auto paths

PathPlanning/build.gradle

@@ -5,7 +5,7 @@ plugins {
 
 java {
     toolchain {
-        languageVersion = JavaLanguageVersion.of(21)
+        languageVersion = JavaLanguageVersion.of(17)
     }
 }
 

PathPlanning/src/main/kotlin/com/example/pathplanning/blue/basket/BlueHighBasket1.kt

@@ -0,0 +1,41 @@
+package com.example.pathplanning.blue.basket
+
+import com.acmerobotics.roadrunner.geometry.Pose2d
+import com.noahbres.meepmeep.MeepMeep
+import com.noahbres.meepmeep.core.toRadians
+import com.noahbres.meepmeep.roadrunner.DefaultBotBuilder
+import java.awt.Image
+import java.io.File
+import java.io.IOException
+import javax.imageio.ImageIO
+
+object BlueHighBasket1 {
+    @JvmStatic
+    fun main(args: Array<String>) {
+        val meepMeep = MeepMeep(800)
+
+        val myBot = DefaultBotBuilder(meepMeep) // Set bot constraints: maxVel, maxAccel, maxAngVel, maxAngAccel, track width
+            .setConstraints(30.0, 30.0, Math.toRadians(180.0), Math.toRadians(170.0), 14.0)
+            .followTrajectorySequence { drive ->
+                drive.trajectorySequenceBuilder(Pose2d(-12.0, 62.0, (270.0).toRadians()))
+                    .turn((90.0).toRadians())
+                    .forward(60.0)
+                    .waitSeconds(2.0)
+                    .build()
+            }
+        var img: Image? = null
+        try {
+            img = ImageIO.read(File("/Users/ishaanghaskadbi/Downloads/field.png"))
+        } catch (_ : IOException)  {
+
+        }
+
+        if (img != null) {
+            meepMeep.setBackground(img)
+                .setDarkMode(true)
+                .setBackgroundAlpha(0.95f)
+                .addEntity(myBot)
+                .start()
+        }
+    }
+}

PathPlanning/src/main/kotlin/com/example/pathplanning/blue/basket/BlueHighBasket2.kt

@@ -0,0 +1,41 @@
+package com.example.pathplanning.blue.basket
+
+import com.acmerobotics.roadrunner.geometry.Pose2d
+import com.noahbres.meepmeep.MeepMeep
+import com.noahbres.meepmeep.core.toRadians
+import com.noahbres.meepmeep.roadrunner.DefaultBotBuilder
+import java.awt.Image
+import java.io.File
+import java.io.IOException
+import javax.imageio.ImageIO
+
+object BlueHighBasket2 {
+    @JvmStatic
+    fun main(args: Array<String>) {
+        val meepMeep = MeepMeep(800)
+
+        val myBot = DefaultBotBuilder(meepMeep) // Set bot constraints: maxVel, maxAccel, maxAngVel, maxAngAccel, track width
+            .setConstraints(30.0, 30.0, Math.toRadians(180.0), Math.toRadians(170.0), 14.0)
+            .followTrajectorySequence { drive ->
+                drive.trajectorySequenceBuilder(Pose2d(12.0, 62.0, (270.0).toRadians()))
+                    .turn((90.0).toRadians())
+                    .forward(35.0)
+                    .waitSeconds(2.0)
+                    .build()
+            }
+        var img: Image? = null
+        try {
+            img = ImageIO.read(File("/Users/ishaanghaskadbi/Downloads/field.png"))
+        } catch (_ : IOException)  {
+
+        }
+
+        if (img != null) {
+            meepMeep.setBackground(img)
+                .setDarkMode(true)
+                .setBackgroundAlpha(0.95f)
+                .addEntity(myBot)
+                .start()
+        }
+    }
+}

PathPlanning/src/main/kotlin/com/example/pathplanning/blue/chamber/BlueHighChamber1.kt

@@ -0,0 +1,41 @@
+package com.example.pathplanning.blue.chamber
+
+import com.acmerobotics.roadrunner.geometry.Pose2d
+import com.noahbres.meepmeep.MeepMeep
+import com.noahbres.meepmeep.core.toRadians
+import com.noahbres.meepmeep.roadrunner.DefaultBotBuilder
+import java.awt.Image
+import java.io.File
+import java.io.IOException
+import javax.imageio.ImageIO
+
+object BlueHighChamber1 {
+    @JvmStatic
+    fun main(args: Array<String>) {
+        val meepMeep = MeepMeep(800)
+
+        val myBot = DefaultBotBuilder(meepMeep) // Set bot constraints: maxVel, maxAccel, maxAngVel, maxAngAccel, track width
+            .setConstraints(30.0, 30.0, Math.toRadians(180.0), Math.toRadians(170.0), 14.0)
+            .followTrajectorySequence { drive ->
+                drive.trajectorySequenceBuilder(Pose2d(-12.0, 62.0, (270.0).toRadians()))
+                    .forward(28.0)
+                    .strafeLeft(11.0)
+                    .waitSeconds(2.0)
+                    .build()
+            }
+        var img: Image? = null
+        try {
+            img = ImageIO.read(File("/Users/ishaanghaskadbi/Downloads/field.png"))
+        } catch (_ : IOException)  {
+
+        }
+
+        if (img != null) {
+            meepMeep.setBackground(img)
+                .setDarkMode(true)
+                .setBackgroundAlpha(0.95f)
+                .addEntity(myBot)
+                .start()
+        }
+    }
+}

