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add autos
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jack60612 committed Feb 29, 2024
1 parent 810d900 commit b7c387c
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Showing 11 changed files with 343 additions and 55 deletions.
7 changes: 3 additions & 4 deletions .pathplanner/settings.json
Original file line number Diff line number Diff line change
Expand Up @@ -6,10 +6,9 @@
"New Folder"
],
"autoFolders": [],
"defaultMaxVel": 3.0,
"defaultMaxAccel": 3.0,
"defaultMaxVel": 2.0,
"defaultMaxAccel": 1.0,
"defaultMaxAngVel": 540.0,
"defaultMaxAngAccel": 720.0,
"maxModuleSpeed": 4.5,
"choreoProjectPath": null
"maxModuleSpeed": 4.5
}
9 changes: 1 addition & 8 deletions src/main/deploy/pathplanner/autos/DoNothing.auto
Original file line number Diff line number Diff line change
Expand Up @@ -10,14 +10,7 @@
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "AimSpeakerCommand"
}
}
]
"commands": []
}
},
"folder": null,
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70 changes: 70 additions & 0 deletions src/main/deploy/pathplanner/autos/ShootSpeakerClose.auto
Original file line number Diff line number Diff line change
@@ -0,0 +1,70 @@
{
"version": 1.0,
"startingPose": null,
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "sequential",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "AimSpeakerCommand"
}
},
{
"type": "race",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "ArmCommand"
}
},
{
"type": "race",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "ShooterCommand"
}
},
{
"type": "wait",
"data": {
"waitTime": 5.0
}
}
]
}
}
]
}
},
{
"type": "named",
"data": {
"name": "AimLowerCommand"
}
}
]
}
},
{
"type": "path",
"data": {
"pathName": "SpeakerToLine"
}
}
]
}
},
"folder": null,
"choreoAuto": false
}
76 changes: 76 additions & 0 deletions src/main/deploy/pathplanner/autos/ShootSpeakerFar.auto
Original file line number Diff line number Diff line change
@@ -0,0 +1,76 @@
{
"version": 1.0,
"startingPose": null,
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "ShootSpeakerPath"
}
},
{
"type": "sequential",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "AimSpeakerCommand"
}
},
{
"type": "race",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "ArmCommand"
}
},
{
"type": "race",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "ShooterCommand"
}
},
{
"type": "wait",
"data": {
"waitTime": 5.0
}
}
]
}
}
]
}
},
{
"type": "named",
"data": {
"name": "AimLowerCommand"
}
}
]
}
},
{
"type": "path",
"data": {
"pathName": "SpeakerToLine"
}
}
]
}
},
"folder": null,
"choreoAuto": false
}
52 changes: 52 additions & 0 deletions src/main/deploy/pathplanner/paths/ShootSpeakerPath.path
Original file line number Diff line number Diff line change
@@ -0,0 +1,52 @@
{
"version": 1.0,
"waypoints": [
{
"anchor": {
"x": 1.2,
"y": 1.75
},
"prevControl": null,
"nextControl": {
"x": 2.200000000000002,
"y": 1.75
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 1.4,
"y": 5.5
},
"prevControl": {
"x": 2.4,
"y": 5.5
},
"nextControl": null,
"isLocked": false,
"linkedName": null
}
],
"rotationTargets": [],
"constraintZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 2.0,
"maxAcceleration": 1.0,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0
},
"goalEndState": {
"velocity": 0,
"rotation": 0,
"rotateFast": false
},
"reversed": false,
"folder": null,
"previewStartingState": {
"rotation": 0,
"velocity": 0
},
"useDefaultConstraints": true
}
Original file line number Diff line number Diff line change
Expand Up @@ -3,41 +3,41 @@
"waypoints": [
{
"anchor": {
"x": 2.0,
"y": 7.0
"x": 2.118024005101129,
"y": 4.635503404956002
},
"prevControl": null,
"nextControl": {
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"y": 6.5
"x": 1.5654159830259637,
"y": 3.041080915880077
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 5.0,
"y": 5.0
"x": 2.5,
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},
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},
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"x": 3.676857789339134,
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},
"isLocked": false,
"linkedName": null
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{
"anchor": {
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"y": 1.0
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"y": 2.5
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},
"nextControl": null,
"isLocked": false,
Expand All @@ -48,18 +48,21 @@
"constraintZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 3.0,
"maxAcceleration": 3.0,
"maxVelocity": 2.0,
"maxAcceleration": 1.0,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0
},
"goalEndState": {
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"rotation": -4.382714348011046,
"rotateFast": false
},
"reversed": false,
"folder": null,
"previewStartingState": null,
"useDefaultConstraints": false
"previewStartingState": {
"rotation": 0,
"velocity": 0
},
"useDefaultConstraints": true
}
34 changes: 25 additions & 9 deletions src/main/deploy/pathplanner/paths/TeleopAmpPath.path
Original file line number Diff line number Diff line change
Expand Up @@ -3,25 +3,41 @@
"waypoints": [
{
"anchor": {
"x": 5.0,
"y": 5.0
"x": 8.298695211705768,
"y": 4.3985144783186625
},
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"x": 7.438598433871163,
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"isLocked": false,
"linkedName": "MidPoint"
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},
"nextControl": null,
"isLocked": false,
Expand All @@ -39,7 +55,7 @@
},
"goalEndState": {
"velocity": 0,
"rotation": 0,
"rotation": -3.1134387480333885,
"rotateFast": false
},
"reversed": false,
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8 changes: 4 additions & 4 deletions src/main/deploy/pathplanner/paths/TeleopSourcePath.path
Original file line number Diff line number Diff line change
Expand Up @@ -16,12 +16,12 @@
},
{
"anchor": {
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"y": 1.0796586522082987
"x": 15.398883453656053,
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"y": 1.0796586522082987
"x": 14.995556428276537,
"y": 1.1470264049073142
},
"nextControl": null,
"isLocked": false,
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