From 97938bfea2aa8c2325ead36405f5edd06ff4f8e4 Mon Sep 17 00:00:00 2001 From: Bradley Bickford Date: Tue, 12 Mar 2024 18:43:43 -0400 Subject: [PATCH] 4 peice kinda works w/o beambreak --- .../deploy/pathplanner/autos/Left Sub 4s.auto | 148 ++++++++++++++++++ .../pathplanner/paths/Left Note 3 to Sub.path | 52 ++++++ .../pathplanner/paths/Left Sub to Note 3.path | 52 ++++++ .../paths/Note 2 to L Sub (4S).path | 58 +++++++ .../pathplanner/paths/Note 3 to Sub.path | 20 +-- .../pathplanner/paths/Right Sub Note 3.path | 16 +- .../deploy/pathplanner/paths/Right Sub.path | 10 +- .../pathplanner/paths/Right Wall to Sub.path | 10 +- 8 files changed, 338 insertions(+), 28 deletions(-) create mode 100644 src/main/deploy/pathplanner/autos/Left Sub 4s.auto create mode 100644 src/main/deploy/pathplanner/paths/Left Note 3 to Sub.path create mode 100644 src/main/deploy/pathplanner/paths/Left Sub to Note 3.path create mode 100644 src/main/deploy/pathplanner/paths/Note 2 to L Sub (4S).path diff --git a/src/main/deploy/pathplanner/autos/Left Sub 4s.auto b/src/main/deploy/pathplanner/autos/Left Sub 4s.auto new file mode 100644 index 0000000..4b2448f --- /dev/null +++ b/src/main/deploy/pathplanner/autos/Left Sub 4s.auto @@ -0,0 +1,148 @@ +{ + "version": 1.0, + "startingPose": { + "position": { + "x": 0.4936438362905214, + "y": 6.981410202136645 + }, + "rotation": 180.0 + }, + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "Left Subwoofer" + } + }, + { + "type": "named", + "data": { + "name": "Charge Shooter" + } + }, + { + "type": "named", + "data": { + "name": "Speaker Note Shot" + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "L Sub to Note 1" + } + }, + { + "type": "named", + "data": { + "name": "Auto Intake" + } + } + ] + } + }, + { + "type": "path", + "data": { + "pathName": "Note 1 to Speaker" + } + }, + { + "type": "named", + "data": { + "name": "Charge Shooter" + } + }, + { + "type": "named", + "data": { + "name": "Speaker Note Shot" + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "L Sub to Note 2" + } + }, + { + "type": "named", + "data": { + "name": "Auto Intake" + } + } + ] + } + }, + { + "type": "path", + "data": { + "pathName": "Note 2 to L Sub (4S)" + } + }, + { + "type": "named", + "data": { + "name": "Charge Shooter" + } + }, + { + "type": "named", + "data": { + "name": "Speaker Note Shot" + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "Left Sub to Note 3" + } + }, + { + "type": "named", + "data": { + "name": "Auto Intake" + } + } + ] + } + }, + { + "type": "path", + "data": { + "pathName": "Left Note 3 to Sub" + } + }, + { + "type": "named", + "data": { + "name": "Charge Shooter" + } + }, + { + "type": "named", + "data": { + "name": "Speaker Note Shot" + } + } + ] + } + }, + "folder": null, + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Left Note 3 to Sub.path b/src/main/deploy/pathplanner/paths/Left Note 3 to Sub.path new file mode 100644 index 0000000..c7b04d2 --- /dev/null +++ b/src/main/deploy/pathplanner/paths/Left Note 3 to Sub.path @@ -0,0 +1,52 @@ +{ + "version": 1.0, + "waypoints": [ + { + "anchor": { + "x": 2.2594611570989525, + "y": 4.560720232551577 + }, + "prevControl": null, + "nextControl": { + "x": 2.130825458232113, + "y": 4.946627329152095 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 1.3707054194735169, + "y": 5.5196408968316515 + }, + "prevControl": { + "x": 1.8267774427286747, + "y": 5.285757807982852 + }, + "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": null, + "previewStartingState": { + "rotation": 144.46232220802574, + "velocity": 0 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Left Sub to Note 3.path b/src/main/deploy/pathplanner/paths/Left Sub to Note 3.path new file mode 100644 index 0000000..0e8a4a2 --- /dev/null +++ b/src/main/deploy/pathplanner/paths/Left Sub to Note 3.path @@ -0,0 +1,52 @@ +{ + "version": 1.0, + "waypoints": [ + { + "anchor": { + "x": 1.5812001994374358, + "y": 6.221290163378048 + }, + "prevControl": null, + "nextControl": { + "x": 1.932024832710634, + "y": 5.70674736791069 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 2.388096855965791, + "y": 4.303448834817898 + }, + "prevControl": { + "x": 0.867856778448599, + "y": 4.502249460339377 + }, + "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": 157.9772276319205, + "rotateFast": false + }, + "reversed": false, + "folder": null, + "previewStartingState": { + "rotation": -160.6410058243053, + "velocity": 0 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Note 2 to