From 4ca15164bdb451ec30fdd7d386a885ee3f052a5a Mon Sep 17 00:00:00 2001 From: TheRealGreydon Date: Fri, 16 Oct 2026 23:46:51 -0400 Subject: [PATCH] POFR & PADL --- src/main/deploy/pathplanner/autos/PADL.auto | 128 ++++++++++++++++++ src/main/deploy/pathplanner/autos/PADR.auto | 128 ++++++++++++++++++ src/main/deploy/pathplanner/autos/POFR.auto | 50 +++++++ .../deploy/pathplanner/paths/PADC Path 2.path | 8 +- .../deploy/pathplanner/paths/PADL Path 2.path | 73 ++++++++++ .../deploy/pathplanner/paths/POFR Path.path | 14 +- src/main/deploy/pathplanner/paths/Spin.path | 91 ------------- 7 files changed, 390 insertions(+), 102 deletions(-) create mode 100644 src/main/deploy/pathplanner/autos/PADL.auto create mode 100644 src/main/deploy/pathplanner/autos/PADR.auto create mode 100644 src/main/deploy/pathplanner/autos/POFR.auto create mode 100644 src/main/deploy/pathplanner/paths/PADL Path 2.path delete mode 100644 src/main/deploy/pathplanner/paths/Spin.path diff --git a/src/main/deploy/pathplanner/autos/PADL.auto b/src/main/deploy/pathplanner/autos/PADL.auto new file mode 100644 index 0000000..dd584f0 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/PADL.auto @@ -0,0 +1,128 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "PADL Path 1" + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "deadline", + "data": { + "commands": [ + { + "type": "wait", + "data": { + "waitTime": 16.75 + } + }, + { + "type": "named", + "data": { + "name": "Ultrashooter" + } + } + ] + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "Intake" + } + }, + { + "type": "named", + "data": { + "name": "Spin Off" + } + } + ] + } + } + ] + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "wait", + "data": { + "waitTime": 5.0 + } + }, + { + "type": "named", + "data": { + "name": "Deploy" + } + }, + { + "type": "wait", + "data": { + "waitTime": 1.0 + } + }, + { + "type": "named", + "data": { + "name": "Intake" + } + } + ] + } + }, + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "wait", + "data": { + "waitTime": 8.0 + } + }, + { + "type": "path", + "data": { + "pathName": "PADL Path 2" + } + } + ] + } + } + ] + } + } + ] + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/PADR.auto b/src/main/deploy/pathplanner/autos/PADR.auto new file mode 100644 index 0000000..0500833 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/PADR.auto @@ -0,0 +1,128 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "PADC Path 1" + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "deadline", + "data": { + "commands": [ + { + "type": "wait", + "data": { + "waitTime": 17.75 + } + }, + { + "type": "named", + "data": { + "name": "Ultrashooter" + } + } + ] + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "Intake" + } + }, + { + "type": "named", + "data": { + "name": "Spin Off" + } + } + ] + } + } + ] + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "wait", + "data": { + "waitTime": 5.0 + } + }, + { + "type": "named", + "data": { + "name": "Deploy" + } + }, + { + "type": "wait", + "data": { + "waitTime": 1.0 + } + }, + { + "type": "named", + "data": { + "name": "Intake" + } + } + ] + } + }, + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "wait", + "data": { + "waitTime": 8.0 + } + }, + { + "type": "path", + "data": { + "pathName": "PADC Path 2" + } + } + ] + } + } + ] + } + } + ] + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/POFR.auto b/src/main/deploy/pathplanner/autos/POFR.auto new file mode 100644 index 0000000..d1b9f89 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/POFR.auto @@ -0,0 +1,50 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "POFR Path" + } + }, + { + "type": "deadline", + "data": { + "commands": [ + { + "type": "wait", + "data": { + "waitTime": 10.0 + } + }, + { + "type": "named", + "data": { + "name": "Ultrashooter" + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "Spin Off" + } + }, + { + "type": "named", + "data": { + "name": "Deploy" + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/PADC Path 2.path b/src/main/deploy/pathplanner/paths/PADC Path 2.path index 5e624f0..0ef599a 100644 --- a/src/main/deploy/pathplanner/paths/PADC Path 2.path +++ b/src/main/deploy/pathplanner/paths/PADC Path 2.path @@ -32,12 +32,12 @@ }, { "anchor": { - "x": 0.5524, - "y": 