382241245365055 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 6.099279801328132, + "y": 6.546937086089085 + }, + "prevControl": { + "x": 6.19365894040098, + "y": 6.169420529797695 + }, + "nextControl": { + "x": 5.769538198460845, + "y": 7.865903497558222 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 3.7, + "y": 7.623 + }, + "prevControl": { + "x": 4.748932119208927, + "y": 7.5342880794665685 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [ + { + "waypointRelativePos": 1.5879218472468923, + "rotationDegrees": -55.13536895595034 + }, + { + "waypointRelativePos": 2.493946731234874, + "rotationDegrees": -110.505671767915 + }, + { + "waypointRelativePos": 3.1053268765133044, + "rotationDegrees": 123.04484387897493 + }, + { + "waypointRelativePos": 3.595026642984005, + "rotationDegrees": 97.2472243534571 + }, + { + "waypointRelativePos": 4.111900532859716, + "rotationDegrees": 135.08368838364203 + }, + { + "waypointRelativePos": 4.370460048426136, + "rotationDegrees": 179.51813791569148 + } + ], + "constraintZones": [ + { + "name": "Constraints Zone", + "minWaypointRelativePos": 1.0035335689046465, + "maxWaypointRelativePos": 2.7279151943463056, + "constraints": { + "maxVelocity": 2.5, + "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": 178.86227098552752 + }, + "reversed": false, + "folder": null, + "idealStartingState": { + "velocity": 0, + "rotation": -2.772363175589155 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Left start to near neutral - straight back.path b/src/main/deploy/pathplanner/paths/Left start to near neutral - straight back.path new file mode 100644 index 0000000..e9ea1cc --- /dev/null +++ b/src/main/deploy/pathplanner/paths/Left start to near neutral - straight back.path @@ -0,0 +1,115 @@ +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 3.7, + "y": 7.623 + }, + "prevControl": null, + "nextControl": { + "x": 4.598631012653913, + "y": 7.642462536186107 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 5.649163907284768, + "y": 7.258410596026489 + }, + "prevControl": { + "x": 5.2833259585688115, + "y": 7.461653900868686 + }, + "nextControl": { + "x": 5.910521523178807, + "y": 7.1132119205298014 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 5.779842715231788, + "y": 4.456076158940396 + }, + "prevControl": { + "x": 5.779842715231788, + "y": 5.015844830247635 + }, + "nextControl": { + "x": 5.779842715231788, + "y": 4.049519867549668 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 5.779842715231788, + "y": 6.655836092715231 + }, + "prevControl": { + "x": 5.794362582781457, + "y": 5.421647350993377 + }, + "nextControl": { + "x": 5.7661765687778415, + "y": 7.817458541300683 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 3.7, + "y": 7.623 + }, + "prevControl": { + "x": 4.211825331125829, + "y": 7.662929635761589 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [ + { + "waypointRelativePos": 1.5879218472468923, + "rotationDegrees": -89.04639577102074 + }, + { + "waypointRelativePos": 2.745762711864446, + "rotationDegrees": -91.40096856637498 + }, + { + "waypointRelativePos": 3.1912832929782167, + "rotationDegrees": -69.22194608592294 + } + ], + "constraintZones": [], + "pointTowardsZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 2.0, + "maxAcceleration": 2.0, + "maxAngularVelocity": 200.0, + "maxAngularAcceleration": 300.0, + "nominalVoltage": 12.0, + "unlimited": false + }, + "goalEndState": { + "velocity": 0, + "rotation": -0.14704518962322474 + }, + "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/Random default auto.path b/src/main/deploy/pathplanner/paths/Random default auto.path index 4fe4915..9721d35 100644 --- a/src/main/deploy/pathplanner/paths/Random default auto.path +++ b/src/main/deploy/pathplanner/paths/Random default auto.path @@ -45,7 +45,7 @@ "rotation": 0.0 }, "reversed": false, - "folder": null, + "folder": "Field Testing Autos", "idealStartingState": { "velocity": 0, "rotation": 0.0 diff --git a/src/main/deploy/pathplanner/paths/Velocity TEST.path b/src/main/deploy/pathplanner/paths/Velocity TEST.path index e11d1ee..1eaeab1 100644 --- a/src/main/deploy/pathplanner/paths/Velocity TEST.path +++ b/src/main/deploy/pathplanner/paths/Velocity TEST.path @@ -59,7 +59,7 @@ "rotation": 0.0 }, "reversed": false, - "folder": null, + "folder": "Field Testing Autos", "idealStartingState": { "velocity": 0, "rotation": 0.0 -- 2.39.5