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Add preliminary paths
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twangodev committed Jan 22, 2024
1 parent 35f7e4d commit 7943120
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Showing 8 changed files with 230 additions and 87 deletions.
43 changes: 43 additions & 0 deletions src/main/deploy/pathplanner/autos/Amp Cycle.auto
Original file line number Diff line number Diff line change
@@ -0,0 +1,43 @@
{
"version": 1.0,
"startingPose": {
"position": {
"x": 0.8393012850426425,
"y": 2.4671946302747707
},
"rotation": 54.1178627537958
},
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "Amp"
}
},
{
"type": "path",
"data": {
"pathName": "Right Note"
}
},
{
"type": "path",
"data": {
"pathName": "Amp"
}
},
{
"type": "path",
"data": {
"pathName": "Left Park"
}
}
]
}
},
"folder": null,
"choreoAuto": false
}
25 changes: 25 additions & 0 deletions src/main/deploy/pathplanner/autos/Left Park.auto
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@@ -0,0 +1,25 @@
{
"version": 1.0,
"startingPose": {
"position": {
"x": 0.9861581082732835,
"y": 6.946327738809324
},
"rotation": 180.0
},
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "Left Park"
}
}
]
}
},
"folder": null,
"choreoAuto": false
}
38 changes: 0 additions & 38 deletions src/main/deploy/pathplanner/autos/New Auto.auto

This file was deleted.

25 changes: 25 additions & 0 deletions src/main/deploy/pathplanner/autos/Right Park.auto
Original file line number Diff line number Diff line change
@@ -0,0 +1,25 @@
{
"version": 1.0,
"startingPose": {
"position": {
"x": 0.9567867436271553,
"y": 2.202852348459617
},
"rotation": 180.0
},
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "Right Park"
}
}
]
}
},
"folder": null,
"choreoAuto": false
}
Original file line number Diff line number Diff line change
Expand Up @@ -3,57 +3,41 @@
"waypoints": [
{
"anchor": {
"x": 2.0,
"y": 7.0
"x": 7.139459001637144,
"y": 1.2335973151373854
},
"prevControl": null,
"nextControl": {
"x": 3.0,
"y": 6.5
"x": 7.036659225375696,
"y": 5.771473152964195
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
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"y": 5.0
"x": 6.434546250130068,
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"prevControl": {
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"linkedName": null
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{
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"y": 4.043144444838792
"x": 1.86729904765713,
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"prevControl": {
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"linkedName": null
},
{
"anchor": {
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"y": 1.0
},
"prevControl": {
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},
"nextControl": null,
"isLocked": false,
Expand All @@ -63,7 +47,7 @@
"rotationTargets": [
{
"waypointRelativePos": 1,
"rotationDegrees": -44.19881174093595,
"rotationDegrees": -42.27368900609369,
"rotateFast": false
}
],
Expand All @@ -77,11 +61,11 @@
},
"goalEndState": {
"velocity": 0,
"rotation": 90.0,
"rotation": -90.0,
"rotateFast": false
},
"reversed": false,
"folder": null,
"folder": "Scoring",
"previewStartingState": null,
"useDefaultConstraints": false
}
49 changes: 49 additions & 0 deletions src/main/deploy/pathplanner/paths/Left Park.path
Original file line number Diff line number Diff line change
@@ -0,0 +1,49 @@
{
"version": 1.0,
"waypoints": [
{
"anchor": {
"x": 1.9994701885647073,
"y": 1.7916532434138215
},
"prevControl": null,
"nextControl": {
"x": 1.9554131415955147,
"y": 6.916956374163195
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
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},
"prevControl": {
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"y": 6.755413868609491
},
"nextControl": null,
"isLocked": false,
"linkedName": null
}
],
"rotationTargets": [],
"constraintZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 3.0,
"maxAcceleration": 3.0,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0
},
"goalEndState": {
"velocity": 0,
"rotation": 180.0,
"rotateFast": false
},
"reversed": false,
"folder": "Park",
"previewStartingState": null,
"useDefaultConstraints": false
}
Original file line number Diff line number Diff line change
Expand Up @@ -3,48 +3,54 @@
"waypoints": [
{
"anchor": {
"x": 2.0,
"y": 7.0
"x": 1.7791849537187452,
"y": 6.990384785778517
},
"prevControl": null,
"nextControl": {
"x": 3.0,
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"nextControl": null,
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],
"rotationTargets": [],
"rotationTargets": [
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"rotationDegrees": 60.25511870305774,
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],
"constraintZones": [],
"eventMarkers": [],
"globalConstraints": {
Expand All @@ -59,7 +65,7 @@
"rotateFast": false
},
"reversed": false,
"folder": null,
"folder": "Intake",
"previewStartingState": null,
"useDefaultConstraints": false
}
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