From 4857c2e89c9b389f2758c904c09f7c1be7792b20 Mon Sep 17 00:00:00 2001
From: Team578 Driver Station <leadmentor@fairportrobotics.org>
Date: Sat, 11 Apr 2026 11:54:44 -0400
Subject: [PATCH] Updates to pathplanner autos and paths

---
 .../pathplanner/autos/Chaos Monkey.auto       | 19 ++++
 .../pathplanner/autos/Hub to Shoot.auto       | 50 ++++++++++
 src/main/deploy/pathplanner/autos/Test.auto   | 19 ++++
 .../pathplanner/paths/Chaos Monkey Path.path  | 93 +++++++++++++++++++
 .../paths/Depot to Shooting Point.path        | 54 +++++++++++
 .../pathplanner/paths/Hub to Depot.path       |  2 +-
 .../paths/Shooting Point to Depot.path        | 54 +++++++++++
 .../deploy/pathplanner/paths/Test Path.path   | 54 +++++++++++
 8 files changed, 344 insertions(+), 1 deletion(-)
 create mode 100644 src/main/deploy/pathplanner/autos/Chaos Monkey.auto
 create mode 100644 src/main/deploy/pathplanner/autos/Hub to Shoot.auto
 create mode 100644 src/main/deploy/pathplanner/autos/Test.auto
 create mode 100644 src/main/deploy/pathplanner/paths/Chaos Monkey Path.path
 create mode 100644 src/main/deploy/pathplanner/paths/Depot to Shooting Point.path
 create mode 100644 src/main/deploy/pathplanner/paths/Shooting Point to Depot.path
 create mode 100644 src/main/deploy/pathplanner/paths/Test Path.path

diff --git a/src/main/deploy/pathplanner/autos/Chaos Monkey.auto b/src/main/deploy/pathplanner/autos/Chaos Monkey.auto
new file mode 100644
index 0000000..4796d1c
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/Chaos Monkey.auto	
@@ -0,0 +1,19 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Chaos Monkey Path"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/autos/Hub to Shoot.auto b/src/main/deploy/pathplanner/autos/Hub to Shoot.auto
new file mode 100644
index 0000000..236077b
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/Hub to Shoot.auto	
@@ -0,0 +1,50 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Hub to Depot"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Depot to Shooting Point"
+          }
+        },
+        {
+          "type": "deadline",
+          "data": {
+            "commands": [
+              {
+                "type": "wait",
+                "data": {
+                  "waitTime": 10.0
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "ChassisAlignShoot"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Shooting Point to Depot"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/autos/Test.auto b/src/main/deploy/pathplanner/autos/Test.auto
new file mode 100644
index 0000000..b3197af
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/Test.auto
@@ -0,0 +1,19 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Test Path"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/Chaos Monkey Path.path b/src/main/deploy/pathplanner/paths/Chaos Monkey Path.path
new file mode 100644
index 0000000..08bc439
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/Chaos Monkey Path.path	
@@ -0,0 +1,93 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 0.5,
+        "y": 7.5
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 1.5000000000000007,
+        "y": 7.5
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 7.6,
+        "y": 6.81063855421925
+      },
+      "prevControl": {
+        "x": 7.498127631539383,
+        "y": 7.805436031369352
+      },
+      "nextControl": {
+        "x": 7.745476905739448,
+        "y": 5.390036864084266
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 7.6,
+        "y": 0.9424578313276835
+      },
+      "prevControl": {
+        "x": 7.647828711717099,
+        "y": 1.4502101472608384
+      },
+      "nextControl": {
+        "x": 7.526915662650708,
+        "y": 0.16659036144816464
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 0.5,
+        "y": 0.6692650602433468
+      },
+      "prevControl": {
+        "x": 0.19442168674709331,
+        "y": 0.8331807228939487
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [
+    {
+      "name": "",
+      "waypointRelativePos": 0,
+      "endWaypointRelativePos": null,
+      "command": null
+    }
+  ],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "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/Depot to Shooting Point.path b/src/main/deploy/pathplanner/paths/Depot to Shooting Point.path
new file mode 100644
index 0000000..6087546
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/Depot to Shooting Point.path	
@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 15.5,
+        "y": 2.0
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 15.387524472828067,
+        "y": 2.4871850323926177
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 14.5,
+        "y": 4.0
+      },
+      "prevControl": {
+        "x": 14.699374534462622,
+        "y": 3.5414699628074375
+      },
+      "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": 0.0
+  },
+  "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/Hub to Depot.path b/src/main/deploy/pathplanner/paths/Hub to Depot.path
index fe2c379..39f3bc5 100644
--- a/src/main/deploy/pathplanner/paths/Hub to Depot.path	
+++ b/src/main/deploy/pathplanner/paths/Hub to Depot.path	
@@ -48,7 +48,7 @@
   "folder": null,
   "idealStartingState": {
     "velocity": 0,
-    "rotation": 180.0
+    "rotation": 2.6905523852280466
   },
   "useDefaultConstraints": true
 }
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/Shooting Point to Depot.path b/src/main/deploy/pathplanner/paths/Shooting Point to Depot.path
new file mode 100644
index 0000000..9a62b19
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/Shooting Point to Depot.path	
@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 14.5,
+        "y": 4.0
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 14.387524472828067,
+        "y": 4.487185032392618
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 15.5,
+        "y": 2.0
+      },
+      "prevControl": {
+        "x": 15.699374534462622,
+        "y": 1.5414699628074375
+      },
+      "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": 0.0
+  },
+  "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/Test Path.path b/src/main/deploy/pathplanner/paths/Test Path.path
new file mode 100644
index 0000000..9c7cd5b
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/Test Path.path	
@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 2.0,
+        "y": 3.892939759036145
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 2.999999999999999,
+        "y": 3.892939759036145
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 3.0,
+        "y": 3.892939759036145
+      },
+      "prevControl": {
+        "x": 2.0,
+        "y": 3.892939759036145
+      },
+      "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": 0.0
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 1.0511807495437313
+  },
+  "useDefaultConstraints": true
+}
\ No newline at end of file