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highlanders changes

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This commit is contained in:
Shikhar
2026-04-04 20:41:00 -06:00
parent 74009b86bb
commit f9b9a7dd30
9 changed files with 138 additions and 74 deletions
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src/main/deploy/pathplanner/autos/X. Stupid.auto
+19
View File
@@ -0,0 +1,19 @@
{
"version": "2025.0",
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "Stupidauto"
}
}
]
}
},
"resetOdom": true,
"folder": null,
"choreoAuto": false
}
src/main/deploy/pathplanner/paths/RightTrench-Neutral-Trench-Shoot.path
+19 -19
View File
@@ -64,16 +64,16 @@
},
{
"anchor": {
"x": 3.711743589743591,
"y": 0.6046794871794885
"x": 3.3990740740740737,
"y": 0.7403418803418822
},
"prevControl": {
"x": 3.995405188035349,
"y": 0.5680757693806849
"x": 3.7877883597883595,
"y": 0.6506385836385846
},
"nextControl": {
"x": 3.4637993695130525,
"y": 0.6366742313458394
"x": 2.947066329127951,
"y": 0.8446513599448344
},
"isLocked": false,
"linkedName": null
@@ -89,7 +89,7 @@
},
"nextControl": null,
"isLocked": false,
"linkedName": null
"linkedName": "end of RightTrench-Neutral-Trench-Shoot"
}
],
"rotationTargets": [],
@@ -99,7 +99,7 @@
"minWaypointRelativePos": 0,
"maxWaypointRelativePos": 5.0,
"constraints": {
"maxVelocity": 1.0,
"maxVelocity": 1.5,
"maxAcceleration": 3.0,
"maxAngularVelocity": 600.0,
"maxAngularAcceleration": 750.0,
@@ -121,22 +121,22 @@
},
{
"fieldPosition": {
"x": 0.0,
"x": 180.0,
"y": 0.6
},
"rotationOffset": 180.0,
"minWaypointRelativePos": 0.0,
"rotationOffset": 0.0,
"minWaypointRelativePos": 0.15384615384614939,
"maxWaypointRelativePos": 0.6910299003322272,
"name": "Point Towards Zone"
},
{
"fieldPosition": {
"x": 0.0,
"x": 180.0,
"y": 0.7
},
"rotationOffset": 180.0,
"minWaypointRelativePos": 2.5913621262458837,
"maxWaypointRelativePos": 4.352159468438559,
"minWaypointRelativePos": 2.952853598014871,
"maxWaypointRelativePos": 4.105334233625949,
"name": "Point Towards Zone"
},
{
@@ -145,7 +145,7 @@
"y": 4.021
},
"rotationOffset": 180.0,
"minWaypointRelativePos": 4.529346622369888,
"minWaypointRelativePos": 4.280891289669132,
"maxWaypointRelativePos": 5.0,
"name": "Point Towards Zone"
}
@@ -157,16 +157,16 @@
"maxAngularVelocity": 600.0,
"maxAngularAcceleration": 750.0,
"nominalVoltage": 12.0,
"unlimited": true
"unlimited": false
},
"goalEndState": {
"velocity": 3.0,
"rotation": -145.9260531715447
"velocity": 0.0,
"rotation": -136.00851404351897
},
"reversed": false,
"folder": null,
"idealStartingState": {
"velocity": 0.3,
"velocity": 0.6,
"rotation": 0.0
},
"useDefaultConstraints": false
src/main/deploy/pathplanner/paths/ShotRight-PlayerStation.path
+10 -37
View File
@@ -3,32 +3,16 @@
"waypoints": [
{
"anchor": {
"x": 2.444,
"x": 2.4442692307692324,
"y": 1.302
},
"prevControl": null,
"nextControl": {
"x": 2.2968028935074876,
"y": 1.0999282012743195
"x": 1.7698333333333336,
"y": 1.1628333333333343
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 1.5754761904761914,
"y": 1.0
},
"prevControl": {
"x": 2.2272563574654534,
"y": 0.9727386663284083
},
"nextControl": {
"x": 0.9236960234869294,
"y": 1.0272613336715914
},
"isLocked": false,
"linkedName": null
"linkedName": "end of RightTrench-Neutral-Trench-Shoot"
},
{
"anchor": {
@@ -49,9 +33,9 @@
{
"name": "Constraints Zone",
"minWaypointRelativePos": 0,
"maxWaypointRelativePos": 2.0,
"maxWaypointRelativePos": 1.0,
"constraints": {
"maxVelocity": 1.0,
"maxVelocity": 1.5,
"maxAcceleration": 3.0,
"maxAngularVelocity": 600.0,
"maxAngularAcceleration": 750.0,
@@ -60,18 +44,7 @@
}
}
],
"pointTowardsZones": [
{
"fieldPosition": {
"x": 0.0,
"y": 0.7
},
"rotationOffset": 180.0,
"minWaypointRelativePos": 0.6,
"maxWaypointRelativePos": 1.0956834532374118,
"name": "Point Towards Zone"
}
],
"pointTowardsZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 3.0,
@@ -83,13 +56,13 @@
},
"goalEndState": {
"velocity": 0,
"rotation": -95.0
"rotation": -90.16147282505071
},
"reversed": false,
"folder": null,
"idealStartingState": {
"velocity": 0,
"rotation": -149.42767342080234
"velocity": 0.0,
"rotation": -136.00851404351897
},
"useDefaultConstraints": true
}
src/main/deploy/pathplanner/paths/Stupidauto.path
+54
View File
@@ -0,0 +1,54 @@
{
"version": "2025.0",
"waypoints": [
{
"anchor": {
"x": 4.0,
"y": 0.5365714285714285
},
"prevControl": null,
"nextControl": {
"x": 3.119535714285715,
"y": 0.7633214285714292
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 2.547261904761905,
"y": 3.160392857142857
},
"prevControl": {
"x": 2.320511904761905,
"y": 2.696095238095238
},
"nextControl": null,
"isLocked": false,
"linkedName": null
}
],
"rotationTargets": [],
"constraintZones": [],
"pointTowardsZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 3.0,
"maxAcceleration": 3.0,
"maxAngularVelocity": 600.0,
"maxAngularAcceleration": 750.0,
"nominalVoltage": 10.0,
"unlimited": false
},
"goalEndState": {
"velocity": 0,
"rotation": -159.67686317033716
},
"reversed": false,
"folder": null,
"idealStartingState": {
"velocity": 0,
"rotation": 177.94339863785623
},
"useDefaultConstraints": true
}