diff --git a/src/main/deploy/pathplanner/autos/2 Coral Cage 1.auto b/src/main/deploy/pathplanner/autos/2 Coral Cage 1.auto index fd705bb..56e5665 100644 --- a/src/main/deploy/pathplanner/autos/2 Coral Cage 1.auto +++ b/src/main/deploy/pathplanner/autos/2 Coral Cage 1.auto @@ -31,7 +31,7 @@ { "type": "named", "data": { - "name": "align-feed" + "name": "feed-driveback" } }, { @@ -49,13 +49,25 @@ { "type": "named", "data": { - "name": "await-coral" + "name": "place-coral-right-l4" + } + }, + { + "type": "path", + "data": { + "pathName": "Reef 6 to Top Feed" } }, { "type": "named", "data": { - "name": "place-coral-right-l4" + "name": "feed-driveback" + } + }, + { + "type": "named", + "data": { + "name": "grab-coral" } } ] diff --git a/src/main/deploy/pathplanner/autos/2 Coral Cage 2.auto b/src/main/deploy/pathplanner/autos/2 Coral Cage 2.auto index 9a62160..03c0706 100644 --- a/src/main/deploy/pathplanner/autos/2 Coral Cage 2.auto +++ b/src/main/deploy/pathplanner/autos/2 Coral Cage 2.auto @@ -4,6 +4,12 @@ "type": "sequential", "data": { "commands": [ + { + "type": "named", + "data": { + "name": "prepare-l4" + } + }, { "type": "path", "data": { @@ -25,7 +31,7 @@ { "type": "named", "data": { - "name": "align-feed" + "name": "feed-driveback" } }, { @@ -45,6 +51,24 @@ "data": { "name": "place-coral-left-l4" } + }, + { + "type": "path", + "data": { + "pathName": "Reef 6 to Top Feed" + } + }, + { + "type": "named", + "data": { + "name": "feed-driveback" + } + }, + { + "type": "named", + "data": { + "name": "grab-coral" + } } ] } diff --git a/src/main/deploy/pathplanner/autos/2 Coral Cage 3.auto b/src/main/deploy/pathplanner/autos/2 Coral Cage 3.auto index bd7da14..eeee724 100644 --- a/src/main/deploy/pathplanner/autos/2 Coral Cage 3.auto +++ b/src/main/deploy/pathplanner/autos/2 Coral Cage 3.auto @@ -4,6 +4,12 @@ "type": "sequential", "data": { "commands": [ + { + "type": "named", + "data": { + "name": "prepare-l4" + } + }, { "type": "path", "data": { @@ -25,7 +31,7 @@ { "type": "named", "data": { - "name": "align-feed" + "name": "feed-driveback" } }, { @@ -45,6 +51,24 @@ "data": { "name": "place-coral-right-l4" } + }, + { + "type": "path", + "data": { + "pathName": "Reef 6 to Top Feed" + } + }, + { + "type": "named", + "data": { + "name": "feed-driveback" + } + }, + { + "type": "named", + "data": { + "name": "grab-coral" + } } ] } diff --git a/src/main/deploy/pathplanner/autos/2 Coral Cage 4.auto b/src/main/deploy/pathplanner/autos/2 Coral Cage 4.auto index 766c054..ee7dcc4 100644 --- a/src/main/deploy/pathplanner/autos/2 Coral Cage 4.auto +++ b/src/main/deploy/pathplanner/autos/2 Coral Cage 4.auto @@ -4,6 +4,12 @@ "type": "sequential", "data": { "commands": [ + { + "type": "named", + "data": { + "name": "prepare-l4" + } + }, { "type": "path", "data": { @@ -25,7 +31,7 @@ { "type": "named", "data": { - "name": "align-feed" + "name": "feed-driveback" } }, { @@ -45,6 +51,24 @@ "data": { "name": "place-coral-left-l4" } + }, + { + "type": "path", + "data": { + "pathName": "Reef 2 to Bottom Feed" + } + }, + { + "type": "named", + "data": { + "name": "feed-driveback" + } + }, + { + "type": "named", + "data": { + "name": "grab-coral" + } } ] } diff --git a/src/main/deploy/pathplanner/autos/2 Coral Cage 5.auto b/src/main/deploy/pathplanner/autos/2 Coral Cage 5.auto index c538e81..611dc68 100644 --- a/src/main/deploy/pathplanner/autos/2 Coral Cage 5.auto +++ b/src/main/deploy/pathplanner/autos/2 Coral Cage 5.auto @@ -31,7 +31,7 @@ { "type": "named", "data": { - "name": "align-feed" + "name": "feed-driveback" } }, { @@ -49,13 +49,25 @@ { "type": "named", "data": { - "name": "await-coral" + "name": "place-coral-left-l4" + } + }, + { + "type": "path", + "data": { + "pathName": "Reef 2 to Bottom Feed" } }, { "type": "named", "data": { - "name": "place-coral-left-l4" + "name": "feed-driveback" + } + }, + { + "type": "named", + "data": { + "name": "grab-coral" } } ] diff --git a/src/main/deploy/pathplanner/autos/2 Coral Cage 6.auto b/src/main/deploy/pathplanner/autos/2 Coral Cage 6.auto index c861420..10f21aa 100644 --- a/src/main/deploy/pathplanner/autos/2 Coral Cage 6.auto +++ b/src/main/deploy/pathplanner/autos/2 Coral Cage 6.auto @@ -4,6 +4,12 @@ "type": "sequential", "data": { "commands": [ + { + "type": "named", + "data": { + "name": "prepare-l4" + } + }, { "type": "path", "data": { @@ -25,7 +31,7 @@ { "type": "named", "data": { - "name": "align-feed" + "name": "feed-driveback" } }, { @@ -45,6 +51,24 @@ "data": { "name": "place-coral-left-l4" } + }, + { + "type": "path", + "data": { + "pathName": "Reef 2 to Bottom Feed" + } + }, + { + "type": "named", + "data": { + "name": "feed-driveback" + } + }, + { + "type": "named", + "data": { + "name": "grab-coral" + } } ] } diff --git a/src/main/deploy/pathplanner/autos/2 Coral Center Barge Bottom.auto b/src/main/deploy/pathplanner/autos/2 Coral Center Barge Bottom.auto index dbe71b6..83de831 100644 --- a/src/main/deploy/pathplanner/autos/2 Coral Center Barge Bottom.auto +++ b/src/main/deploy/pathplanner/autos/2 Coral Center Barge Bottom.auto @@ -4,10 +4,16 @@ "type": "sequential", "data": { "commands": [ + { + "type": "named", + "data": { + "name": "prepare-l4" + } + }, { "type": "path", "data": { - "pathName": "Center Barge to Reef 4" + "pathName": "Center Barge to Reef 4 Left" } }, { @@ -25,7 +31,7 @@ { "type": "named", "data": { - "name": "align-feed" + "name": "feed-driveback" } }, { @@ -45,6 +51,24 @@ "data": { "name": "place-coral-left-l4" } + }, + { + "type": "path", + "data": { + "pathName": "Reef 2 to Bottom Feed" + } + }, + { + "type": "named", + "data": { + "name": "feed-driveback" + } + }, + { + "type": "named", + "data": { + "name": "grab-coral" + } } ] } diff --git a/src/main/deploy/pathplanner/autos/2 Coral Center Barge Top.auto b/src/main/deploy/pathplanner/autos/2 Coral Center Barge Top.auto index 68320cc..fc445d9 100644 --- a/src/main/deploy/pathplanner/autos/2 Coral Center Barge Top.auto +++ b/src/main/deploy/pathplanner/autos/2 Coral Center Barge Top.auto @@ -4,10 +4,16 @@ "type": "sequential", "data": { "commands": [ + { + "type": "named", + "data": { + "name": "prepare-l4" + } + }, { "type": "path", "data": { - "pathName": "Center Barge to Reef 4" + "pathName": "Center Barge to Reef 4 Right" } }, { @@ -25,7 +31,7 @@ { "type": "named", "data": { - "name": "align-feed" + "name": "feed-driveback" } }, { @@ -45,6 +51,24 @@ "data": { "name": "place-coral-right-l4" } + }, + { + "type": "path", + "data": { + "pathName": "Reef 6 to Top Feed" + } + }, + { + "type": "named", + "data": { + "name": "feed-driveback" + } + }, + { + "type": "named", + "data": { + "name": "grab-coral" + } } ] } diff --git a/src/main/deploy/pathplanner/autos/3 Coral Cage 4.auto b/src/main/deploy/pathplanner/autos/3 Coral Cage 4.auto index e51e2f1..55794f3 100644 --- a/src/main/deploy/pathplanner/autos/3 Coral Cage 4.auto +++ b/src/main/deploy/pathplanner/autos/3 Coral Cage 4.auto @@ -28,6 +28,12 @@ "pathName": "Reef 3 to Bottom Feed" } }, + { + "type": "named", + "data": { + "name": "feed-driveback" + } + }, { "type": "named", "data": { @@ -52,6 +58,12 @@ "pathName": "Reef 2 to Bottom Feed" } }, + { + "type": "named", + "data": { + "name": "feed-driveback" + } + }, { "type": "named", "data": { @@ -75,6 +87,18 @@ "data": { "pathName": "Reef 2 to Bottom Feed" } + }, + { + "type": "named", + "data": { + "name": "feed-driveback" + } + }, + { + "type": "named", + "data": { + "name": "grab-coral" + } } ] } diff --git a/src/main/deploy/pathplanner/autos/3 Coral Cage 5.auto b/src/main/deploy/pathplanner/autos/3 Coral Cage 5.auto index b9b9e6b..034400a 100644 --- a/src/main/deploy/pathplanner/autos/3 Coral Cage 5.auto +++ b/src/main/deploy/pathplanner/autos/3 Coral Cage 5.auto @@ -28,6 +28,12 @@ "pathName": "Reef 3 to Bottom Feed" } }, + { + "type": "named", + "data": { + "name": "feed-driveback" + } + }, { "type": "named", "data": { @@ -52,6 +58,12 @@ "pathName": "Reef 2 to Bottom Feed" } }, + { + "type": "named", + "data": { + "name": "feed-driveback" + } + }, { "type": "named", "data": { @@ -75,6 +87,18 @@ "data": { "pathName": "Reef 2 to Bottom Feed" } + }, + { + "type": "named", + "data": { + "name": "feed-driveback" + } + }, + { + "type": "named", + "data": { + "name": "grab-coral" + } } ] } diff --git a/src/main/deploy/pathplanner/autos/New Auto.auto b/src/main/deploy/pathplanner/autos/New Auto.auto new file mode 100644 index 0000000..9333c35 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/New Auto.auto @@ -0,0 +1,61 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "Cage 1 to Reef" + } + }, + { + "type": "path", + "data": { + "pathName": "Cage 2 to Reef 5" + } + }, + { + "type": "path", + "data": { + "pathName": "Cage 3 to Reef" + } + }, + { + "type": "path", + "data": { + "pathName": "Cage 4 to Reef" + } + }, + { + "type": "path", + "data": { + "pathName": "Cage 5 to Reef" + } + }, + { + "type": "path", + "data": { + "pathName": "Cage 6 to Reef" + } + }, + { + "type": "path", + "data": { + "pathName": "Center Barge to Reef 4 Left" + } + }, + { + "type": "path", + "data": { + "pathName": "Center Barge to Reef 4 Right" + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Taxi.auto b/src/main/deploy/pathplanner/autos/Taxi.auto index db06ab4..a717089 100644 --- a/src/main/deploy/pathplanner/autos/Taxi.auto +++ b/src/main/deploy/pathplanner/autos/Taxi.auto @@ -5,9 +5,9 @@ "data": { "commands": [ { - "type": "path", + "type": "named", "data": { - "pathName": "Taxi" + "name": "taxi" } } ] diff --git a/src/main/deploy/pathplanner/paths/Bottom Feed to Reef 2.path b/src/main/deploy/pathplanner/paths/Bottom Feed to Reef 2.path index 6c86f54..35326f8 100644 --- a/src/main/deploy/pathplanner/paths/Bottom Feed to Reef 2.path +++ b/src/main/deploy/pathplanner/paths/Bottom Feed to Reef 2.path @@ -3,25 +3,25 @@ "waypoints": [ { "anchor": { - "x": 1.0807449494949497, - "y": 1.0875631313131315 + "x": 1.3040625, + "y": 1.3559375 }, "prevControl": null, "nextControl": { - "x": 2.3668181411598166, - "y": 1.8456535210784974 + "x": 2.590135691664867, + "y": 2.114027889765366 }, "isLocked": false, "linkedName": null }, { "anchor": { - "x": 3.680625, - "y": 2.635625 + "x": 3.5221875, + "y": 2.3675 }, "prevControl": { - "x": 2.741625910703272, - "y": 2.050875079374932 + "x": 2.5831884107032717, + "y": 1.782750079374932 }, "nextControl": null, "isLocked": false, @@ -48,7 +48,7 @@ "folder": "Bottom Feed to Reef", "idealStartingState": { "velocity": 0, - "rotation": 53.32565033042684 + "rotation": 53.426969021480645 }, "useDefaultConstraints": true } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Cage 1 to Reef.path b/src/main/deploy/pathplanner/paths/Cage 1 to Reef.path index 7e7a001..b9271b0 100644 --- a/src/main/deploy/pathplanner/paths/Cage 1 to Reef.path +++ b/src/main/deploy/pathplanner/paths/Cage 1 to Reef.path @@ -3,25 +3,25 @@ "waypoints": [ { "anchor": { - "x": 7.575631313131314, - "y": 7.287689393939393 + "x": 6.9834375, + "y": 7.1084375 }, "prevControl": null, "nextControl": { - "x": 5.8378125, - "y": 6.9378125 + "x": 5.594062500000001, + "y": 6.7671875 }, "isLocked": false, "linkedName": null }, { "anchor": { - "x": 5.344772727272727, - "y": 5.391107954545454 + "x": 5.2528125, + "y": 5.7434375 }, "prevControl": { - "x": 5.630625, - "y": 5.5728125 + "x": 5.50875, + "y": 6.145625 }, "nextControl": null, "isLocked": false, @@ -42,13 +42,13 @@ }, "goalEndState": { "velocity": 0, - "rotation": -122.99770510121631 + "rotation": -118.81079374297312 }, "reversed": false, "folder": "Barge to Reef", "idealStartingState": { "velocity": 0, - "rotation": 180.0 + "rotation": -115.9743939624313 }, "useDefaultConstraints": true } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Cage 2 to Reef 5.path b/src/main/deploy/pathplanner/paths/Cage 2 to Reef 5.path index 4dc63d4..eb7439a 100644 --- a/src/main/deploy/pathplanner/paths/Cage 2 to Reef 5.path +++ b/src/main/deploy/pathplanner/paths/Cage 2 to Reef 5.path @@ -3,25 +3,25 @@ "waypoints": [ { "anchor": { - "x": 7.575631313127491, - "y": 6.139141414136251 + "x": 7.0078125, + "y": 6.0725 }, "prevControl": null, "nextControl": { - "x": 6.451471554401174, - "y": 5.958542570253511 + "x": 6.3984375, + "y": 6.291875 }, "isLocked": false, "linkedName": null }, { "anchor": { - "x": 5.268371212121212, - "y": 5.417487373737374 + "x": 5.265, + "y": 5.73125 }, "prevControl": { "x": 5.8621875, - "y": 6.12125 + "y": 6.194375 }, "nextControl": null, "isLocked": false, @@ -42,13 +42,13 @@ }, "goalEndState": { "velocity": 0, - "rotation": -120.86136963407526 + "rotation": -120.52970589993409 }, "reversed": false, "folder": "Barge to