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feat(auto): Add auto paths #58

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Mar 1, 2024
Merged

feat(auto): Add auto paths #58

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2 changes: 1 addition & 1 deletion .pathplanner/settings.json
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Original file line number Diff line number Diff line change
Expand Up @@ -6,7 +6,7 @@
"Blue Left",
"Blue Left Far",
"Blue Mid "
],
],
"autoFolders": [
"Middle"
],
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133 changes: 133 additions & 0 deletions src/main/deploy/pathplanner/autos/L A+B+C.auto
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Original file line number Diff line number Diff line change
@@ -0,0 +1,133 @@
{
"version": 1.0,
"startingPose": {
"position": {
"x": 0.71,
"y": 6.63
},
"rotation": 60.0
},
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "parallel",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "AutoPreShoot"
}
},
{
"type": "sequential",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "AutoShoot"
}
},
{
"type": "parallel",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "L - NA"
}
},
{
"type": "named",
"data": {
"name": "Intake"
}
}
]
}
},
{
"type": "parallel",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "NA - SA"
}
},
{
"type": "named",
"data": {
"name": "Intake"
}
}
]
}
},
{
"type": "named",
"data": {
"name": "AutoShoot"
}
},
{
"type": "parallel",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "SA-NB"
}
},
{
"type": "named",
"data": {
"name": "Intake"
}
}
]
}
},
{
"type": "parallel",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "NB - SB"
}
},
{
"type": "named",
"data": {
"name": "Intake"
}
}
]
}
},
{
"type": "named",
"data": {
"name": "AutoShoot"
}
}
]
}
}
]
}
}
]
}
},
"folder": null,
"choreoAuto": false
}
6 changes: 6 additions & 0 deletions src/main/deploy/pathplanner/autos/M 1+3+P.auto
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Original file line number Diff line number Diff line change
Expand Up @@ -143,6 +143,12 @@
}
]
}
},
{
"type": "path",
"data": {
"pathName": "CP"
}
}
]
}
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25 changes: 0 additions & 25 deletions src/main/deploy/pathplanner/autos/New New Auto.auto
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This file was deleted.

52 changes: 52 additions & 0 deletions src/main/deploy/pathplanner/paths/CP.path
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Original file line number Diff line number Diff line change
@@ -0,0 +1,52 @@
{
"version": 1.0,
"waypoints": [
{
"anchor": {
"x": 8.7,
"y": 4.18
},
"prevControl": null,
"nextControl": {
"x": 7.549177337178205,
"y": 4.205053564224776
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 4.553153796662922,
"y": 4.75055731837352
},
"prevControl": {
"x": 5.021396262559622,
"y": 4.026909871078624
},
"nextControl": null,
"isLocked": false,
"linkedName": null
}
],
"rotationTargets": [],
"constraintZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 6.0,
"maxAcceleration": 6.0,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0
},
"goalEndState": {
"velocity": 0,
"rotation": 1.1691393279075564,
"rotateFast": false
},
"reversed": false,
"folder": "Blue Mid ",
"previewStartingState": {
"rotation": 0.0,
"velocity": 0
},
"useDefaultConstraints": true
}
84 changes: 84 additions & 0 deletions src/main/deploy/pathplanner/paths/L - NA.path
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Original file line number Diff line number Diff line change
@@ -0,0 +1,84 @@
{
"version": 1.0,
"waypoints": [
{
"anchor": {
"x": 0.71,
"y": 6.69
},
"prevControl": null,
"nextControl": {
"x": 1.2694352292257878,
"y": 7.435865310106255
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 2.967562641007635,
"y": 7.7
},
"prevControl": {
"x": 2.474995891168253,
"y": 7.663513574085972
},
"nextControl": {
"x": 3.48592288287249,
"y": 7.738397054952952
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 8.7,
"y": 7.8
},
"prevControl": {
"x": 8.081008072650242,
"y": 7.83751466226362
},
"nextControl": null,
"isLocked": false,
"linkedName": null
}
],
"rotationTargets": [
{
"waypointRelativePos": 1.6,
"rotationDegrees": 0,
"rotateFast": false
},
{
"waypointRelativePos": 0.55,
"rotationDegrees": 15.0,
"rotateFast": true
},
{
"waypointRelativePos": 1.15,
"rotationDegrees": 0.0,
"rotateFast": true
}
],
"constraintZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 6.0,
"maxAcceleration": 6.0,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0
},
"goalEndState": {
"velocity": 0,
"rotation": 0.0,
"rotateFast": false
},
"reversed": false,
"folder": "Blue Left",
"previewStartingState": {
"rotation": 60.0,
"velocity": 0
},
"useDefaultConstraints": true
}
8 changes: 4 additions & 4 deletions src/main/deploy/pathplanner/paths/N1-NB.path
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Original file line number Diff line number Diff line change
Expand Up @@ -16,12 +16,12 @@
},
{
"anchor": {
"x": 8.7,
"y": 5.9
"x": 8.8,
"y": 5.98
},
"prevControl": {
"x": 7.970271481719434,
"y": 5.754054296343887
"x": 8.070271481719434,
"y": 5.834054296343887
},
"nextControl": null,
"isLocked": false,
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22 changes: 11 additions & 11 deletions src/main/deploy/pathplanner/paths/N1-NC.path
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Original file line number Diff line number Diff line change
Expand Up @@ -16,28 +16,28 @@
},
{
"anchor": {
"x": 5.016883563178892,
"y": 4.366134261680289
"x": 5.286573172131114,
"y": 4.383847630639424
},
"prevControl": {
"x": 3.454048319861346,
"y": 4.81613351461997
"x": 3.7237379288135686,
"y": 4.833846883579105
},
"nextControl": {
"x": 5.890309023702349,
"y": 4.1146421057319005
"x": 6.159998632654571,
"y": 4.132355474691035
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 8.288499753470097,
"y": 4.11072928028209
"x": 8.7,
"y": 4.18
},
"prevControl": {
"x": 7.552690164203858,
"y": 4.080323925353733
"x": 7.6899999999999995,
"y": 4.18
},
"nextControl": null,
"isLocked": false,
Expand All @@ -55,7 +55,7 @@
},
"goalEndState": {
"velocity": 0,
"rotation": 0,
"rotation": 0.0,
"rotateFast": false
},
"reversed": false,
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