diff --git a/src/main/deploy/pathplanner/autos/Backup-Center.auto b/src/main/deploy/pathplanner/autos/Backup-Center.auto new file mode 100644 index 00000000..f5781867 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/Backup-Center.auto @@ -0,0 +1,131 @@ +{ + "version": 1.0, + "startingPose": { + "position": { + "x": 1.3464015540130732, + "y": 5.57998439840296 + }, + "rotation": 0 + }, + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "ArmToGround" + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "CenterBackup1" + } + }, + { + "type": "named", + "data": { + "name": "Intake" + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "Shoot" + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "CenterBackup2" + } + }, + { + "type": "named", + "data": { + "name": "Intake" + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "Shoot" + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "CenterBackup3" + } + }, + { + "type": "named", + "data": { + "name": "Intake" + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "Shoot" + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "CenterBackup4" + } + }, + { + "type": "named", + "data": { + "name": "Intake" + } + } + ] + } + }, + { + "type": "path", + "data": { + "pathName": "CenterBackup5" + } + }, + { + "type": "named", + "data": { + "name": "Shoot" + } + } + ] + } + }, + "folder": null, + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Backup-Left.auto b/src/main/deploy/pathplanner/autos/Backup-Left.auto new file mode 100644 index 00000000..0dd7e8c5 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/Backup-Left.auto @@ -0,0 +1,131 @@ +{ + "version": 1.0, + "startingPose": { + "position": { + "x": 0.7134190306340287, + "y": 6.660923784481021 + }, + "rotation": 61.975499467929716 + }, + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "ArmToGround" + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "LeftBackup1" + } + }, + { + "type": "named", + "data": { + "name": "Intake" + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "Shoot" + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "LeftBackup2" + } + }, + { + "type": "named", + "data": { + "name": "Intake" + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "Shoot" + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "LeftBackup3" + } + }, + { + "type": "named", + "data": { + "name": "Intake" + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "Shoot" + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "LeftBackup4" + } + }, + { + "type": "named", + "data": { + "name": "Intake" + } + } + ] + } + }, + { + "type": "path", + "data": { + "pathName": "LeftBackup5" + } + }, + { + "type": "named", + "data": { + "name": "Shoot" + } + } + ] + } + }, + "folder": null, + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Backup-Right.auto b/src/main/deploy/pathplanner/autos/Backup-Right.auto new file mode 100644 index 00000000..d7d95300 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/Backup-Right.auto @@ -0,0 +1,156 @@ +{ + "version": 1.0, + "startingPose": { + "position": { + "x": 0.7189571631051666, + "y": 4.417980133670191 + }, + "rotation": -59.30027744918559 + }, + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "ArmToGround" + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "RightBackup1" + } + }, + { + "type": "named", + "data": { + "name": "Intake" + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "Shoot" + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "RightBackup2" + } + }, + { + "type": "named", + "data": { + "name": "Intake" + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "Shoot" + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "RightBackup3" + } + }, + { + "type": "named", + "data": { + "name": "Intake" + } + } + ] + } + }, + { + "type": "path", + "data": { + "pathName": "RightBackup4" + } + }, + { + "type": "named", + "data": { + "name": "Shoot" + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "RightBackup5" + } + }, + { + "type": "named", + "data": { + "name": "Intake" + } + } + ] + } + }, + { + "type": "path", + "data": { + "pathName": "RightBackup6" + } + }, + { + "type": "named", + "data": { + "name": "Shoot" + } + }, + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "RightBackup7" + } + }, + { + "type": "named", + "data": { + "name": "Intake" + } + } + ] + } + } + ] + } + }, + "folder": null, + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Center