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A45... testing
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penguin212 committed Apr 10, 2024
1 parent 2b9fbd6 commit ca08648
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Showing 11 changed files with 662 additions and 10 deletions.
4 changes: 3 additions & 1 deletion .pathplanner/settings.json
Original file line number Diff line number Diff line change
Expand Up @@ -2,7 +2,9 @@
"robotWidth": 0.76,
"robotLength": 0.76,
"holonomicMode": true,
"pathFolders": [],
"pathFolders": [
"A456"
],
"autoFolders": [],
"defaultMaxVel": 4.12,
"defaultMaxAccel": 3.0,
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61 changes: 61 additions & 0 deletions src/main/deploy/pathplanner/autos/A451.auto
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@@ -0,0 +1,61 @@
{
"version": 1.0,
"startingPose": {
"position": {
"x": 0.6933452953924437,
"y": 6.593200975274989
},
"rotation": 56.64597424848324
},
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "A4"
}
},
{
"type": "named",
"data": {
"name": "AutoIntake"
}
},
{
"type": "path",
"data": {
"pathName": "4X5"
}
},
{
"type": "named",
"data": {
"name": "AutoIntake"
}
},
{
"type": "path",
"data": {
"pathName": "5X1"
}
},
{
"type": "named",
"data": {
"name": "AutoIntake"
}
},
{
"type": "named",
"data": {
"name": "Shoot"
}
}
]
}
},
"folder": null,
"choreoAuto": false
}
61 changes: 61 additions & 0 deletions src/main/deploy/pathplanner/autos/A456.auto
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@@ -0,0 +1,61 @@
{
"version": 1.0,
"startingPose": {
"position": {
"x": 0.6933452953924437,
"y": 6.593200975274989
},
"rotation": 60.94539590092286
},
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "A4"
}
},
{
"type": "named",
"data": {
"name": "AutoIntake"
}
},
{
"type": "path",
"data": {
"pathName": "4X5"
}
},
{
"type": "named",
"data": {
"name": "AutoIntake"
}
},
{
"type": "path",
"data": {
"pathName": "5X6"
}
},
{
"type": "named",
"data": {
"name": "AutoIntake"
}
},
{
"type": "path",
"data": {
"pathName": "6Y"
}
}
]
}
},
"folder": null,
"choreoAuto": false
}
103 changes: 103 additions & 0 deletions src/main/deploy/pathplanner/paths/4X5.path
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@@ -0,0 +1,103 @@
{
"version": 1.0,
"waypoints": [
{
"anchor": {
"x": 7.661293040132442,
"y": 7.06163443710625
},
"prevControl": null,
"nextControl": {
"x": 6.220860145006659,
"y": 6.944526071642728
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
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"y": 6.780574360001786
},
"prevControl": {
"x": 4.932668124965351,
"y": 6.9328152351026535
},
"nextControl": {
"x": 4.6395564430935154,
"y": 6.50943169458379
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 6.794691135749952,
"y": 6.1013458403464575
},
"prevControl": {
"x": 6.150595125731968,
"y": 6.253586715441618
},
"nextControl": null,
"isLocked": false,
"linkedName": null
}
],
"rotationTargets": [],
"constraintZones": [],
"eventMarkers": [
{
"name": "Shoot 4",
"waypointRelativePos": 0.55,
"command": {
"type": "parallel",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "Shoot"
}
}
]
}
}
},
{
"name": "Feed 4",
"waypointRelativePos": 0,
"command": {
"type": "parallel",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "Feed"
}
}
]
}
}
}
],
"globalConstraints": {
"maxVelocity": 4.12,
"maxAcceleration": 3.0,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0
},
"goalEndState": {
"velocity": 2.0,
"rotation": -14.93141717813758,
"rotateFast": false
},
"reversed": false,
"folder": "A456",
"previewStartingState": {
"rotation": 18.434948822921974,
"velocity": 0
},
"useDefaultConstraints": true
}
105 changes: 105 additions & 0 deletions src/main/deploy/pathplanner/paths/5X1.path
Original file line number Diff line number Diff line change
@@ -0,0 +1,105 @@
{
"version": 1.0,
"waypoints": [
{
"anchor": {
"x": 7.895509771048071,
"y": 5.937394128711225
},
"prevControl": null,
"nextControl": {
"x": 6.5721852413747595,
"y": 6.4058275905424855
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 3.480524393288442,
"y": 6.944526071648434
},
"prevControl": {
"x": 5.330836567521921,
"y": 6.827417706190619
},
"nextControl": null,
"isLocked": false,
"linkedName": null
}
],
"rotationTargets": [
{
"waypointRelativePos": 0.65,
"rotationDegrees": 10.0,
"rotateFast": false
}
],
"constraintZones": [
{
"name": "New Constraints Zone",
"minWaypointRelativePos": 0.65,
"maxWaypointRelativePos": 0.85,
"constraints": {
"maxVelocity": 1.0,
"maxAcceleration": 3.0,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0
}
}
],
"eventMarkers": [
{
"name": "Feed",
"waypointRelativePos": 0,
"command": {
"type": "parallel",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "Feed"
}
}
]
}
}
},
{
"name": "Shoot 5",
"waypointRelativePos": 0.65,
"command": {
"type": "parallel",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "Shoot"
}
}
]
}
}
}
],
"globalConstraints": {
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"maxAcceleration": 3.0,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0
},
"goalEndState": {
"velocity": 0,
"rotation": -179.29268063145577,
"rotateFast": false
},
"reversed": false,
"folder": null,
"previewStartingState": {
"rotation": 0,
"velocity": 0
},
"useDefaultConstraints": true
}
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