PathPlanning/src/main/kotlin/com/example/pathplanning/blue/chamber/BlueHighChamber2.kt

@@ -0,0 +1,41 @@
+package com.example.pathplanning.blue.chamber
+
+import com.acmerobotics.roadrunner.geometry.Pose2d
+import com.noahbres.meepmeep.MeepMeep
+import com.noahbres.meepmeep.core.toRadians
+import com.noahbres.meepmeep.roadrunner.DefaultBotBuilder
+import java.awt.Image
+import java.io.File
+import java.io.IOException
+import javax.imageio.ImageIO
+
+object BlueHighChamber2 {
+    @JvmStatic
+    fun main(args: Array<String>) {
+        val meepMeep = MeepMeep(800)
+
+        val myBot = DefaultBotBuilder(meepMeep) // Set bot constraints: maxVel, maxAccel, maxAngVel, maxAngAccel, track width
+            .setConstraints(30.0, 30.0, Math.toRadians(180.0), Math.toRadians(170.0), 14.0)
+            .followTrajectorySequence { drive ->
+                drive.trajectorySequenceBuilder(Pose2d(12.0, 62.0, (270.0).toRadians()))
+                    .forward(28.0)
+                    .strafeRight(11.0)
+                    .waitSeconds(2.0)
+                    .build()
+            }
+        var img: Image? = null
+        try {
+            img = ImageIO.read(File("/Users/ishaanghaskadbi/Downloads/field.png"))
+        } catch (_ : IOException)  {
+
+        }
+
+        if (img != null) {
+            meepMeep.setBackground(img)
+                .setDarkMode(true)
+                .setBackgroundAlpha(0.95f)
+                .addEntity(myBot)
+                .start()
+        }
+    }
+}

PathPlanning/src/main/kotlin/com/example/pathplanning/blue/park/BlueParkObservation1.kt

@@ -0,0 +1,39 @@
+package com.example.pathplanning.blue.park
+
+import com.acmerobotics.roadrunner.geometry.Pose2d
+import com.noahbres.meepmeep.MeepMeep
+import com.noahbres.meepmeep.core.toRadians
+import com.noahbres.meepmeep.roadrunner.DefaultBotBuilder
+import java.awt.Image
+import java.io.File
+import java.io.IOException
+import javax.imageio.ImageIO
+
+object BlueParkObservation1 {
+    @JvmStatic
+    fun main(args: Array<String>) {
+        val meepMeep = MeepMeep(800)
+
+        val myBot = DefaultBotBuilder(meepMeep) // Set bot constraints: maxVel, maxAccel, maxAngVel, maxAngAccel, track width
+            .setConstraints(30.0, 30.0, Math.toRadians(180.0), Math.toRadians(170.0), 14.0)
+            .followTrajectorySequence { drive ->
+                drive.trajectorySequenceBuilder(Pose2d(-12.0, 62.0, (270.0).toRadians()))
+                    .strafeRight(48.0)
+                    .build()
+            }
+        var img: Image? = null
+        try {
+            img = ImageIO.read(File("/Users/ishaanghaskadbi/Downloads/field.png"))
+        } catch (_ : IOException)  {
+
+        }
+
+        if (img != null) {
+            meepMeep.setBackground(img)
+                .setDarkMode(true)
+                .setBackgroundAlpha(0.95f)
+                .addEntity(myBot)
+                .start()
+        }
+    }
+}

PathPlanning/src/main/kotlin/com/example/pathplanning/blue/park/BlueParkObservation2.kt