Field Limelight(No Preload).auto b/src/main/deploy/pathplanner/autos/Center Field Limelight(No Preload).auto index ff797653..74c6cdce 100644 --- a/src/main/deploy/pathplanner/autos/Center Field Limelight(No Preload).auto +++ b/src/main/deploy/pathplanner/autos/Center Field Limelight(No Preload).auto @@ -24,22 +24,9 @@ } }, { - "type": "deadline", + "type": "named", "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "Center Field Limelight 2" - } - }, - { - "type": "named", - "data": { - "name": "Intake" - } - } - ] + "name": "Limelight Intake CW" } }, { @@ -48,54 +35,22 @@ "pathName": "Center Field Limelight 3" } }, - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "AlignToAprilTagMegaTag2" - } - }, - { - "type": "named", - "data": { - "name": "AimArmSpeakerMT2" - } - } - ] - } - }, { "type": "named", "data": { - "name": "PassToOuttake" + "name": "Shoot" } }, { - "type": "named", + "type": "path", "data": { - "name": "ArmToGround" + "pathName": "Center Field Limelight 4" } }, { - "type": "deadline", + "type": "named", "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "Center Field Limelight 4" - } - }, - { - "type": "named", - "data": { - "name": "Intake" - } - } - ] + "name": "Limelight Intake CW" } }, { @@ -104,41 +59,22 @@ "pathName": "Center Field Limelight 5" } }, - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "AlignToAprilTagMegaTag2" - } - }, - { - "type": "named", - "data": { - "name": "AimArmSpeakerMT2" - } - } - ] - } - }, { "type": "named", "data": { - "name": "PassToOuttake" + "name": "Shoot" } }, { - "type": "named", + "type": "path", "data": { - "name": "ArmToGround" + "pathName": "Center Field Limelight 6" } }, { - "type": "path", + "type": "named", "data": { - "pathName": "Center Field Limelight 6" + "name": "Limelight Intake CW" } } ] diff --git a/src/main/deploy/pathplanner/autos/Center Field Limelight.auto b/src/main/deploy/pathplanner/autos/Center Field Limelight.auto index efc39c42..1034fc2e 100644 --- a/src/main/deploy/pathplanner/autos/Center Field Limelight.auto +++ b/src/main/deploy/pathplanner/autos/Center Field Limelight.auto @@ -11,35 +11,10 @@ "type": "sequential", "data": { "commands": [ - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "AlignToAprilTagMegaTag2" - } - }, - { - "type": "named", - "data": { - "name": "AimArmSpeakerMT2" - } - } - ] - } - }, - { - "type": "named", - "data": { - "name": "PassToOuttake" - } - }, { "type": "named", "data": { - "name": "ArmToGround" + "name": "Shoot" } }, { @@ -49,22 +24,9 @@ } }, { - "type": "deadline", + "type": "named", "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "Center Field Limelight 2" - } - }, - { - "type": "named", - "data": { - "name": "Intake" - } - } - ] + "name": "Limelight Intake CW" } }, { @@ -73,54 +35,22 @@ "pathName": "Center Field Limelight 3" } }, - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "AlignToAprilTagMegaTag2" - } - }, - { - "type": "named", - "data": { - "name": "AimArmSpeakerMT2" - } - } - ] - } - }, { "type": "named", "data": { - "name": "PassToOuttake" + "name": "Shoot" } }, { - "type": "named", + "type": "path", "data": { - "name": "ArmToGround" + "pathName": "Center Field Limelight 4" } }, { - "type": "deadline", + "type": "named", "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "Center Field Limelight 4" - } - }, - { - "type": "named", - "data": { - "name": "Intake" - } - } - ] + "name": "Limelight Intake CW" } }, { @@ -129,41 +59,22 @@ "pathName": "Center Field Limelight 