upload some autos

Team841 · Nov 6, 2024 · 21f08bc · 21f08bc
1 parent c45ccc2
commit 21f08bc
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Showing 18 changed files with 703 additions and 129 deletions.
diff --git a/.pathplanner/settings.json b/.pathplanner/settings.json
@@ -0,0 +1,14 @@
+{
+  "robotWidth": 0.9,
+  "robotLength": 0.9,
+  "holonomicMode": true,
+  "pathFolders": [
+    "Geo Autos "
+  ],
+  "autoFolders": [],
+  "defaultMaxVel": 3.0,
+  "defaultMaxAccel": 3.0,
+  "defaultMaxAngVel": 540.0,
+  "defaultMaxAngAccel": 720.0,
+  "maxModuleSpeed": 4.5
+}
diff --git a/src/main/deploy/pathplanner/autos/Geo A1_78.auto b/src/main/deploy/pathplanner/autos/Geo A1_78.auto
@@ -0,0 +1,210 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 1.41,
+      "y": 7.29
+    },
+    "rotation": 180.0
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "SpinUp"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Copy_A_Preload - Blue"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "JustShoot"
+          }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 0.15
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "stopIndexer"
+          }
+        },
+        {
+          "type": "race",
+          "data": {
+            "commands": [
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "Copy A_Preload_1 - Blue"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "aIntake"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "JustShoot"
+          }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 0.15
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "stopIndexer"
+          }
+        },
+        {
+          "type": "race",
+          "data": {
+            "commands": [
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "A_1"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "aIntake"
+                }
+              },
+              {
+                "type": "wait",
+                "data": {
+                  "waitTime": 0.15
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "stopIndexer"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "A_7"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "SpinUp"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "JustShoot"
+          }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 0.15
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "stopIndexer"
+          }
+        },
+        {
+          "type": "race",
+          "data": {
+            "commands": [
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "A_8_"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "aIntake"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "parallel",
+          "data": {
+            "commands": [
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "A_Shoot"
+                }
+              },
+              {
+                "type": "sequential",
+                "data": {
+                  "commands": [
+                    {
+                      "type": "wait",
+                      "data": {
+                        "waitTime": 2.0
+                      }
+                    },
+                    {
+                      "type": "named",
+                      "data": {
+                        "name": "JustShoot"
+                      }
+                    }
+                  ]
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 0.15
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "STOPALL"
+          }
+        }
+      ]
+    }
+  },
+  "folder": null,
+  "choreoAuto": false
+}
diff --git a/src/main/deploy/pathplanner/autos/Red - A123_6.auto b/src/main/deploy/pathplanner/autos/Red - A123_6.auto
@@ -5,7 +5,7 @@
       "x": 1.39,
       "y": 7.33
     },
-    "rotation": 180.0
+    "rotation": -170.53611698914128
   },
   "command": {
     "type": "sequential",

diff --git a/src/main/deploy/pathplanner/paths/4_in - Blue.path b/src/main/deploy/pathplanner/paths/4_in - Blue.path
@@ -12,16 +12,16 @@
         "y": 0.8776055734329787
       },
       "isLocked": false,
-      "linkedName": "C-Preload_4 - Blue"
+      "linkedName": null
     },
     {
       "anchor": {
-        "x": 2.167438767095844,
-        "y": 3.7804537889005365
+        "x": 2.4851032868970147,
+        "y": 3.2439017231814775
       },
       "prevControl": {
-        "x": 3.6453437205634085,
-        "y": 1.9880649713301088
+        "x": 3.9630082403645748,
+        "y": 1.4515129056110494
       },
       "nextControl": null,
       "isLocked": false,
@@ -43,7 +43,7 @@
     "rotateFast": false
   },
   "reversed": false,
-  "folder": "Middle In - Blue",
+  "folder": null,
   "previewStartingState": null,
   "useDefaultConstraints": true
 }
diff --git a/src/main/deploy/pathplanner/paths/A78.path b/src/main/deploy/pathplanner/paths/A78.path
@@ -3,13 +3,13 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 8.793745215131274,
-        "y": 7.618991561339931
+        "x": 2.3914165945307624,
+        "y": 6.464381773271393
       },
       "prevControl": null,
       "nextControl": {
-        "x": 7.110891792206119,
-        "y": 6.787120053846916
+        "x": 4.471350440497107,
+        "y": 6.648446715392308
       },
       "isLocked": false,
       "linkedName": null

diff --git a/src/main/deploy/pathplanner/paths/A_1.path b/src/main/deploy/pathplanner/paths/A_1.path
@@ -0,0 +1,52 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 2.49,
+        "y": 6.46
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 4.5481609452008165,
+        "y": 6.735622341110154
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 8.012565621543798,
+        "y": 7.38
+      },
+      "prevControl": {
+        "x": 8.041668844268257,
+        "y": 7.38
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": -171.41637851988602,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": "Geo Autos ",
+  "previewStartingState": {
+    "rotation": -156.77014046793445,
+    "velocity": 0
+  },
+  "useDefaultConstraints": true
+}
diff --git a/src/main/deploy/pathplanner/paths/A_7.path b/src/main/deploy/pathplanner/paths/A_7.path
@@ -0,0 +1,52 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 8.01,
+        "y": 7.38
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 6.898972721712261,
+        "y": 7.2061424840338475
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 2.49,
+        "y": 6.46
+      },
+      "prevControl": {
+        "x": 4.3975509494466705,
+        "y": 6.753512138190412
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": -153.69779832365407,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": "Geo Autos ",
+  "previewStartingState": {
+    "rotation": -170.61087914558655,
+    "velocity": 0
+  },
+  "useDefaultConstraints": true
+}