@@ -0,0 +1,39 @@
+package com.example.pathplanning.blue.park
+
+import com.acmerobotics.roadrunner.geometry.Pose2d
+import com.noahbres.meepmeep.MeepMeep
+import com.noahbres.meepmeep.core.toRadians
+import com.noahbres.meepmeep.roadrunner.DefaultBotBuilder
+import java.awt.Image
+import java.io.File
+import java.io.IOException
+import javax.imageio.ImageIO
+
+object BlueParkObservation2 {
+    @JvmStatic
+    fun main(args: Array<String>) {
+        val meepMeep = MeepMeep(800)
+
+        val myBot = DefaultBotBuilder(meepMeep) // Set bot constraints: maxVel, maxAccel, maxAngVel, maxAngAccel, track width
+            .setConstraints(30.0, 30.0, Math.toRadians(180.0), Math.toRadians(170.0), 14.0)
+            .followTrajectorySequence { drive ->
+                drive.trajectorySequenceBuilder(Pose2d(12.0, 62.0, (270.0).toRadians()))
+                    .strafeRight(72.0)
+                    .build()
+            }
+        var img: Image? = null
+        try {
+            img = ImageIO.read(File("/Users/ishaanghaskadbi/Downloads/field.png"))
+        } catch (_ : IOException)  {
+
+        }
+
+        if (img != null) {
+            meepMeep.setBackground(img)
+                .setDarkMode(true)
+                .setBackgroundAlpha(0.95f)
+                .addEntity(myBot)
+                .start()
+        }
+    }
+}

PathPlanning/src/main/kotlin/com/example/pathplanning/blue/park/BlueParkTouchSubmmersible1.kt

@@ -0,0 +1,44 @@
+package com.example.pathplanning.blue.park
+
+import com.acmerobotics.roadrunner.geometry.Pose2d
+import com.noahbres.meepmeep.MeepMeep
+import com.noahbres.meepmeep.core.toRadians
+import com.noahbres.meepmeep.roadrunner.DefaultBotBuilder
+import java.awt.Image
+import java.io.File
+import java.io.IOException
+import javax.imageio.ImageIO
+
+object BlueParkTouchSubmmersible1 {
+
+    @JvmStatic
+    fun main(args: Array<String>) {
+        val meepMeep = MeepMeep(800)
+
+        val myBot = DefaultBotBuilder(meepMeep) // Set bot constraints: maxVel, maxAccel, maxAngVel, maxAngAccel, track width
+            .setConstraints(30.0, 30.0, Math.toRadians(180.0), Math.toRadians(170.0), 14.0)
+            .followTrajectorySequence { drive ->
+                drive.trajectorySequenceBuilder(Pose2d(-12.0, 62.0, (270.0).toRadians()))
+                    .forward(27.0)
+                    .strafeLeft(48.0)
+                    .forward(24.0)
+                    .strafeRight(12.0)
+                    .build()
+            }
+        var img: Image? = null
+        try {
+            img = ImageIO.read(File("/Users/ishaanghaskadbi/Downloads/field.png"))
+        } catch (_ : IOException)  {
+
+        }
+
+        if (img != null) {
+            meepMeep.setBackground(img)
+                .setDarkMode(true)
+                .setBackgroundAlpha(0.95f)
+                .addEntity(myBot)
+                .start()
+        }
+    }
+}
+

PathPlanning/src/main/kotlin/com/example/pathplanning/blue/park/BlueParkTouchSubmmersible2.kt

@@ -0,0 +1,42 @@
+package com.example.pathplanning.blue.park
+
+import com.acmerobotics.roadrunner.geometry.Pose2d
+import com.noahbres.meepmeep.MeepMeep
+import com.noahbres.meepmeep.core.toRadians
+import com.noahbres.meepmeep.roadrunner.DefaultBotBuilder
+import java.awt.Image
+import java.io.File
+import java.io.IOException
+import javax.imageio.ImageIO
+
+object BlueParkTouchSubmmersible2 {
+    @JvmStatic
+    fun main(args: Array<String>) {
+        val meepMeep = MeepMeep(800)
+
+        val myBot = DefaultBotBuilder(meepMeep) // Set bot constraints: maxVel, maxAccel, maxAngVel, maxAngAccel, track width
+            .setConstraints(30.0, 30.0, Math.toRadians(180.0), Math.toRadians(170.0), 14.0)
+            .followTrajectorySequence { drive ->
+                drive.trajectorySequenceBuilder(Pose2d(12.0, 62.0, (270.0).toRadians()))
+                    .forward(27.0)
+                    .strafeLeft(24.0)
+                    .forward(24.0)
+                    .strafeRight(12.0)
+                    .build()
+            }
+        var img: Image? = null
+        try {
+            img = ImageIO.read(File("/Users/ishaanghaskadbi/Downloads/field.png"))
+        } catch (_ : IOException)  {
+
+        }
+
+        if (img != null) {
+            meepMeep.setBackground(img)
+                .setDarkMode(true)
+                .setBackgroundAlpha(0.95f)
+                .addEntity(myBot)
+                .start()
+        }
+    }
+}