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This commit is contained in:
Shikhar
2026-03-02 18:01:46 -07:00
parent 53bea5a004
commit 7064364dc8
12 changed files with 413 additions and 67 deletions
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src/main/deploy/pathplanner/autos/HubCenter-1Score.auto
+1 -1
View File
@@ -32,6 +32,6 @@
}
},
"resetOdom": true,
"folder": null,
"folder": "HubCenter",
"choreoAuto": false
}
src/main/deploy/pathplanner/autos/HubCenter-Station-2Score.auto
+79
View File
@@ -0,0 +1,79 @@
{
"version": "2025.0",
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "Intake Extended"
}
},
{
"type": "named",
"data": {
"name": "Robot Rev Up"
}
},
{
"type": "path",
"data": {
"pathName": "Center-Hub-Shoot"
}
},
{
"type": "named",
"data": {
"name": "Robot Shoot"
}
},
{
"type": "path",
"data": {
"pathName": "CenterToPlayerPath"
}
},
{
"type": "named",
"data": {
"name": "Intake Extended"
}
},
{
"type": "path",
"data": {
"pathName": "ToPlayerStation"
}
},
{
"type": "wait",
"data": {
"waitTime": 8.0
}
},
{
"type": "named",
"data": {
"name": "Robot Rev Up"
}
},
{
"type": "path",
"data": {
"pathName": "PlayerStation-Shoot"
}
},
{
"type": "named",
"data": {
"name": "Robot Shoot"
}
}
]
}
},
"resetOdom": true,
"folder": "HubCenter",
"choreoAuto": false
}
src/main/deploy/pathplanner/autos/HubFarRight-Station.auto → src/main/deploy/pathplanner/autos/HubRight-1Score.auto
+16 -4
View File
@@ -5,21 +5,33 @@
"data": {
"commands": [
{
"type": "path",
"type": "named",
"data": {
"pathName": "HubFarRight-PlayerStation"
"name": "Intake Extended"
}
},
{
"type": "named",
"data": {
"name": "Intake Extended"
"name": "Robot Rev Up"
}
},
{
"type": "path",
"data": {
"pathName": "HubRight-Shoot"
}
},
{
"type": "named",
"data": {
"name": "Robot Shoot"
}
}
]
}
},
"resetOdom": true,
"folder": null,
"folder": "HubRight",
"choreoAuto": false
}
src/main/deploy/pathplanner/autos/HubFarRight-Push-1Score.auto → src/main/deploy/pathplanner/autos/HubRight-Station-1Score.auto
+10 -10
View File
@@ -4,6 +4,12 @@
"type": "sequential",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "HubRight-PlayerStation"
}
},
{
"type": "named",
"data": {
@@ -11,15 +17,9 @@
}
},
{
"type": "path",
"type": "wait",
"data": {
"pathName": "HubFarRight-NeutralZone"
}
},
{
"type": "named",
"data": {
"name": "Robot Roller Off"
"waitTime": 8.0
}
},
{
@@ -31,7 +31,7 @@
{
"type": "path",
"data": {
"pathName": "HubFarLeft-Shoot"
"pathName": "PlayerStation-Shoot"
}
},
{
@@ -44,6 +44,6 @@
}
},
"resetOdom": true,
"folder": null,
"folder": "HubRight",
"choreoAuto": false
}
src/main/deploy/pathplanner/autos/HubCenter-2Score (depot).auto → src/main/deploy/pathplanner/autos/HubRight-Station-2Score.auto
+16 -10
View File
@@ -7,7 +7,7 @@
{
"type": "named",
"data": {
"name": "Intake Retracted"
"name": "Intake Extended"
}
},
{
@@ -19,7 +19,7 @@
{
"type": "path",
"data": {
"pathName": "Center-Hub-Shoot"
"pathName": "HubRight-Shoot"
}
},
{
@@ -28,12 +28,6 @@
"name": "Robot Shoot"
}
},
{
"type": "path",
"data": {
"pathName": "Center-ToDepot"
}
},
{
"type": "named",
"data": {
@@ -43,7 +37,13 @@
{
"type": "path",
"data": {
"pathName": "Depot-Intake-Shoot (side)"
"pathName": "ToPlayerStation"
}
},
{
"type": "wait",
"data": {
"waitTime": 8.0
}
},
{
@@ -52,6 +52,12 @@
"name": "Robot Rev Up"
}
},
{
"type": "path",
"data": {
"pathName": "PlayerStation-Shoot"
}
},
{
"type": "named",
"data": {
@@ -62,6 +68,6 @@
}
},
"resetOdom": true,
"folder": null,
"folder": "HubRight",
"choreoAuto": false
}
src/main/deploy/pathplanner/paths/HubFarLeft-Shoot.path → src/main/deploy/pathplanner/paths/CenterToPlayerPath.path
