From 7af31e615b2373577dd9a20cf8cbdaa1df65a520 Mon Sep 17 00:00:00 2001 From: freaker2112 Date: Sat, 13 Apr 2024 12:13:19 -0500 Subject: [PATCH] auto cahnge --- .../pathplanner/autos/Amp Standard.auto | 4 +- .../deploy/pathplanner/autos/Big Amp.auto | 99 ++++++++++++++ .../deploy/pathplanner/paths/Amp Big 2.path | 121 ++++++++++++++++++ .../pathplanner/paths/Amp Big Grab.path | 52 ++++++++ .../pathplanner/paths/Amp Center A Grab.path | 8 +- .../pathplanner/paths/Amp Center A Score.path | 8 +- .../pathplanner/paths/Amp Center B Score.path | 10 +- .../main/deploy/pathplanner/paths/Big.path | 70 ++++++++++ 8 files changed, 357 insertions(+), 15 deletions(-) create mode 100644 Robot/src/main/deploy/pathplanner/autos/Big Amp.auto create mode 100644 Robot/src/main/deploy/pathplanner/paths/Amp Big 2.path create mode 100644 Robot/src/main/deploy/pathplanner/paths/Amp Big Grab.path create mode 100644 Robot/src/main/deploy/pathplanner/paths/Big.path diff --git a/Robot/src/main/deploy/pathplanner/autos/Amp Standard.auto b/Robot/src/main/deploy/pathplanner/autos/Amp Standard.auto index 60c4762..0fea052 100644 --- a/Robot/src/main/deploy/pathplanner/autos/Amp Standard.auto +++ b/Robot/src/main/deploy/pathplanner/autos/Amp Standard.auto @@ -2,8 +2,8 @@ "version": 1.0, "startingPose": { "position": { - "x": 1.4076040330792177, - "y": 6.501863470968227 + "x": 1.3576779647621067, + "y": 5.537862667174266 }, "rotation": 180.0 }, diff --git a/Robot/src/main/deploy/pathplanner/autos/Big Amp.auto b/Robot/src/main/deploy/pathplanner/autos/Big Amp.auto new file mode 100644 index 0000000..3536d00 --- /dev/null +++ b/Robot/src/main/deploy/pathplanner/autos/Big Amp.auto @@ -0,0 +1,99 @@ +{ + "version": 1.0, + "startingPose": { + "position": { + "x": 1.3576779647621067, + "y": 5.537862667174266 + }, + "rotation": 180.0 + }, + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "Shoot Quick" + } + }, + { + "type": "race", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "Start Center" + } + }, + { + "type": "named", + "data": { + "name": "Intake Until Note" + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "Wait and Shoot" + } + }, + { + "type": "path", + "data": { + "pathName": "Big" + } + }, + { + "type": "path", + "data": { + "pathName": "Amp Center B Score" + } + }, + { + "type": "named", + "data": { + "name": "Shoot" + } + }, + { + "type": "race", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "Amp Big Grab" + } + }, + { + "type": "named", + "data": { + "name": "Intake Until Note" + } + } + ] + } + }, + { + "type": "path", + "data": { + "pathName": "Amp Big 2" + } + }, + { + "type": "named", + "data": { + "name": "Wait and Shoot" + } + } + ] + } + }, + "folder": "Amp", + "choreoAuto": false +} \ No newline at end of file diff --git a/Robot/src/main/deploy/pathplanner/paths/Amp Big 2.path b/Robot/src/main/deploy/pathplanner/paths/Amp Big 2.path new file mode 100644 index 0000000..48396c7 --- /dev/null +++ b/Robot/src/main/deploy/pathplanner/paths/Amp Big 2.path @@ -0,0 +1,121 @@ +{ + "version": 1.0, + "waypoints": [ + { + "anchor": { + "x": 7.826477083509722, + "y": 7.278268139869613 + }, + "prevControl": null, + "nextControl": { + "x": 6.48278676186982, + "y": 6.812338309861805 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 2.019694446796301, + "y": 5.627263661934732 + }, + "prevControl": { + "x": 2.226070343520841, + "y": 5.094105163224486 + }, + "nextControl": { + "x": 1.7737837373822898, + "y": 6.26255773807844 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 2.422201761070189, + "y": 6.691194178684653 + }, + "prevControl": { + "x": 2.217385041251564, + "y": 6.334115913602198 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [ + { + "waypointRelativePos": 1, + "rotationDegrees": -177.42927740270125, + "rotateFast": false + } + ], + "constraintZones": [ + { + "name": "New Constraints Zone", + "minWaypointRelativePos": 0.8, + "maxWaypointRelativePos": 1.65, + "constraints": { + "maxVelocity": 2.0, + "maxAcceleration": 1.0, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 640.0 + } + } + ], + "eventMarkers": [ + { + "name": "New Event Marker", + "waypointRelativePos": 0.9, + "command": { + "type": "parallel", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "Shoot" + } + } + ] + } + } + }, + { + "name": "New Event Marker", + "waypointRelativePos": 1.25, + "command": { + "type": "parallel", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "Intake Until Note" + } + } + ] + } + } + } + ], + "globalConstraints": { + "maxVelocity": 5.7, + "maxAcceleration": 3.8, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 640.0 + }, + "goalEndState": { + "velocity": 0, + "rotation": -151.81911839173182, + "rotateFast": false + }, + "reversed": false, + "folder": "Amp", + "previewStartingState": { + "rotation": -156.88196151115196, + "velocity": 0 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/Robot/src/main/deploy/pathplanner/paths/Amp Big Grab.path b/Robot/src/main/deploy/pathplanner/paths/Amp Big Grab.path new file mode 100644 index 0000000..7a05cff --- /dev/null +++ b/Robot/src/main/deploy/pathplanner/paths/Amp Big Grab.path @@ -0,0 +1,52 @@ +{ + "version": 1.0, + "waypoints": [ + { + "anchor": { + "x": 4.889100989964744, + "y": 6.365827630508831 + }, + "prevControl": null, + "nextControl": { + "x": 5.969586966951711, + "y": 6.685730815906077 + }, + "isLocked": false, + "linkedName": "End of Center A Score" + }, + { + "anchor": { + "x": 7.847677306465724, + "y": 7.277852449223417 + }, + "prevControl": { + "x": 6.681486890751559, + "y": 6.895773360991167 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [], + "constraintZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 5.7, + "maxAcceleration": 3.8, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 640.0 + }, + "goalEndState": { + "velocity": 0, + "rotation": -164.3642248391341, + "rotateFast": false + }, + "reversed": false, + "folder": "Amp", + "previewStartingState": { + "rotation": -172.00447350996492, + "velocity": 0 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/Robot/src/main/deploy/pathplanner/paths/Amp Center A Grab.path b/Robot/src/main/deploy/pathplanner/paths/Amp Center A Grab.path index 4943d21..9be1067 100644 --- a/Robot/src/main/deploy/pathplanner/paths/Amp Center A Grab.path +++ b/Robot/src/main/deploy/pathplanner/paths/Amp Center A Grab.path @@ -16,12 +16,12 @@ }, { "anchor": { - "x": 7.9875135522242555, - "y": 7.292819146208364 + "x": 7.720000893705491, + "y": 7.225534812180736 }, "prevControl": { - "x": 7.041787005189215, - "y": 7.20507132225666 + "x": 6.77427434667045, + "y": 7.137786988229031 }, "nextControl": null, "isLocked": false, diff --git a/Robot/src/main/deploy/pathplanner/paths/Amp Center A Score.path b/Robot/src/main/deploy/pathplanner/paths/Amp Center A Score.path index 23fe879..e562ab5 100644 --- a/Robot/src/main/deploy/pathplanner/paths/Amp Center A Score.path +++ b/Robot/src/main/deploy/pathplanner/paths/Amp Center A Score.path @@ -3,13 +3,13 @@ "waypoints": [ { "anchor": { - "x": 7.9875135522242555, - "y": 7.292819146208364 + "x": 7.720000893705491, + "y": 7.225534812180736 }, "prevControl": null, "nextControl": { - "x": 6.983288455888077, - "y": 7.029575674353249 + "x": 6.715775797369312, + "y": 6.962291340325621 }, "isLocked": false, "linkedName": "End of Amp Center A Grab" diff --git a/Robot/src/main/deploy/pathplanner/paths/Amp Center B Score.path b/Robot/src/main/deploy/pathplanner/paths/Amp Center B Score.path index d4f19fa..6b84306 100644 --- a/Robot/src/main/deploy/pathplanner/paths/Amp Center B Score.path +++ b/Robot/src/main/deploy/pathplanner/paths/Amp Center B Score.path @@ -3,13 +3,13 @@ "waypoints": [ { "anchor": { - "x": 7.627078046178885, - "y": 5.952324611201929 + "x": 7.65990390314114, + "y": 6.022347928955117 }, "prevControl": null, "nextControl": { - "x": 6.847097388830397, - "y": 6.478811554912159 + "x": 6.879923245792652, + "y": 6.548834872665347 }, "isLocked": false, "linkedName": null @@ -45,7 +45,7 @@ "reversed": false, "folder": "Amp", "previewStartingState": { - "rotation": 177.51044707800088, + "rotation": 165.214315161699, "velocity": 0 }, "useDefaultConstraints": true diff --git a/Robot/src/main/deploy/pathplanner/paths/Big.path b/Robot/src/main/deploy/pathplanner/paths/Big.path new file mode 100644 index 0000000..e5b2945 --- /dev/null +++ b/Robot/src/main/deploy/pathplanner/paths/Big.path @@ -0,0 +1,70 @@ +{ + "version": 1.0, + "waypoints": [ + { + "anchor": { + "x": 3.0486475648877223, + "y": 5.570789118430089 + }, + "prevControl": null, + "nextControl": { + "x": 5.324910159079577, + "y": 6.510725053857516 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 7.828258614850562, + "y": 5.984341927017187 + }, + "prevControl": { + "x": 6.727212861833131, + "y": 6.774391692301902 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [], + "constraintZones": [], + "eventMarkers": [ + { + "name": "New Event Marker", + "waypointRelativePos": 0.5, + "command": { + "type": "parallel", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "Intake Until Note" + } + } + ] + } + } + } + ], + "globalConstraints": { + "maxVelocity": 5.7, + "maxAcceleration": 3.8, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 640.0 + }, + "goalEndState": { + "velocity": 0, + "rotation": 150.30748611161152, + "rotateFast": false + }, + "reversed": false, + "folder": null, + "previewStartingState": { + "rotation": 180.0, + "velocity": 0 + }, + "useDefaultConstraints": true +} \ No newline at end of file