practice auto #3

frc3512 · Feb 14, 2024 · 9c66237 · 9c66237
1 parent 2f82bfc
commit 9c66237
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Showing 5 changed files with 133 additions and 9 deletions.
diff --git a/src/main/deploy/pathplanner/autos/Distance Test.auto b/src/main/deploy/pathplanner/autos/Distance Test.auto
@@ -0,0 +1,25 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 1.835943131345722,
+      "y": 7.626880118625102
+    },
+    "rotation": 0
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": null
+          }
+        }
+      ]
+    }
+  },
+  "folder": null,
+  "choreoAuto": false
+}
diff --git a/src/main/deploy/pathplanner/autos/Forward.auto b/src/main/deploy/pathplanner/autos/Forward.auto
@@ -0,0 +1,25 @@
+{
+  "version": 1.0,
+  "startingPose": null,
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "Reset Gyro"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": null
+          }
+        }
+      ]
+    }
+  },
+  "folder": null,
+  "choreoAuto": false
+}
diff --git a/src/main/deploy/pathplanner/autos/Straight.auto b/src/main/deploy/pathplanner/autos/Straight.auto
@@ -1,12 +1,6 @@
 {
   "version": 1.0,
-  "startingPose": {
-    "position": {
-      "x": 2,
-      "y": 2
-    },
-    "rotation": 0
-  },
+  "startingPose": null,
   "command": {
     "type": "sequential",
     "data": {
@@ -20,12 +14,12 @@
         {
           "type": "path",
           "data": {
-            "pathName": "Straight Line"
+            "pathName": "Red Straight"
           }
         }
       ]
     }
   },
-  "folder": "Test Autos",
+  "folder": null,
   "choreoAuto": false
 }
diff --git a/src/main/deploy/pathplanner/paths/Auto 3.path b/src/main/deploy/pathplanner/paths/Auto 3.path
@@ -0,0 +1,79 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 0.7635575631511622,
+        "y": 3.48525309663232
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 0.7635575631511622,
+        "y": 3.48525309663232
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 2.1872418519611814,
+        "y": 4.113892912470511
+      },
+      "prevControl": {
+        "x": 2.078710060391629,
+        "y": 4.059627016685735
+      },
+      "nextControl": {
+        "x": 2.2611994773539092,
+        "y": 4.150871725166874
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 2.1872418519611814,
+        "y": 4.113892912470511
+      },
+      "prevControl": {
+        "x": 2.196486555135272,
+        "y": 4.123137615644601
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 1,
+      "rotationDegrees": 0,
+      "rotateFast": false
+    },
+    {
+      "waypointRelativePos": 1.5,
+      "rotationDegrees": 130.0,
+      "rotateFast": true
+    }
+  ],
+  "constraintZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 130.0,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": null,
+  "previewStartingState": {
+    "rotation": 90.0,
+    "velocity": 0
+  },
+  "useDefaultConstraints": true
+}
diff --git a/src/main/java/frc3512/robot/auton/Autos.java b/src/main/java/frc3512/robot/auton/Autos.java
@@ -49,6 +49,7 @@ public Autos(Superstructure superstructure, Swerve swerve) {
     buildAuto("L Path");
     buildAuto("Straight");
     buildAuto("Circle");
+    buildAuto("Eli");
 
     SmartDashboard.putData("Auton Chooser", autonChooser);
   }