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Castor2026
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POFR & PADL

This commit is contained in:
TheRealGreydon 2026-10-16 23:46:51 -04:00
parent aee289b92f
commit 4ca15164bd
7 changed files with 390 additions and 102 deletions
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128
src/main/deploy/pathplanner/autos/PADL.auto Normal file
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@ -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
}

128
src/main/deploy/pathplanner/autos/PADR.auto Normal file
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@ -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
}

50
src/main/deploy/pathplanner/autos/POFR.auto Normal file
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@ -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
}

8
src/main/deploy/pathplanner/paths/PADC Path 2.path
View File

@ -32,12 +32,12 @@
}, },
{ {
"anchor": { "anchor": {
"x": 0.5524, "x": 0.552,
"y": 5.9643999999999995 "y": 5.964
}, },
"prevControl": { "prevControl": {
"x": 1.011474512820477, "x": 1.0110744888237733,
"y": 5.850705612296633 "y": 5.8503055154029315
}, },
"nextControl": null, "nextControl": null,
"isLocked": false, "isLocked": false,

73
src/main/deploy/pathplanner/paths/PADL Path 2.path Normal file
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@ -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
}

14
src/main/deploy/pathplanner/paths/POFR Path.path
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@ -8,20 +8,20 @@
}, },
"prevControl": null, "prevControl": null,
"nextControl": { "nextControl": {
"x": 2.455880964242888, "x": 3.1883022606940363,
"y": 0.053867105905050616 "y": 1.6320314631711343
}, },
"isLocked": false, "isLocked": false,
"linkedName": null "linkedName": null
}, },
{ {
"anchor": { "anchor": {
"x": 2.296655555555556, "x": 2.939788888888889,
"y": 5.457688888888888 "y": 2.8754111111111103
}, },
"prevControl": { "prevControl": {
"x": 2.9026975888729534, "x": 2.9893336006707263,
"y": 6.527259374028039 "y": 0.8590386290868786
}, },
"nextControl": null, "nextControl": null,
"isLocked": false, "isLocked": false,
@ -42,7 +42,7 @@
}, },
"goalEndState": { "goalEndState": {
"velocity": 0, "velocity": 0,
"rotation": 140.4403320310055 "rotation": -148.81502534126162
}, },
"reversed": false, "reversed": false,
"folder": null, "folder": null,

91
src/main/deploy/pathplanner/paths/Spin.path
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@ -1,91 +0,0 @@
{
"version": "2025.0",
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"y": 0.5599879518072293
},
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{
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"y": 3.958506024096385
},
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},
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}
],
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},
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},
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},
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}
],
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},
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},
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"folder": null,
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},
"useDefaultConstraints": true
}