Reef", "idealStartingState": { "velocity": 0, - "rotation": -179.99261564513898 + "rotation": -123.4533094540727 }, "useDefaultConstraints": true } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Cage 3 to Reef.path b/src/main/deploy/pathplanner/paths/Cage 3 to Reef.path index 6ad2651..fdebcb4 100644 --- a/src/main/deploy/pathplanner/paths/Cage 3 to Reef.path +++ b/src/main/deploy/pathplanner/paths/Cage 3 to Reef.path @@ -3,25 +3,25 @@ "waypoints": [ { "anchor": { - "x": 7.616287878787879, - "y": 5.092234848484848 + "x": 6.9590625, + "y": 4.9878124999999995 }, "prevControl": null, "nextControl": { - "x": 7.366483068336041, - "y": 5.1021119267533175 + "x": 6.709257689548163, + "y": 4.997689578268469 }, "isLocked": false, "linkedName": null }, { "anchor": { - "x": 5.31375, - "y": 5.43875 + "x": 5.2528125, + "y": 5.7434375 }, "prevControl": { - "x": 5.7403125, - "y": 5.6215625 + "x": 5.728125, + "y": 5.6703125 }, "nextControl": null, "isLocked": false, @@ -48,7 +48,7 @@ "folder": "Barge to Reef", "idealStartingState": { "velocity": 0, - "rotation": 179.34296858150984 + "rotation": -124.91940201245771 }, "useDefaultConstraints": true } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Cage 4 to Reef.path b/src/main/deploy/pathplanner/paths/Cage 4 to Reef.path index 6a79779..663cc6b 100644 --- a/src/main/deploy/pathplanner/paths/Cage 4 to Reef.path +++ b/src/main/deploy/pathplanner/paths/Cage 4 to Reef.path @@ -3,25 +3,25 @@ "waypoints": [ { "anchor": { - "x": 7.006439393939393, - "y": 3.1508838383838382 + "x": 6.97125, + "y": 3.244999999999999 }, "prevControl": null, "nextControl": { - "x": 6.498232323232323, - "y": 2.480050505050505 + "x": 6.166875, + "y": 2.9159374999999996 }, "isLocked": false, "linkedName": null }, { "anchor": { - "x": 5.349684343434343, - "y": 2.6934974747474745 + "x": 5.2771875, + "y": 2.27 }, "prevControl": { - "x": 5.979861111111112, - "y": 1.992171717171717 + "x": 6.1059375, + "y": 2.5625000000000004 }, "nextControl": null, "isLocked": false, @@ -42,13 +42,13 @@ }, "goalEndState": { "velocity": 0, - "rotation": 123.49004753500587 + "rotation": 120.96375653207355 }, "reversed": false, "folder": "Barge to Reef", "idealStartingState": { "velocity": 0, - "rotation": 124.11447294534119 + "rotation": 118.9091836511478 }, "useDefaultConstraints": true } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Cage 5 to Reef.path b/src/main/deploy/pathplanner/paths/Cage 5 to Reef.path index 0a88f46..6401f60 100644 --- a/src/main/deploy/pathplanner/paths/Cage 5 to Reef.path +++ b/src/main/deploy/pathplanner/paths/Cage 5 to Reef.path @@ -53,7 +53,7 @@ }, "goalEndState": { "velocity": 0, - "rotation": 124.8244891569568 + "rotation": 122.79876573246848 }, "reversed": false, "folder": "Barge to Reef", diff --git a/src/main/deploy/pathplanner/paths/Cage 6 to Reef.path b/src/main/deploy/pathplanner/paths/Cage 6 to Reef.path index f42fbe9..37daaac 100644 --- a/src/main/deploy/pathplanner/paths/Cage 6 to Reef.path +++ b/src/main/deploy/pathplanner/paths/Cage 6 to Reef.path @@ -16,12 +16,12 @@ }, { "anchor": { - "x": 5.3015625, - "y": 2.6234375 + "x": 5.2771875, + "y": 2.294375 }, "prevControl": { - "x": 