added the named commands

FRC830 · Mar 13, 2024 · 9d0b318 · 9d0b318
1 parent 25d1299
commit 9d0b318
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Showing 6 changed files with 144 additions and 4 deletions.
diff --git a/src/main/deploy/pathplanner/autos/BLUE_Bottom_4_Piece.auto b/src/main/deploy/pathplanner/autos/BLUE_Bottom_4_Piece.auto
@@ -11,6 +11,25 @@
  "type": "sequential",
  "data": {
  "commands": [
+ {
+ "type": "parallel",
+ "data": {
+ "commands": [
+ {
+ "type": "named",
+ "data": {
+ "name": "SubShoot"
+ }
+ },
+ {
+ "type": "named",
+ "data": {
+ "name": "IntakeDown"
+ }
+ }
+ ]
+ }
+ },
  {
  "type": "path",
  "data": {
@@ -23,6 +42,12 @@
  "pathName": "BLUE_Path5"
  }
  },
+ {
+ "type": "named",
+ "data": {
+ "name": "VisionShoot"
+ }
+ },
  {
  "type": "path",
  "data": {
@@ -34,6 +59,12 @@
  "data": {
  "pathName": "BLUE_Path3"
  }
+ },
+ {
+ "type": "named",
+ "data": {
+ "name": "VisionShoot"
+ }
  }
  ]
  }

diff --git a/src/main/deploy/pathplanner/autos/BLUE_Top_4_Piece.auto b/src/main/deploy/pathplanner/autos/BLUE_Top_4_Piece.auto
@@ -11,12 +11,37 @@
  "type": "sequential",
  "data": {
  "commands": [
+ {
+ "type": "parallel",
+ "data": {
+ "commands": [
+ {
+ "type": "named",
+ "data": {
+ "name": "SubShoot"
+ }
+ },
+ {
+ "type": "named",
+ "data": {
+ "name": "IntakeDown"
+ }
+ }
+ ]
+ }
+ },
  {
  "type": "path",
  "data": {
  "pathName": "BLUE_3_Piece_Path_1"
  }
  },
+ {
+ "type": "named",
+ "data": {
+ "name": "VisionShoot"
+ }
+ },
  {
  "type": "path",
  "data": {
@@ -29,6 +54,12 @@
  "pathName": "BLUE_3_Piece_Path_3"
  }
  },
+ {
+ "type": "named",
+ "data": {
+ "name": "VisionShoot"
+ }
+ },
  {
  "type": "path",
  "data": {
@@ -40,6 +71,12 @@
  "data": {
  "pathName": "BLUE_3_Piece_Path_5"
  }
+ },
+ {
+ "type": "named",
+ "data": {
+ "name": "VisionShoot"
+ }
  }
  ]
  }

diff --git a/src/main/deploy/pathplanner/paths/BLUE_3_Piece_Path_2.path b/src/main/deploy/pathplanner/paths/BLUE_3_Piece_Path_2.path
@@ -30,7 +30,25 @@
  ],
  "rotationTargets": [],
  "constraintZones": [],
- "eventMarkers": [],
+ "eventMarkers": [
+ {
+ "name": "New Event Marker",
+ "waypointRelativePos": 0.45,
+ "command": {
+ "type": "parallel",
+ "data": {
+ "commands": [
+ {
+ "type": "named",
+ "data": {
+ "name": "SmartIntakeCommand"
+ }
+ }
+ ]
+ }
+ }
+ }
+ ],
  "globalConstraints": {
  "maxVelocity": 3.0,
  "maxAcceleration": 3.0,

diff --git a/src/main/deploy/pathplanner/paths/BLUE_3_Piece_Path_4.path b/src/main/deploy/pathplanner/paths/BLUE_3_Piece_Path_4.path
@@ -46,7 +46,25 @@
  ],
  "rotationTargets": [],
  "constraintZones": [],
- "eventMarkers": [],
+ "eventMarkers": [
+ {
+ "name": "New Event Marker",
+ "waypointRelativePos": 0.35,
+ "command": {
+ "type": "parallel",
+ "data": {
+ "commands": [
+ {
+ "type": "named",
+ "data": {
+ "name": "VisionShoot"
+ }
+ }
+ ]
+ }
+ }
+ }
+ ],
  "globalConstraints": {
  "maxVelocity": 3.0,
  "maxAcceleration": 3.0,

diff --git a/src/main/deploy/pathplanner/paths/BLUE_Path1.path b/src/main/deploy/pathplanner/paths/BLUE_Path1.path
@@ -46,7 +46,25 @@
  ],
  "rotationTargets": [],
  "constraintZones": [],
- "eventMarkers": [],
+ "eventMarkers": [
+ {
+ "name": "New Event Marker",
+ "waypointRelativePos": 0.95,
+ "command": {
+ "type": "sequential",
+ "data": {
+ "commands": [
+ {
+ "type": "named",
+ "data": {
+ "name": "SmartIntakeCommand"
+ }
+ }
+ ]
+ }
+ }
+ }
+ ],
  "globalConstraints": {
  "maxVelocity": 3.0,
  "maxAcceleration": 3.0,

diff --git a/src/main/deploy/pathplanner/paths/BLUE_Path2.path b/src/main/deploy/pathplanner/paths/BLUE_Path2.path
@@ -30,7 +30,25 @@
  ],
  "rotationTargets": [],
  "constraintZones": [],
- "eventMarkers": [],
+ "eventMarkers": [
+ {
+ "name": "New Event Marker",
+ "waypointRelativePos": 0.25,
+ "command": {
+ "type": "parallel",
+ "data": {
+ "commands": [
+ {
+ "type": "named",
+ "data": {
+ "name": "SmartIntakeCommand"
+ }
+ }
+ ]
+ }
+ }
+ }
+ ],
  "globalConstraints": {
  "maxVelocity": 3.0,
  "maxAcceleration": 3.0,