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outpost auto improved

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This commit is contained in:
Tylr-J42
2026-04-04 17:35:34 -04:00
parent 07656eedc1
commit 013050ee19
8 changed files with 169 additions and 97 deletions
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58
src/main/deploy/pathplanner/autos/Left Shoot Outpost.auto
View File

@@ -11,39 +11,41 @@
}
},
{
"type": "named",
"type": "parallel",
"data": {
"name": "spinup"
"commands": [
{
"type": "path",
"data": {
"pathName": "Start to Outpost"
}
}
]
}
},
{
"type": "path",
"type": "wait",
"data": {
"pathName": "start to score left"
"waitTime": 2.0
}
},
{
"type": "named",
"type": "parallel",
"data": {
"name": "shoot close"
}
},
{
"type": "path",
"data": {
"pathName": "Left to Outpost"
}
},
{
"type": "named",
"data": {
"name": "stop spindexer"
}
},
{
"type": "path",
"data": {
"pathName": "trough to shot"
"commands": [
{
"type": "path",
"data": {
"pathName": "trough to shot"
}
},
{
"type": "named",
"data": {
"name": "spinup"
}
}
]
}
},
{
@@ -55,7 +57,13 @@
{
"type": "named",
"data": {
"name": "shoot N jimmy"
"name": "aim"
}
},
{
"type": "named",
"data": {
"name": "auto shoot"
}
}
]

16
src/main/deploy/pathplanner/paths/Left to Outpost.path
View File

@@ -3,25 +3,25 @@
"waypoints": [
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38
src/main/deploy/pathplanner/paths/Start to outpost.path
View File

@@ -3,35 +3,35 @@
"waypoints": [
{
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"x": 2.956913705583757,
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"linkedName": "start left"
},
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"isLocked": false,
"linkedName": "Outpost"
"linkedName": "trough"
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],
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"rotationDegrees": 180.0
"waypointRelativePos": 0.6910862504511138,
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}
],
"constraintZones": [],
@@ -39,14 +39,14 @@
"eventMarkers": [
{
"name": "Intake Start",
"waypointRelativePos": 0.4500000000000002,
"waypointRelativePos": 0,
"endWaypointRelativePos": null,
"command": null
}
],
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"maxAcceleration": 2.5,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0,
"nominalVoltage": 12.0,
@@ -54,13 +54,13 @@
},
"goalEndState": {
"velocity": 0,
"rotation": 180.0
"rotation": 178.80651057601818
},
"reversed": false,
"folder": "Right Outpost",
"folder": null,
"idealStartingState": {
"velocity": 0,
"rotation": 180.0
"rotation": -90.0
},
"useDefaultConstraints": true
"useDefaultConstraints": false
}

75
src/main/deploy/pathplanner/paths/left start to center diagonal.path Normal file
View File

@@ -0,0 +1,75 @@
{
"version": "2025.0",
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},
"isLocked": false,
"linkedName": "start left"
},
{
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"y": 5.715482233502538
},
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{
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"isLocked": false,
"linkedName": "over bump"
}
],
"rotationTargets": [
{
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"rotationDegrees": -135.0
}
],
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"pointTowardsZones": [],
"eventMarkers": [],
"globalConstraints": {
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"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0,
"nominalVoltage": 12.0,
"unlimited": false
},
"goalEndState": {
"velocity": 2.0,
"rotation": -129.95754893082906
},
"reversed": false,
"folder": null,
"idealStartingState": {
"velocity": 0,
"rotation": -90.0
},
"useDefaultConstraints": false
}

34
src/main/deploy/pathplanner/paths/left start to center.path
View File

@@ -3,45 +3,29 @@
"waypoints": [
{
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"x": 3.573857868020305,
"x": 3.5922741116751276,
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},
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"y": 6.461340101522843
"x": 3.085827411167513,
"y": 6.277177664974619
},
"isLocked": false,
"linkedName": "start left"
},
{
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},
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"y": 6.28638578680203
},
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},
"isLocked": false,
"linkedName": null
},
{
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"y": 5.715482233502538
},
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},
"isLocked": false,
"linkedName": null
@@ -62,7 +46,7 @@
],
"rotationTargets": [
{
"waypointRelativePos": 1.62272727272727,
"waypointRelativePos": 0.8,
"rotationDegrees": -135.0
}
],
@@ -71,7 +55,7 @@
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 4.0,
"maxAcceleration": 2.5,
"maxAcceleration": 3.0,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0,
"nominalVoltage": 12.0,

12
src/main/deploy/pathplanner/paths/start to score left.path
View File

@@ -3,12 +3,12 @@
"waypoints": [
{
"anchor": {
"x": 3.573857868020305,
"x": 3.5922741116751276,
"y": 6.3692588832487305
},
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},
"isLocked": false,
@@ -16,12 +16,12 @@
},
{
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},
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"isLocked": false,

29
src/main/deploy/pathplanner/paths/trough to shot.path
View File

@@ -3,38 +3,43 @@
"waypoints": [
{
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},
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"linkedName": "trough"
},
{
"anchor": {
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},
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"linkedName": "left close"
}
],
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{
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"maxAngularAcceleration": 720.0,
"nominalVoltage": 12.0,
@@ -50,5 +55,5 @@
"velocity": 0,
"rotation": 178.80651057601818
},
"useDefaultConstraints": true
"useDefaultConstraints": false
}