5" } }, - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "AlignToAprilTagMegaTag2" - } - }, - { - "type": "named", - "data": { - "name": "AimArmSpeakerMT2" - } - } - ] - } - }, { "type": "named", "data": { - "name": "PassToOuttake" + "name": "Shoot" } }, { - "type": "named", + "type": "path", "data": { - "name": "ArmToGround" + "pathName": "Center Field Limelight 6" } }, { - "type": "path", + "type": "named", "data": { - "pathName": "Center Field Limelight 6" + "name": "Limelight Intake CW" } } ] diff --git a/src/main/deploy/pathplanner/autos/Center Forward.auto b/src/main/deploy/pathplanner/autos/Center Forward.auto new file mode 100644 index 00000000..54e89612 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/Center Forward.auto @@ -0,0 +1,31 @@ +{ + "version": 1.0, + "startingPose": { + "position": { + "x": 1.335176614373586, + "y": 5.535530663936646 + }, + "rotation": 0 + }, + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "Shoot" + } + }, + { + "type": "path", + "data": { + "pathName": "Center Forward" + } + } + ] + } + }, + "folder": null, + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Center Limelight 1 Piece.auto b/src/main/deploy/pathplanner/autos/Center Limelight 1 Piece.auto index da04ec0a..2febbb3f 100644 --- a/src/main/deploy/pathplanner/autos/Center Limelight 1 Piece.auto +++ b/src/main/deploy/pathplanner/autos/Center Limelight 1 Piece.auto @@ -11,85 +11,28 @@ "type": "sequential", "data": { "commands": [ - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "AlignToAprilTagMegaTag2" - } - }, - { - "type": "named", - "data": { - "name": "AimArmSpeakerMT2" - } - } - ] - } - }, { "type": "named", "data": { - "name": "PassToOuttake" - } - }, - { - "type": "named", - "data": { - "name": "ArmToGround" - } - }, - { - "type": "deadline", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "Center Limelight 1 Piece" - } - }, - { - "type": "named", - "data": { - "name": "Intake" - } - } - ] + "name": "Shoot" } }, { - "type": "parallel", + "type": "path", "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "AlignToAprilTagMegaTag2" - } - }, - { - "type": "named", - "data": { - "name": "AimArmSpeakerMT2" - } - } - ] + "pathName": "Center Limelight 1 Piece" } }, { "type": "named", "data": { - "name": "PassToOuttake" + "name": "Limelight Intake Straight" } }, { "type": "named", "data": { - "name": "ArmToGround" + "name": "Shoot" } } ] diff --git a/src/main/deploy/pathplanner/autos/Center Limelight 4 Piece.auto b/src/main/deploy/pathplanner/autos/Center Limelight 4 Piece.auto index b535d0e4..83de7c0c 100644 --- a/src/main/deploy/pathplanner/autos/Center Limelight 4 Piece.auto +++ b/src/main/deploy/pathplanner/autos/Center Limelight 4 Piece.auto @@ -26,7 +26,7 @@ { "type": "named", "data": { - "name": "Limelight Intake CCW" + "name": "Limelight Intake Straight" } }, { @@ -44,7 +44,7 @@ { "type": "named", "data": { - "name": "Limelight Intake CW" + "name": "Limelight Intake CCW" } }, { @@ -62,7 +62,7 @@ { "type": "named", "data": { - "name": "Limelight Intake CCW" + "name": "Limelight Intake CW" } }, { @@ -104,7 +104,7 @@ { "type": "named", "data": { - "name": "Limelight Intake CCW" + "name": "Limelight Intake Straight" } } ] diff --git a/src/main/deploy/pathplanner/autos/Left Forward.auto b/src/main/deploy/pathplanner/autos/Left Forward.auto new file mode 100644 index 00000000..b11a61e3 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/Left Forward.auto @@ -0,0 +1,31 @@ +{ + "version": 1.0, + "startingPose": { + "position": { + "x": 0.6842044526319189, + "y": 6.6998765551505 + }, + "rotation": 63.19916505304543 + }, + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "Shoot" + } + }, + { + "type": "path", + "data": { + "pathName": "Left Forward" + } + } + ] + } + }, + "folder": null, + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Left Limelight 1 Piece.auto b/src/main/deploy/pathplanner/autos/Left Limelight 1 Piece.auto index 74c88149..47da779f 100644 --- a/src/main/deploy/pathplanner/autos/Left Limelight 1 Piece.auto +++ b/src/main/deploy/pathplanner/autos/Left Limelight 1 Piece.auto @@ -3,7 +3,7 @@ "startingPose": { "position": { "x": 0.6452516819624394, - "y": 4.499045012324901 + "y": 6.6706619771483915 }, "rotation": 60.60256482955589 }, @@ -11,85 +11,28 @@ "type": "sequential", "data": { "commands": [ - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "AlignToAprilTagMegaTag2" - } - }, - { - "type": "named", - "data": { - "name": "AimArmSpeakerMT2" - } - } - ] - } - }, { "type": "named", "data": { - "name": "PassToOuttake" - } - }, - { - "type": "named", - "data": { - "name": "ArmToGround" - } - }, - { - "type": "deadline", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "Left Limelight 1 Piece" - } - }, - { - "type": "named", - "data": { - "name": "Intake" - } - } - ] + "name": "Shoot" } }, { - "type": "parallel", + "type": "path", "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "AlignToAprilTagMegaTag2" - } - }, - { - "type": "named", - "data": { - "name": "AimArmSpeakerMT2" - } - } - ] + "pathName": "Left Limelight 1 Piece" } }, { "type": "named", "data": { - "name": "PassToOuttake" + "name": "Limelight Intake Straight" } }, { "type": "named", "data": { - "name": "ArmToGround" + "name": "Shoot" } } ] diff --git a/src/main/deploy/pathplanner/autos/Left Limelight 4 Piece.auto b/src/main/deploy/pathplanner/autos/Left Limelight 4 Piece.auto index c4731918..37109844 100644 --- a/src/main/deploy/pathplanner/autos/Left Limelight 4 Piece.auto +++ b/src/main/deploy/pathplanner/autos/Left Limelight 4 Piece.auto @@ -11,204 +11,76 @@ "type": "sequential", "data": { "commands": [ - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "AlignToAprilTagMegaTag2" - } - }, - { - "type": "named", - "data": { - "name": "AimArmSpeakerMT2" - } - } - ] - } - }, - { - "type": "named", - "data": { - "name": "PassToOuttake" - } - }, { "type": "named", "data": { - "name": "ArmToGround" - } - }, - { - "type": "deadline", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "Left Limelight 1" - } - }, - { - "type": "named", - "data": { - "name": "Intake" - } - } - ] + "name": "Shoot" } }, { - "type": "parallel", + "type": "path", "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "AlignToAprilTagMegaTag2" - } - }, - { - "type": "named", - "data": { - "name": "AimArmSpeakerMT2" - } - } - ] + "pathName": "Left Limelight 1" } }, { "type": "named", "data": { - "name": "PassToOuttake" + "name": "Limelight Intake Straight" } }, { "type": "named", "data": { - "name": "ArmToGround" + "name": "Shoot" } }, { - "type": "deadline", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "Left Limelight 2" - } - }, - { - "type": "named", - "data": { - "name": "Intake" - } - } - ] - } - }, - { - "type": "parallel", + "type": "path", "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "AlignToAprilTagMegaTag2" - } - }, - { - "type": "named", - "data": { - "name": "AimArmSpeakerMT2" - } - } - ] + "pathName": "Left Limelight 2" } }, { "type": "named", "data": { - "name": "PassToOuttake" + "name": "Limelight Intake Straight" } }, { "type": "named", "data": { - "name": "ArmToGround" + "name": "Shoot" } }, { - "type": "deadline", + "type": "path", "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "Left Limelight 3" - } - }, - { - "type": "named", - "data": { - "name": "Intake" - } - } - ] + "pathName": "Left Limelight 3" } }, { - "type": "parallel", + "type": "named", "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "AlignToAprilTagMegaTag2" - } - }, - { - "type": "named", - "data": { - "name": "AimArmSpeakerMT2" - } - } - ] + "name": "Limelight Intake Straight" } }, { "type": "named", "data": { - "name": "PassToOuttake" + "name": "Shoot" } }, { - "type": "named", + "type": "path", "data": { - "name": "ArmToGround" + "pathName": "Left Limelight 4" } }, { - "type": "deadline", + "type": "named", "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "Left Limelight 