From 647ad41a9f3451bf0e62062aee2d663872e638bc Mon Sep 17 00:00:00 2001 From: Team578 Driver Station Date: Thu, 9 Apr 2026 20:48:05 -0400 Subject: [PATCH] Updates to auto and paths --- .../pathplanner/autos/Hub to Depot.auto | 19 +++++++ .../deploy/pathplanner/autos/New Auto.auto | 19 +++++++ .../pathplanner/paths/Hub to Depot.path | 54 +++++++++++++++++++ .../deploy/pathplanner/paths/M. Depot. .path | 2 +- .../deploy/pathplanner/paths/New Path.path | 54 +++++++++++++++++++ .../pathplanner/paths/Relay. L-Tr..path | 8 +-- .../pathplanner/paths/Relay. R-Tr..path | 8 +-- .../pathplanner/paths/S. L-Tre. Preload..path | 21 +++----- .../pathplanner/paths/S. R-Trench. E-Hub.path | 2 +- 9 files changed, 164 insertions(+), 23 deletions(-) create mode 100644 src/main/deploy/pathplanner/autos/Hub to Depot.auto create mode 100644 src/main/deploy/pathplanner/autos/New Auto.auto create mode 100644 src/main/deploy/pathplanner/paths/Hub to Depot.path create mode 100644 src/main/deploy/pathplanner/paths/New Path.path diff --git a/src/main/deploy/pathplanner/autos/Hub to Depot.auto b/src/main/deploy/pathplanner/autos/Hub to Depot.auto new file mode 100644 index 0000000..baf27d1 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/Hub to Depot.auto @@ -0,0 +1,19 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "Hub to Depot" + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/New Auto.auto b/src/main/deploy/pathplanner/autos/New Auto.auto new file mode 100644 index 0000000..268147b --- /dev/null +++ b/src/main/deploy/pathplanner/autos/New Auto.auto @@ -0,0 +1,19 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "New Path" + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": false +} \ 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 new file mode 100644 index 0000000..fe2c379 --- /dev/null +++ b/src/main/deploy/pathplanner/paths/Hub to Depot.path @@ -0,0 +1,54 @@ +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 13.0, + "y": 4.0 + }, + "prevControl": null, + "nextControl": { + "x": 14.0, + "y": 4.0 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 15.5, + "y": 2.0 + }, + "prevControl": { + "x": 13.5, + "y": 2.0000000000000004 + }, + "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": 180.0 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/M. Depot. .path b/src/main/deploy/pathplanner/paths/M. Depot. .path index 990a3af..2e111ae 100644 --- a/src/main/deploy/pathplanner/paths/M. Depot. .path +++ b/src/main/deploy/pathplanner/paths/M. Depot. .path @@ -36,7 +36,7 @@ "y": 7.138469879518072 }, "prevControl": { - "x": 0.4124120733073493, + "x": 0.41241207330734936, "y": 6.876706525398199 }, "nextControl": { diff --git a/src/main/deploy/pathplanner/paths/New Path.path b/src/main/deploy/pathplanner/paths/New Path.path new file mode 100644 index 0000000..bfa742c --- /dev/null +++ b/src/main/deploy/pathplanner/paths/New Path.path @@ -0,0 +1,54 @@ +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 1.2106987951807227, + "y": 3.892939759036145 + }, + "prevControl": null, + "nextControl": { + "x": 2.210698795180722, + "y": 3.892939759036145 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 2.904493975903614, + "y": 3.892939759036145 + }, + "prevControl": { + "x": 1.904493975903614, + "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 diff --git a/src/main/deploy/pathplanner/paths/Relay. L-Tr..path b/src/main/deploy/pathplanner/paths/Relay. L-Tr..path index ab9b6e2..4c91300 100644 --- a/src/main/deploy/pathplanner/paths/Relay. L-Tr..path +++ b/src/main/deploy/pathplanner/paths/Relay. L-Tr..path @@ -3,13 +3,13 @@ "waypoints": [ { "anchor": { - "x": 3.5055180722891564, - "y": 7.466301204819277 + "x": 3.5383012048192777, + "y": 7.4553734939759035 }, "prevControl": null, "nextControl": { - "x": 4.505518072289158, - "y": 7.466301204819277 + "x": 4.538301204819281, + "y": 7.4553734939759035 }, "isLocked": false, "linkedName": null diff --git a/src/main/deploy/pathplanner/paths/Relay. R-Tr..path b/src/main/deploy/pathplanner/paths/Relay. R-Tr..path index 1edcd79..abea361 100644 --- a/src/main/deploy/pathplanner/paths/Relay. R-Tr..path +++ b/src/main/deploy/pathplanner/paths/Relay. R-Tr..path @@ -37,7 +37,7 @@ }, "prevControl": { "x": 7.691609840125085, - "y": 7.387443181134998 + "y": 7.387443181134999 }, "nextControl": { "x": 7.64634196710383, @@ -56,7 +56,7 @@ "y": 7.138469879518072 }, "nextControl": { - "x": 6.511975903614461, + "x": 6.511975903614458, "y": 7.138469879518072 }, "isLocked": false, @@ -85,11 +85,11 @@ }, "prevControl": { "x": 6.020824888067715, - "y": 0.8531028227756468 + "y": 0.8531028227756466 }, "nextControl": { "x": 5.667271497474452, - "y": 1.2066562133689314 + "y": 1.2066562133689316 }, "isLocked": false, "linkedName": null diff --git a/src/main/deploy/pathplanner/paths/S. L-Tre. Preload..path b/src/main/deploy/pathplanner/paths/S. L-Tre. Preload..path index b680535..3728c7a 100644 --- a/src/main/deploy/pathplanner/paths/S. L-Tre. Preload..path +++ b/src/main/deploy/pathplanner/paths/S. L-Tre. Preload..path @@ -16,27 +16,27 @@ }, { "anchor": { - "x": 2.3581084337349396, + "x": 2.1723373493975906, "y": 4.00221686746988 }, "prevControl": { - "x": 1.3581084337349396, - "y": 4.00221686746988 + "x": 1.8772891566265066, + "y": 4.024072289156626 }, "nextControl": { - "x": 3.3581084337349396, - "y": 4.00221686746988 + "x": 2.421654288011767, + "y": 3.9837489460910525 }, "isLocked": false, "linkedName": null }, { "anchor": { - "x": 3.48366265060241, + "x": 2.1723373493975906, "y": 4.00221686746988 }, "prevControl": { - "x": 3.133975903614458, + "x": 1.8226506024096385, "y": 3.9912891566265065 }, "nextControl": null, @@ -44,12 +44,7 @@ "linkedName": null } ], - "rotationTargets": [ - { - "waypointRelativePos": 0.936692913385826, - "rotationDegrees": 180.0 - } - ], + "rotationTargets": [], "constraintZones": [], "pointTowardsZones": [], "eventMarkers": [ diff --git a/src/main/deploy/pathplanner/paths/S. R-Trench. E-Hub.path b/src/main/deploy/pathplanner/paths/S. R-Trench. E-Hub.path index 8fdebe3..8b6f670 100644 --- a/src/main/deploy/pathplanner/paths/S. R-Trench. E-Hub.path +++ b/src/main/deploy/pathplanner/paths/S. R-Trench. E-Hub.path @@ -24,7 +24,7 @@ "y": 3.77441480327739 }, "nextControl": { - "x": 2.348744281004639, + "x": 2.3487442810046395, "y": 4.0114647147949 }, "isLocked": false,