From 208cfa3ce4bc4c1010ed5b4726c12ffffda1832b Mon Sep 17 00:00:00 2001
From: Tylr-J42 <84476781+Tylr-J42@users.noreply.github.com>
Date: Tue, 3 Mar 2026 14:11:12 -0500
Subject: [PATCH] outpost paths

---
 .../deploy/pathplanner/autos/Outpost.auto     | 31 +++++++++
 .../paths/Outpost to Ranged Shot.path         | 54 +++++++++++++++
 .../pathplanner/paths/Start to outpost.path   | 66 +++++++++++++++++++
 src/main/deploy/pathplanner/settings.json     |  4 +-
 4 files changed, 154 insertions(+), 1 deletion(-)
 create mode 100644 src/main/deploy/pathplanner/autos/Outpost.auto
 create mode 100644 src/main/deploy/pathplanner/paths/Outpost to Ranged Shot.path
 create mode 100644 src/main/deploy/pathplanner/paths/Start to outpost.path

diff --git a/src/main/deploy/pathplanner/autos/Outpost.auto b/src/main/deploy/pathplanner/autos/Outpost.auto
new file mode 100644
index 0000000..b16af17
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/Outpost.auto
@@ -0,0 +1,31 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Start to outpost"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Outpost to Ranged Shot"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Auto Shoot"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/Outpost to Ranged Shot.path b/src/main/deploy/pathplanner/paths/Outpost to Ranged Shot.path
new file mode 100644
index 0000000..68eff51
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/Outpost to Ranged Shot.path	
@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 0.7089624329216013,
+        "y": 0.668228980317108
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 2.1043470483005366,
+        "y": 0.7169051878354196
+      },
+      "isLocked": false,
+      "linkedName": "Outpost"
+    },
+    {
+      "anchor": {
+        "x": 2.3639534883720925,
+        "y": 2.9722361359570666
+      },
+      "prevControl": {
+        "x": 2.234150268336314,
+        "y": 2.5666010733452596
+      },
+      "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": 24.304549265936604
+  },
+  "reversed": false,
+  "folder": "Right Outpost",
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 180.0
+  },
+  "useDefaultConstraints": true
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/Start to outpost.path b/src/main/deploy/pathplanner/paths/Start to outpost.path
new file mode 100644
index 0000000..ed9134f
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/Start to outpost.path	
@@ -0,0 +1,66 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 3.6619856887266913,
+        "y": 2.2583184257605784
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 2.4937567084046877,
+        "y": 1.3172450805011864
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 0.7089624329216013,
+        "y": 0.668228980317108
+      },
+      "prevControl": {
+        "x": 1.6987119856944102,
+        "y": 1.0414132379199703
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": "Outpost"
+    }
+  ],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 0.7234468937875753,
+      "rotationDegrees": 180.0
+    }
+  ],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [
+    {
+      "name": "Intake Start",
+      "waypointRelativePos": 0.4500000000000002,
+      "endWaypointRelativePos": null,
+      "command": null
+    }
+  ],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 180.0
+  },
+  "reversed": false,
+  "folder": "Right Outpost",
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 180.0
+  },
+  "useDefaultConstraints": true
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/settings.json b/src/main/deploy/pathplanner/settings.json
index c2c05b6..1d43a28 100644
--- a/src/main/deploy/pathplanner/settings.json
+++ b/src/main/deploy/pathplanner/settings.json
@@ -2,7 +2,9 @@
   "robotWidth": 0.921,
   "robotLength": 0.787,
   "holonomicMode": true,
-  "pathFolders": [],
+  "pathFolders": [
+    "Right Outpost"
+  ],
   "autoFolders": [],
   "defaultMaxVel": 3.0,
   "defaultMaxAccel": 3.0,