5.624116161616161, - "y": 2.205618686868687 + "x": 5.599741161616161, + "y": 1.876556186868687 }, "nextControl": null, "isLocked": false, diff --git a/src/main/deploy/pathplanner/paths/Center Barge to Reef 4.path b/src/main/deploy/pathplanner/paths/Center Barge to Reef 4 Left.path similarity index 78% rename from src/main/deploy/pathplanner/paths/Center Barge to Reef 4.path rename to src/main/deploy/pathplanner/paths/Center Barge to Reef 4 Left.path index 596548a..a30c744 100644 --- a/src/main/deploy/pathplanner/paths/Center Barge to Reef 4.path +++ b/src/main/deploy/pathplanner/paths/Center Barge to Reef 4 Left.path @@ -3,25 +3,25 @@ "waypoints": [ { "anchor": { - "x": 7.565467171717171, - "y": 4.045328282828282 + "x": 7.1296875, + "y": 4.0493749999999995 }, "prevControl": null, "nextControl": { - "x": 7.269289772727273, - "y": 4.064886363636362 + "x": 6.833510101010102, + "y": 4.06893308080808 }, "isLocked": false, "linkedName": null }, { "anchor": { - "x": 6.1059375, - "y": 4.045328282828282 + "x": 6.3496875, + "y": 3.8421874999999996 }, "prevControl": { - "x": 6.35555109493404, - "y": 4.031433923393444 + "x": 6.599301094934041, + "y": 3.8282931405651617 }, "nextControl": null, "isLocked": false, diff --git a/src/main/deploy/pathplanner/paths/Taxi.path b/src/main/deploy/pathplanner/paths/Center Barge to Reef 4 Right.path similarity index 70% rename from src/main/deploy/pathplanner/paths/Taxi.path rename to src/main/deploy/pathplanner/paths/Center Barge to Reef 4 Right.path index c5d3778..b662f54 100644 --- a/src/main/deploy/pathplanner/paths/Taxi.path +++ b/src/main/deploy/pathplanner/paths/Center Barge to Reef 4 Right.path @@ -3,25 +3,25 @@ "waypoints": [ { "anchor": { - "x": 7.565467171717171, - "y": 7.348674242424242 + "x": 7.1053125, + "y": 4.061562499999999 }, "prevControl": null, "nextControl": { - "x": 7.8906231049309685, - "y": 7.339915637757156 + "x": 6.809135101010102, + "y": 4.081120580808079 }, "isLocked": false, "linkedName": null }, { "anchor": { - "x": 6.0571875, - "y": 7.348674242424242 + "x": 6.3496875, + "y": 4.195625 }, "prevControl": { - "x": 6.306992295436264, - "y": 7.338796784398704 + "x": 6.599301094934041, + "y": 4.181730640565162 }, "nextControl": null, "isLocked": false, @@ -42,13 +42,13 @@ }, "goalEndState": { "velocity": 0, - "rotation": 179.5653636269807 + "rotation": -179.96096735022735 }, "reversed": false, - "folder": null, + "folder": "Barge to Reef", "idealStartingState": { "velocity": 0, - "rotation": -179.85896618052556 + "rotation": -179.2890804030095 }, "useDefaultConstraints": true } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Reef 2 to Bottom Feed.path b/src/main/deploy/pathplanner/paths/Reef 2 to Bottom Feed.path index 6c4d421..e7219b4 100644 --- a/src/main/deploy/pathplanner/paths/Reef 2 to Bottom Feed.path +++ b/src/main/deploy/pathplanner/paths/Reef 2 to Bottom Feed.path @@ -3,25 +3,25 @@ "waypoints": [ { "anchor": { - "x": 3.749318181818182, - "y": 2.868295454545454 + "x": 3.5221875, + "y": 2.4040625 }, "prevControl": null, "nextControl": { - "x": 3.093244949494949, - "y": 2.2869318181818175 + "x": 2.866114267676767, + "y": 1.8226988636363637 }, "isLocked": false, "linkedName": null }, { "anchor": { - "x": 1.3246843434343436, - "y": 1.5347853535353522 + "x": 1.3284375, + "y": 1.3803125 }, "prevControl": { - "x": 1.802550505050505, - "y": 2.1992045454545446 + "x": 1.8063036616161614, + "y": 2.0447316919191922 }, "nextControl": null, "isLocked": false, diff --git a/src/main/deploy/pathplanner/paths/Reef 3 to Bottom Feed.path b/src/main/deploy/pathplanner/paths/Reef 3 to Bottom Feed.path index fb33877..098c67d 100644 --- a/src/main/deploy/pathplanner/paths/Reef 3 to Bottom Feed.path +++ b/src/main/deploy/pathplanner/paths/Reef 3 to Bottom Feed.path @@ -3,25 +3,25 @@ "waypoints": [ { "anchor": { - "x": 5.268371212121212, - "y": 2.4597222222222217 + "x": 5.3015625, + "y": 2.2821875 }, "prevControl": null, "nextControl": { - "x": 4.670075757575758, - "y": 1.2531597222222217 + "x": 4.703267045454546, + "y": 1.075625 }, "isLocked": false, "linkedName": null }, { "anchor": { - "x": 1.286335227272727, - "y": 1.2828125 + "x": 1.31625, + "y": 1.3559375 }, "prevControl": { - "x": 1.9715309343434337, - "y": 2.5205176767676765 + "x": 2.0014457070707063, + "y": 2.5936426767676766 }, "nextControl": null, "isLocked": false, diff --git a/src/main/deploy/pathplanner/paths/Reef 4 to Bottom Feed.path b/src/main/deploy/pathplanner/paths/Reef 4 to Bottom Feed.path index 42d3c4c..38a1be6 100644 --- a/src/main/deploy/pathplanner/paths/Reef 4 to Bottom Feed.path +++ b/src/main/deploy/pathplanner/paths/Reef 4 to Bottom Feed.path @@ -3,25 +3,25 @@ "waypoints": [ { "anchor": { - "x": 6.1059375, - "y": 4.0249999999999995 + "x": 6.3984375, + "y": 3.854374999999999 }, "prevControl": null, "nextControl": { - "x": 7.264857954545455, - "y": 2.244517045454545 + "x": 7.557357954545456, + "y": 2.073892045454545 }, "isLocked": false, "linkedName": null }, { "anchor": { - "x": 1.1090625, - "y": 1.0146875 + "x": 1.3040625, + "y": 1.368125 }, "prevControl": { - "x": 1.9500000000000002, - "y": 2.1115625000000002 + "x": 2.1450000000000005, + "y": 2.4650000000000007 }, "nextControl": null, "isLocked": false, diff --git a/src/main/deploy/pathplanner/paths/Reef 4 to Top Feed.path b/src/main/deploy/pathplanner/paths/Reef 4 to Top Feed.path index 8f6baad..705c06b 100644 --- a/src/main/deploy/pathplanner/paths/Reef 4 to Top Feed.path +++ b/src/main/deploy/pathplanner/paths/Reef 4 to Top Feed.path @@ -3,25 +3,25 @@ "waypoints": [ { "anchor": { - "x": 6.1059375, - "y": 4.037187499999999 + "x": 6.4228125, + "y": 4.195625 }, "prevControl": null, "nextControl": { - "x": 7.1784375, - "y": 6.4015625 + "x": 7.0809375, + "y": 6.535625 }, "isLocked": false, "linkedName": null }, { "anchor": { - "x": 1.121401515151515, - "y": 7.003093434343434 + "x": 1.291875, + "y": 6.7428125 }, "prevControl": { - "x": 1.7184374999999998, - "y": 5.999375 + "x": 1.8889109848484849, + "y": 5.739094065656566 }, "nextControl": null, "isLocked": false, @@ -48,7 +48,7 @@ "folder": "Reef to Top Feed", "idealStartingState": { "velocity": 0, - "rotation": 179.1574757392596 + "rotation": 178.9390883097358 }, "useDefaultConstraints": true } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Reef 5 to Top Feed.path