4" - } - }, - { - "type": "named", - "data": { - "name": "Intake" - } - } - ] + "name": "Limelight Intake CCW" } }, { @@ -217,54 +89,22 @@ "pathName": "Left Limelight 5" } }, - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "AlignToAprilTagMegaTag2" - } - }, - { - "type": "named", - "data": { - "name": "AimArmSpeakerMT2" - } - } - ] - } - }, { "type": "named", "data": { - "name": "PassToOuttake" + "name": "Shoot" } }, { - "type": "named", + "type": "path", "data": { - "name": "ArmToGround" + "pathName": "Left Limelight 6" } }, { - "type": "deadline", + "type": "named", "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "Left Limelight 6" - } - }, - { - "type": "named", - "data": { - "name": "Intake" - } - } - ] + "name": "Limelight Intake CCW" } } ] diff --git a/src/main/deploy/pathplanner/autos/Right Forward.auto b/src/main/deploy/pathplanner/autos/Right Forward.auto new file mode 100644 index 00000000..afbb601a --- /dev/null +++ b/src/main/deploy/pathplanner/autos/Right Forward.auto @@ -0,0 +1,31 @@ +{ + "version": 1.0, + "startingPose": { + "position": { + "x": 0.6842044526319189, + "y": 6.6998765551505 + }, + "rotation": -67.01128319791938 + }, + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "Shoot" + } + }, + { + "type": "path", + "data": { + "pathName": "Right Forward" + } + } + ] + } + }, + "folder": null, + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Right Limelight 1 Piece.auto b/src/main/deploy/pathplanner/autos/Right Limelight 1 Piece.auto index 0a803d43..c325d661 100644 --- a/src/main/deploy/pathplanner/autos/Right Limelight 1 Piece.auto +++ b/src/main/deploy/pathplanner/autos/Right Limelight 1 Piece.auto @@ -2,8 +2,8 @@ "version": 1.0, "startingPose": { "position": { - "x": 1.4048307100172925, - "y": 5.570246205735591 + "x": 0.7134190306340287, + "y": 4.411401278318571 }, "rotation": -61.557071375636745 }, @@ -11,85 +11,28 @@ "type": "sequential", "data": { "commands": [ - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "AlignToAprilTagMegaTag2" - } - }, - { - "type": "named", - "data": { - "name": "AimArmSpeakerMT2" - } - } - ] - } - }, { "type": "named", "data": { - "name": "PassToOuttake" - } - }, - { - "type": "named", - "data": { - "name": "ArmToGround" - } - }, - { - "type": "deadline", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "Right Limelight 1 Piece" - } - }, - { - "type": "named", - "data": { - "name": "Intake" - } - } - ] + "name": "Shoot" } }, { - "type": "parallel", + "type": "path", "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "AlignToAprilTagMegaTag2" - } - }, - { - "type": "named", - "data": { - "name": "AimArmSpeakerMT2" - } - } - ] + "pathName": "Right Limelight 1 Piece" } }, { "type": "named", "data": { - "name": "PassToOuttake" + "name": "Limelight Intake Straight" } }, { "type": "named", "data": { - "name": "ArmToGround" + "name": "Shoot" } } ] diff --git a/src/main/deploy/pathplanner/autos/Right Limelight 4 Piece.auto b/src/main/deploy/pathplanner/autos/Right Limelight 4 Piece.auto index dfa0eb3a..bd95a568 100644 --- a/src/main/deploy/pathplanner/autos/Right Limelight 4 Piece.auto +++ b/src/main/deploy/pathplanner/autos/Right Limelight 4 Piece.auto @@ -11,204 +11,76 @@ "type": "sequential", "data": { "commands": [ - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "AlignToAprilTagMegaTag2" - } - }, - { - "type": "named", - "data": { - "name": "AimArmSpeakerMT2" - } - } - ] - } - }, - { - "type": "named", - "data": { - "name": "PassToOuttake" - } - }, { "type": "named", "data": { - "name": "ArmToGround" - } - }, - { - "type": "deadline", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "Right Limelight 1" - } - }, - { - "type": "named", - "data": { - "name": "Intake" - } - } - ] + "name": "Shoot" } }, { - "type": "parallel", + "type": "path", "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "AlignToAprilTagMegaTag2" - } - }, - { - "type": "named", - "data": { - "name": "AimArmSpeakerMT2" - } - } - ] + "pathName": "Right