L Sub (4S).path b/src/main/deploy/pathplanner/paths/Note 2 to L Sub (4S).path new file mode 100644 index 0000000..45c9731 --- /dev/null +++ b/src/main/deploy/pathplanner/paths/Note 2 to L Sub (4S).path @@ -0,0 +1,58 @@ +{ + "version": 1.0, + "waypoints": [ + { + "anchor": { + "x": 2.1776020760018726, + "y": 5.964018765644369 + }, + "prevControl": null, + "nextControl": { + "x": 1.8267774427286747, + "y": 5.928936302317049 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 1.3005404928188775, + "y": 5.5430292057165325 + }, + "prevControl": { + "x": 1.674753434976956, + "y": 5.683359059025812 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [ + { + "waypointRelativePos": 0.5, + "rotationDegrees": -164.3011806576524, + "rotateFast": false + } + ], + "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": null, + "previewStartingState": { + "rotation": 150.25511870305772, + "velocity": 0 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Note 3 to Sub.path b/src/main/deploy/pathplanner/paths/Note 3 to Sub.path index cb7d52d..2f66736 100644 --- a/src/main/deploy/pathplanner/paths/Note 3 to Sub.path +++ b/src/main/deploy/pathplanner/paths/Note 3 to Sub.path @@ -3,25 +3,25 @@ "waypoints": [ { "anchor": { - "x": 2.2360728482140724, - "y": 4.139730672623739 + "x": 2.142519612674553, + "y": 4.163118981508619 }, "prevControl": null, "nextControl": { - "x": 1.8501657516135543, - "y": 3.940930047102261 + "x": 1.756612516074035, + "y": 3.964318355987141 }, "isLocked": false, "linkedName": null }, { "anchor": { - "x": 0.9380217051032389, - "y": 4.4671669970120575 + "x": 1.171904793952038, + "y": 4.701050085860856 }, "prevControl": { - "x": 1.6162826627647555, - "y": 3.730435267138341 + "x": 1.8501657516135543, + "y": 3.9643183559871393 }, "nextControl": null, "isLocked": false, @@ -39,13 +39,13 @@ }, "goalEndState": { "velocity": 0, - "rotation": 132.43622978853497, + "rotation": 140.0131137550358, "rotateFast": false }, "reversed": false, "folder": null, "previewStartingState": { - "rotation": -1.5911402711946612, + "rotation": 178.40885972880548, "velocity": 0 }, "useDefaultConstraints": true diff --git a/src/main/deploy/pathplanner/paths/Right Sub Note 3.path b/src/main/deploy/pathplanner/paths/Right Sub Note 3.path index e3f0585..2931f9c 100644 --- a/src/main/deploy/pathplanner/paths/Right Sub Note 3.path +++ b/src/main/deploy/pathplanner/paths/Right Sub Note 3.path @@ -3,25 +3,25 @@ "waypoints": [ { "anchor": { - "x": 1.0666574039700785, - "y": 4.373613761472538 + "x": 1.3005404928188775, + "y": 4.397002070357417 }, "prevControl": null, "nextControl": { - "x": 1.5344235816676757, - "y": 4.338531298145218 + "x": 1.7683066705164747, + "y": 4.361919607030098 }, "isLocked": false, "linkedName": null }, { "anchor": { - "x": 2.282849465983832, - "y": 4.139730672623739 + "x": 2.3647085470809115, + "y": 4.081259900411539 }, "prevControl": { - "x": 1.7210430076110608, - "y": 4.139730672623739 + "x": 1.8029020887081402, + "y": 4.081259900411539 }, "nextControl": null, "isLocked": false, diff --git a/src/main/deploy/pathplanner/paths/Right Sub.path b/src/main/deploy/pathplanner/paths/Right Sub.path index f8149fa..7f261fb 100644 --- a/src/main/deploy/pathplanner/paths/Right Sub.path +++ b/src/main/deploy/pathplanner/paths/Right Sub.path @@ -16,12 +16,12 @@ }, { "anchor": { - "x": 1.0783515584179242, - "y": 4.53733192366386 + "x": 1.2186814117217974, + "y": 4.677661776975976 }, "prevControl": { - "x": 1.85016575161896, - "y": 4.034483282638943 + "x": 1.9904956049228333, + "y": 4.174813135951059 }, "nextControl": null, "isLocked": false, @@ -39,7 +39,7 @@ }, "goalEndState": { "velocity": 0, - "rotation": 143.6955028774248, + "rotation": 143.9726266148963, "rotateFast": false }, "reversed": false, diff --git a/src/main/deploy/pathplanner/paths/Right Wall to Sub.path b/src/main/deploy/pathplanner/paths/Right Wall to Sub.path index 86b5fd6..222f740 100644 --- a/src/main/deploy/pathplanner/paths/Right Wall to Sub.path +++ b/src/main/deploy/pathplanner/paths/Right Wall to Sub.path @@ -16,12 +16,12 @@ }, { "anchor": { - "x": 1.0198807862003185, - "y": 4.502249460339376 + "x": 1.2186814117217974, + "y": 4.736132549188175 }, "prevControl": { - "x": 1.0315749406427583, - "y": 4.116342363738859 + "x": 1.2303755661642373, + "y": 4.350225452587658 }, "nextControl": null, "isLocked": false, @@ -39,7 +39,7 @@ }, "goalEndState": { "velocity": 0, - "rotation": 141.34019174590983, + "rotation": 141.76617482255304, "rotateFast": false }, "reversed": false,