Autos

src/main/deploy/pathplanner/autos/HubCenter-1Score.auto

@@ -32,6 +32,6 @@
     }
   },
   "resetOdom": true,
-  "folder": null,
+  "folder": "HubCenter",
   "choreoAuto": false
 }

src/main/deploy/pathplanner/autos/HubCenter-Station-2Score.auto

@@ -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/HubRight-1Score.auto

@@ -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/HubRight-Station-1Score.auto

@@ -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"
+            "waitTime": 8.0
-          }
-        },
-        {
-          "type": "named",
-          "data": {
-            "name": "Robot Roller Off"
           }
         },
         {
@@ -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/HubRight-Station-2Score.auto

@@ -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/CenterToPlayerPath.path

@@ -3,25 +3,25 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 4.0,
+        "x": 2.5,
-        "y": 7.4
+        "y": 4.0
       },
       "prevControl": null,
       "nextControl": {
-        "x": 3.054750000000001,
+        "x": 2.4608809523809536,
-        "y": 7.565821428571429
+        "y": 3.6786785714285717
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 2.4500833333333345,
+        "x": 2.375,
-        "y": 5.363107142857143
+        "y": 1.789
       },
       "prevControl": {
-        "x": 2.6268600286299715,
+        "x": 2.406892857142858,
-        "y": 5.53988383815378
+        "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

@@ -52,8 +52,8 @@
         "y": 5.179547619047619
       },
       "prevControl": {
-        "x": 2.136952380952382,
+        "x": 2.1460952380952394,
-        "y": 4.898809523809524
+        "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/HubRight-PlayerStation.path

@@ -3,40 +3,40 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 3.636650602416003,
+        "x": 3.5838333333333345,
-        "y": 0.7129759036212555
+        "y": 1.5515476190476192
       },
       "prevControl": null,
       "nextControl": {
-        "x": 3.3894165141989285,
+        "x": 3.3365992451162603,
-        "y": 0.7500610168538175
+        "y": 1.5886327322801814
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 1.593168674698795,
+        "x": 1.5754761904761914,
-        "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,
         "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,
+        "x": 0.0,
-        "y": 1.0
+        "y": 0.7
       },
-      "rotationOffset": 0.0,
+      "rotationOffset": 180.0,
-      "minWaypointRelativePos": 0.0,
+      "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

@@ -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

@@ -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

@@ -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": {
+        "x": 1.548401453689789,
+        "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": {
+        "x": 0.0,
+        "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

@@ -2,10 +2,12 @@
   "robotWidth": 0.9,
   "robotLength": 0.9,
   "holonomicMode": true,
-  "pathFolders": [
+  "pathFolders": [],
-    "New Folder"
+  "autoFolders": [
+    "HubCenter",
+    "HubRight",
+    "HubLeft"
   ],
-  "autoFolders": [],
   "defaultMaxVel": 1.0,
   "defaultMaxAccel": 1.0,
   "defaultMaxAngVel": 500.0,