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Add new far autos
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David-Dube committed Apr 2, 2024
1 parent c946bdd commit c309d24
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Showing 5 changed files with 254 additions and 14 deletions.
Original file line number Diff line number Diff line change
Expand Up @@ -93,21 +93,35 @@
}
},
{
"type": "path",
"data": {
"pathName": "CloseTop_FarTop2"
}
},
{
"type": "named",
"data": {
"name": "auto intake"
}
},
{
"type": "path",
"type": "parallel",
"data": {
"pathName": "FarTop_LeftStage"
"commands": [
{
"type": "named",
"data": {
"name": "intake"
}
},
{
"type": "sequential",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "CloseTop_FarTop2"
}
},
{
"type": "path",
"data": {
"pathName": "FarTop_LeftStage"
}
}
]
}
}
]
}
},
{
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Original file line number Diff line number Diff line change
@@ -0,0 +1,73 @@
{
"version": 1.0,
"startingPose": {
"position": {
"x": 0.6938428577561385,
"y": 4.369431441327672
},
"rotation": -61.37901950766995
},
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "preload"
}
},
{
"type": "path",
"data": {
"pathName": "Right_FarAutoIntake"
}
},
{
"type": "named",
"data": {
"name": "auto intake"
}
},
{
"type": "path",
"data": {
"pathName": "MidBottom_Stage"
}
},
{
"type": "named",
"data": {
"name": "shoot"
}
},
{
"type": "path",
"data": {
"pathName": "Stage_FarMidBottom_AutoIntake"
}
},
{
"type": "named",
"data": {
"name": "auto intake"
}
},
{
"type": "path",
"data": {
"pathName": "MidBottom_Stage"
}
},
{
"type": "named",
"data": {
"name": "shoot"
}
}
]
}
},
"folder": "Right",
"choreoAuto": false
}
49 changes: 49 additions & 0 deletions src/main/deploy/pathplanner/paths/MidBottom_Stage.path
Original file line number Diff line number Diff line change
@@ -0,0 +1,49 @@
{
"version": 1.0,
"waypoints": [
{
"anchor": {
"x": 4.236405383022034,
"y": 2.2132829520940738
},
"prevControl": null,
"nextControl": {
"x": 3.424045910591821,
"y": 2.507536727221342
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 2.527113883453119,
"y": 3.0826639734265386
},
"prevControl": {
"x": 3.180434045727247,
"y": 2.7112335078543404
},
"nextControl": null,
"isLocked": false,
"linkedName": "RightStage"
}
],
"rotationTargets": [],
"constraintZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 5.1,
"maxAcceleration": 4.0,
"maxAngularVelocity": 2160.0,
"maxAngularAcceleration": 2160.0
},
"goalEndState": {
"velocity": 0,
"rotation": -45.96887572432068,
"rotateFast": false
},
"reversed": false,
"folder": "Starts Far",
"previewStartingState": null,
"useDefaultConstraints": false
}
55 changes: 55 additions & 0 deletions src/main/deploy/pathplanner/paths/Right_FarAutoIntake.path
Original file line number Diff line number Diff line change
@@ -0,0 +1,55 @@
{
"version": 1.0,
"waypoints": [
{
"anchor": {
"x": 0.6927701751530267,
"y": 4.401216720567245
},
"prevControl": null,
"nextControl": {
"x": 1.519864919131247,
"y": 3.0170045067202818
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 6.552440037098384,
"y": 0.7662341204964105
},
"prevControl": {
"x": 4.161179197358394,
"y": 1.1300653648842527
},
"nextControl": null,
"isLocked": false,
"linkedName": null
}
],
"rotationTargets": [
{
"waypointRelativePos": 0,
"rotationDegrees": -60.717985255190314,
"rotateFast": false
}
],
"constraintZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 5.1,
"maxAcceleration": 4.0,
"maxAngularVelocity": 2160.0,
"maxAngularAcceleration": 2160.0
},
"goalEndState": {
"velocity": 0,
"rotation": 0,
"rotateFast": false
},
"reversed": false,
"folder": "Starts Speaker",
"previewStartingState": null,
"useDefaultConstraints": false
}
Original file line number Diff line number Diff line change
@@ -0,0 +1,49 @@
{
"version": 1.0,
"waypoints": [
{
"anchor": {
"x": 2.527113883453119,
"y": 3.0826639734265386
},
"prevControl": null,
"nextControl": {
"x": 3.662576647336394,
"y": 2.126282747283805
},
"isLocked": false,
"linkedName": "RightStage"
},
{
"anchor": {
"x": 6.726948559530921,
"y": 2.120693506351802
},
"prevControl": {
"x": 5.4408585753791225,
"y": 1.785169679494289
},
"nextControl": null,
"isLocked": false,
"linkedName": null
}
],
"rotationTargets": [],
"constraintZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 5.1,
"maxAcceleration": 4.0,
"maxAngularVelocity": 2160.0,
"maxAngularAcceleration": 2160.0
},
"goalEndState": {
"velocity": 0,
"rotation": 10.763547030204696,
"rotateFast": false
},
"reversed": false,
"folder": "Starts Stage",
"previewStartingState": null,
"useDefaultConstraints": false
}

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