+9 -9
View File
@@ -3,25 +3,25 @@
"waypoints": [
{
"anchor": {
"x": 4.0,
"y": 7.4
"x": 2.5,
"y": 4.0
},
"prevControl": null,
"nextControl": {
"x": 3.054750000000001,
"y": 7.565821428571429
"x": 2.4608809523809536,
"y": 3.6786785714285717
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 2.4500833333333345,
"y": 5.363107142857143
"x": 2.375,
"y": 1.789
},
"prevControl": {
"x": 2.6268600286299715,
"y": 5.53988383815378
"x": 2.406892857142858,
"y": 2.4477499999999996
},
"nextControl": null,
"isLocked": false,
@@ -42,7 +42,7 @@
},
"goalEndState": {
"velocity": 0,
"rotation": 146.30993247402023
"rotation": -132.0
},
"reversed": false,
"folder": null,
src/main/deploy/pathplanner/paths/Depot-Intake-Shoot (side).path
+12 -2
View File
@@ -52,8 +52,8 @@
"y": 5.179547619047619
},
"prevControl": {
"x": 2.136952380952382,
"y": 4.898809523809524
"x": 2.1460952380952394,
"y": 5.179547619047619
},
"nextControl": null,
"isLocked": false,
@@ -72,6 +72,16 @@
"minWaypointRelativePos": 0.2,
"maxWaypointRelativePos": 2.3115107913668993,
"name": "Point Towards Zone"
},
{
"fieldPosition": {
"x": 4.61155415,
"y": 4.0213534
},
"rotationOffset": 180.0,
"minWaypointRelativePos": 2.673664122137403,
"maxWaypointRelativePos": 3.0,
"name": "Point Towards Zone"
}
],
"eventMarkers": [],
src/main/deploy/pathplanner/paths/HubFarRight-PlayerStation.path → src/main/deploy/pathplanner/paths/HubRight-PlayerStation.path
+28 -28
View File
@@ -3,40 +3,40 @@
"waypoints": [
{
"anchor": {
"x": 3.636650602416003,
"y": 0.7129759036212555
"x": 3.5838333333333345,
"y": 1.5515476190476192
},
"prevControl": null,
"nextControl": {
"x": 3.3894165141989285,
"y": 0.7500610168538175
"x": 3.3365992451162603,
"y": 1.5886327322801814
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 1.593168674698795,
"y": 0.8768915662650603
},
"prevControl": {
"x": 2.244948841688057,
"y": 0.8496302325934687
},
"nextControl": {
"x": 0.941388507709533,
"y": 0.9041528999366517
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 0.61,
"x": 1.5754761904761914,
"y": 1.0
},
"prevControl": {
"x": 0.8597421350529089,
"x": 2.2272563574654534,
"y": 0.9727386663284083
},
"nextControl": {
"x": 0.9236960234869294,
"y": 1.0272613336715914
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 0.45,
"y": 1.0
},
"prevControl": {
"x": 0.6997421350529089,
"y": 0.9886480847776856
},
"nextControl": null,
@@ -49,21 +49,21 @@
"pointTowardsZones": [
{
"fieldPosition": {
"x": 8.0,
"y": 1.0
"x": 0.0,
"y": 0.7
},
"rotationOffset": 0.0,
"minWaypointRelativePos": 0.0,
"rotationOffset": 180.0,
"minWaypointRelativePos": 0.6,
"maxWaypointRelativePos": 1.0956834532374118,
"name": "Point Towards Zone"
}
],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 0.4,
"maxVelocity": 0.5,
"maxAcceleration": 1.0,
"maxAngularVelocity": 500.0,
"maxAngularAcceleration": 700.0,
"maxAngularAcceleration": 750.0,
"nominalVoltage": 12.0,
"unlimited": false
},
src/main/deploy/pathplanner/paths/HubRight-Shoot.path
+65
View File
@@ -0,0 +1,65 @@
{
"version": "2025.0",
"waypoints": [
{
"anchor": {
"x": 3.573035714285715,
"y": 1.5623452380952383
},
"prevControl": null,
"nextControl": {
"x": 3.323035714285715,
"y": 1.5623452380952383
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 2.375,
"y": 1.789
},
"prevControl": {
"x": 2.698928571428572,
"y": 1.7242142857142848
},
"nextControl": null,
"isLocked": false,
"linkedName": null
}
],
"rotationTargets": [],
"constraintZones": [],
"pointTowardsZones": [
{
"fieldPosition": {
"x": 4.61155415,
"y": 4.0213534
},
"rotationOffset": 180.0,
"minWaypointRelativePos": 0.18893129770992434,
"maxWaypointRelativePos": 1.0,