b/src/main/deploy/pathplanner/paths/Reef 5 to Top Feed.path index 612587c..2accf7f 100644 --- a/src/main/deploy/pathplanner/paths/Reef 5 to Top Feed.path +++ b/src/main/deploy/pathplanner/paths/Reef 5 to Top Feed.path @@ -3,25 +3,25 @@ "waypoints": [ { "anchor": { - "x": 5.284943181818181, - "y": 5.401079545454545 + "x": 5.3015625, + "y": 5.755625 }, "prevControl": null, "nextControl": { - "x": 4.996875, - "y": 6.8525 + "x": 5.013494318181819, + "y": 7.207045454545455 }, "isLocked": false, "linkedName": null }, { "anchor": { - "x": 1.2230429292929292, - "y": 7.003093434343434 + "x": 1.2796875, + "y": 6.730625 }, "prevControl": { - "x": 2.34, - "y": 5.5484375 + "x": 2.3966445707070707, + "y": 5.275969065656566 }, "nextControl": null, "isLocked": false, diff --git a/src/main/deploy/pathplanner/paths/Reef 6 to Top Feed.path b/src/main/deploy/pathplanner/paths/Reef 6 to Top Feed.path new file mode 100644 index 0000000..b01e723 --- /dev/null +++ b/src/main/deploy/pathplanner/paths/Reef 6 to Top Feed.path @@ -0,0 +1,54 @@ +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 3.485625, + "y": 5.6459375 + }, + "prevControl": null, + "nextControl": { + "x": 2.5593749999999997, + "y": 6.389374999999999 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 1.31625, + "y": 6.730625 + }, + "prevControl": { + "x": 1.9132859848484847, + "y": 5.726906565656566 + }, + "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": -53.93780932479242 + }, + "reversed": false, + "folder": "Reef to Top Feed", + "idealStartingState": { + "velocity": 0, + "rotation": -58.96173664449721 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Top Feed to Reef 6.path b/src/main/deploy/pathplanner/paths/Top Feed to Reef 6.path index 42b5477..a8d390c 100644 --- a/src/main/deploy/pathplanner/paths/Top Feed to Reef 6.path +++ b/src/main/deploy/pathplanner/paths/Top Feed to Reef 6.path @@ -3,25 +3,25 @@ "waypoints": [ { "anchor": { - "x": 1.116818181818182, - "y": 6.956647727272727 + "x": 1.31625, + "y": 6.730625 }, "prevControl": null, "nextControl": { - "x": 2.123068181818182, - "y": 6.275650252525252 + "x": 2.3225000000000002, + "y": 6.049627525252525 }, "isLocked": false, "linkedName": null }, { "anchor": { - "x": 3.6196875, - "y": 5.35122159090909 + "x": 3.5465625, + "y": 5.706875 }, "prevControl": { - "x": 2.8392584714142375, - "y": 5.792423901494171 + "x": 2.7661334714142374, + "y": 6.148077310585081 }, "nextControl": null, "isLocked": false, diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index 58768c5..9ff2715 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -388,6 +388,11 @@ public class RobotContainer { * The container for the robot. Contains subsystems, OI devices, and commands. */ public RobotContainer() { + NamedCommands.registerCommand("taxi", new SequentialCommandGroup( + new MoveForTimeCommand(m_robotSwerveDrive, + new Translation2d(0, -1), + new Translation2d(), 1000, true + ), new InstantCommand(()-> {m_robotSwerveDrive.softStop();} , m_robotSwerveDrive))); NamedCommands.registerCommand("grab-coral", waitFeedStation.asProxy()); NamedCommands.registerCommand("await-coral", new waitFeedCoral(m_robotElevator));