5.9643999999999995 + "x": 0.552, + "y": 5.964 }, "prevControl": { - "x": 1.011474512820477, - "y": 5.850705612296633 + "x": 1.0110744888237733, + "y": 5.8503055154029315 }, "nextControl": null, "isLocked": false, diff --git a/src/main/deploy/pathplanner/paths/PADL Path 2.path b/src/main/deploy/pathplanner/paths/PADL Path 2.path new file mode 100644 index 0000000..5d4a931 --- /dev/null +++ b/src/main/deploy/pathplanner/paths/PADL Path 2.path @@ -0,0 +1,73 @@ +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 2.297, + "y": 5.458 + }, + "prevControl": null, + "nextControl": { + "x": 2.2187, + "y": 6.276222222222223 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 0.552, + "y": 5.9643999999999995 + }, + "prevControl": { + "x": 0.8914716231710363, + "y": 5.860699317474619 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [ + { + "waypointRelativePos": 0.0, + "rotationDegrees": 180.0 + } + ], + "constraintZones": [ + { + "name": "Constraints Zone", + "minWaypointRelativePos": 0.5429280397022286, + "maxWaypointRelativePos": 1.0, + "constraints": { + "maxVelocity": 0.2, + "maxAcceleration": 0.1, + "maxAngularVelocity": 360.0, + "maxAngularAcceleration": 720.0, + "nominalVoltage": 12.0, + "unlimited": false + } + } + ], + "pointTowardsZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 3.0, + "maxAcceleration": 3.0, + "maxAngularVelocity": 360.0, + "maxAngularAcceleration": 720.0, + "nominalVoltage": 12.0, + "unlimited": false + }, + "goalEndState": { + "velocity": 0, + "rotation": 180.0 + }, + "reversed": false, + "folder": null, + "idealStartingState": { + "velocity": 0, + "rotation": 140.0 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/POFR Path.path b/src/main/deploy/pathplanner/paths/POFR Path.path index 6a7cc29..ee4fd4b 100644 --- a/src/main/deploy/pathplanner/paths/POFR Path.path +++ b/src/main/deploy/pathplanner/paths/POFR Path.path @@ -8,20 +8,20 @@ }, "prevControl": null, "nextControl": { - "x": 2.455880964242888, - "y": 0.053867105905050616 + "x": 3.1883022606940363, + "y": 1.6320314631711343 }, "isLocked": false, "linkedName": null }, { "anchor": { - "x": 2.296655555555556, - "y": 5.457688888888888 + "x": 2.939788888888889, + "y": 2.8754111111111103 }, "prevControl": { - "x": 2.9026975888729534, - "y": 6.527259374028039 + "x": 2.9893336006707263, + "y": 0.8590386290868786 }, "nextControl": null, "isLocked": false, @@ -42,7 +42,7 @@ }, "goalEndState": { "velocity": 0, - "rotation": 140.4403320310055 + "rotation": -148.81502534126162 }, "reversed": false, "folder": null, diff --git a/src/main/deploy/pathplanner/paths/Spin.path b/src/main/deploy/pathplanner/paths/Spin.path deleted file mode 100644 index 2e01917..0000000 --- a/src/main/deploy/pathplanner/paths/Spin.path +++ /dev/null @@ -1,91 +0,0 @@ -{ - "version": "2025.0", - "waypoints": [ - { - "anchor": { - "x": 3.5164457831325304, - "y": 0.5599879518072293 - }, - "prevControl": null, - "nextControl": { - "x": 2.716570175215442, - "y": 2.6055674399847426 - }, - "isLocked": false, - "linkedName": null - }, - { - "anchor": { - "x": 3.5164457831325304, - "y": 3.958506024096385 - }, - "prevControl": { - "x": 3.3576574884732078, - "y": 2.7315170387830205 - }, - "nextControl": null, - "isLocked": false, - "linkedName": null - } - ], - "rotationTargets": [ - { - "waypointRelativePos": 0.24787401574803541, - "rotationDegrees": 90.0 - }, - { - "waypointRelativePos": 0.29574803149607193, - "rotationDegrees": -90.0 - }, - { - "waypointRelativePos": 0.3398425196850417, - "rotationDegrees": 90.0 - }, - { - "waypointRelativePos": 0.38267716535433216, - "rotationDegrees": -90.0 - }, - { - "waypointRelativePos": 0.4305511811023681, - "rotationDegrees": -90.0 - }, - { - "waypointRelativePos": 0.465826771653542, - "rotationDegrees": 90.0 - }, - { - "waypointRelativePos": 0.5099212598425222, - "rotationDegrees": -90.0 - }, - { - "waypointRelativePos": 0.5363779527559113, - "rotationDegrees": 90.0 - }, - { - "waypointRelativePos": 0.5565354330708714, - "rotationDegrees": -90.0 - } - ], - "constraintZones": [], - "pointTowardsZones": [], - "eventMarkers": [], - "globalConstraints": { - "maxVelocity": 3.0, - "maxAcceleration": 3.0, - "maxAngularVelocity": 360.0, - "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