"name": "Point Towards Zone"
}
],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 1.0,
"maxAcceleration": 1.0,
"maxAngularVelocity": 500.0,
"maxAngularAcceleration": 700.0,
"nominalVoltage": 10.0,
"unlimited": false
},
"goalEndState": {
"velocity": 0,
"rotation": -132.0
},
"reversed": false,
"folder": null,
"idealStartingState": {
"velocity": 0,
"rotation": -90.95484125387215
},
"useDefaultConstraints": true
}
src/main/deploy/pathplanner/paths/PlayerStation-Shoot.path
+91
View File
@@ -0,0 +1,91 @@
{
"version": "2025.0",
"waypoints": [
{
"anchor": {
"x": 0.45,
"y": 1.0
},
"prevControl": null,
"nextControl": {
"x": 0.7,
"y": 1.0
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 1.2623452380952391,
"y": 1.497559523809524
},
"prevControl": {
"x": 0.7849906411045419,
"y": 1.097011457533851
},
"nextControl": {
"x": 1.7396998350859363,
"y": 1.8981075900851971
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 2.298916666666668,
"y": 2.5989166666666677
},
"prevControl": {
"x": 2.1382197642450333,
"y": 2.4074055558869234
},
"nextControl": null,
"isLocked": false,
"linkedName": null
}
],
"rotationTargets": [],
"constraintZones": [],
"pointTowardsZones": [
{
"fieldPosition": {
"x": 4.6115541,
"y": 4.0213534
},
"rotationOffset": 180.0,
"minWaypointRelativePos": 0.9702290076335914,
"maxWaypointRelativePos": 2.0,
"name": "Point Towards Zone"
},
{
"fieldPosition": {
"x": 0.4,
"y": 5.5
},
"rotationOffset": 180.0,
"minWaypointRelativePos": 0.0,
"maxWaypointRelativePos": 0.8725190839694592,
"name": "Point Towards Zone"
}
],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 0.5,
"maxAcceleration": 1.0,
"maxAngularVelocity": 500.0,
"maxAngularAcceleration": 750.0,
"nominalVoltage": 12.0,
"unlimited": false
},
"goalEndState": {
"velocity": 0,
"rotation": -148.81502534126165
},
"reversed": false,
"folder": null,
"idealStartingState": {
"velocity": 0,
"rotation": -90.0
},
"useDefaultConstraints": false
}
src/main/deploy/pathplanner/paths/ToPlayerStation.path
+81
View File
@@ -0,0 +1,81 @@
{
"version": "2025.0",
"waypoints": [
{
"anchor": {
"x": 2.375,
"y": 1.789
},
"prevControl": null,
"nextControl": {
"x": 1.375,
"y": 1.789
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 1.554,
"y": 1.1952261904717056
},
"prevControl": {
"x": 1.559598546310211,
"y": 1.4759171571591563
},
"nextControl": {
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"y": 0.914535223784255
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 0.45,
"y": 1.0
},
"prevControl": {
"x": 1.4348077530122076,
"y": 1.1736481776669303
},
"nextControl": null,
"isLocked": false,
"linkedName": null
}
],
"rotationTargets": [],
"constraintZones": [],
"pointTowardsZones": [
{
"fieldPosition": {
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"y": 0.7
},
"rotationOffset": 180.0,
"minWaypointRelativePos": 0.25,
"maxWaypointRelativePos": 0.75,
"name": "Point Towards Zone"
}
],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 1.0,
"maxAcceleration": 1.0,
"maxAngularVelocity": 500.0,
"maxAngularAcceleration": 700.0,
"nominalVoltage": 10.0,
"unlimited": false
},
"goalEndState": {
"velocity": 0,
"rotation": -90.0
},
"reversed": false,
"folder": null,
"idealStartingState": {
"velocity": 0,
"rotation": -132.0
},
"useDefaultConstraints": true
}
src/main/deploy/pathplanner/settings.json
+5 -3
View File
@@ -2,10 +2,12 @@
"robotWidth": 0.9,
"robotLength": 0.9,
"holonomicMode": true,
"pathFolders": [
"New Folder"
"pathFolders": [],
"autoFolders": [
"HubCenter",
"HubRight",
"HubLeft"
],
"autoFolders": [],
"defaultMaxVel": 1.0,
"defaultMaxAccel": 1.0,
"defaultMaxAngVel": 500.0,