Limelight 1" } }, { "type": "named", "data": { - "name": "PassToOuttake" + "name": "Limelight Intake Straight" } }, { "type": "named", "data": { - "name": "ArmToGround" + "name": "Shoot" } }, { - "type": "deadline", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "Right Limelight 2" - } - }, - { - "type": "named", - "data": { - "name": "Intake" - } - } - ] - } - }, - { - "type": "parallel", + "type": "path", "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "AlignToAprilTagMegaTag2" - } - }, - { - "type": "named", - "data": { - "name": "AimArmSpeakerMT2" - } - } - ] + "pathName": "Right Limelight 2" } }, { "type": "named", "data": { - "name": "PassToOuttake" + "name": "Limelight Intake Straight" } }, { "type": "named", "data": { - "name": "ArmToGround" + "name": "Shoot" } }, { - "type": "deadline", + "type": "path", "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "Right Limelight 3" - } - }, - { - "type": "named", - "data": { - "name": "Intake" - } - } - ] + "pathName": "Right Limelight 3" } }, { - "type": "parallel", + "type": "named", "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "AlignToAprilTagMegaTag2" - } - }, - { - "type": "named", - "data": { - "name": "AimArmSpeakerMT2" - } - } - ] + "name": "Limelight Intake Straight" } }, { "type": "named", "data": { - "name": "PassToOuttake" + "name": "Shoot" } }, { - "type": "named", + "type": "path", "data": { - "name": "ArmToGround" + "pathName": "Right Limelight 4" } }, { - "type": "deadline", + "type": "named", "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "Right Limelight 4" - } - }, - { - "type": "named", - "data": { - "name": "Intake" - } - } - ] + "name": "Limelight Intake CCW" } }, { @@ -217,54 +89,22 @@ "pathName": "Right Limelight 5" } }, - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "AlignToAprilTagMegaTag2" - } - }, - { - "type": "named", - "data": { - "name": "AimArmSpeakerMT2" - } - } - ] - } - }, { "type": "named", "data": { - "name": "PassToOuttake" + "name": "Shoot" } }, { - "type": "named", + "type": "path", "data": { - "name": "ArmToGround" + "pathName": "Right Limelight 6" } }, { - "type": "deadline", + "type": "named", "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "Right Limelight 6" - } - }, - { - "type": "named", - "data": { - "name": "Intake" - } - } - ] + "name": "Limelight Intake CCW" } } ] diff --git a/src/main/deploy/pathplanner/paths/Center Field Limelight 1.path b/src/main/deploy/pathplanner/paths/Center Field Limelight 1.path index c1073fe9..69196ddb 100644 --- a/src/main/deploy/pathplanner/paths/Center Field Limelight 1.path +++ b/src/main/deploy/pathplanner/paths/Center Field Limelight 1.path @@ -8,20 +8,20 @@ }, "prevControl": null, "nextControl": { - "x": 2.358727567327909, - "y": 6.694858784119604 + "x": 2.3796163622861606, + "y": 6.92463552866037 }, "isLocked": false, "linkedName": null }, { "anchor": { - "x": 5.6904903631690225, - "y": 6.496415232016215 + "x": 7.372038357308267, + "y": 6.0055285504973055 }, "prevControl": { - "x": 3.298723340449227, - "y": 6.569526014370095 + "x": 5.001160129546722, + "y": 6.903746733702119 }, "nextControl": null, "isLocked": false, diff --git a/src/main/deploy/pathplanner/paths/Center Field Limelight 3.path b/src/main/deploy/pathplanner/paths/Center Field Limelight 3.path index 6553d4ac..d5b61eb0 100644 --- a/src/main/deploy/pathplanner/paths/Center Field Limelight 3.path +++ b/src/main/deploy/pathplanner/paths/Center Field Limelight 3.path @@ -16,12 +16,12 @@ }, { "anchor": { - "x": 4.593828627860818, - "y": 6.423304449662335 + "x": 3.6747216496977533, + "y": 5.838418190831293 }, "prevControl": { - "x": 5.001160129546722, - "y": 6.966413118576873 + "x": 4.0820531513836595, + "y": 6.381526859745831 }, "nextControl": null, "isLocked": false, @@ -39,7 +39,7 @@ }, "goalEndState": { "velocity": 0, - "rotation": 0.0, + "rotation": 4.085616779974883, "rotateFast": false }, "reversed": false, diff --git a/src/main/deploy/pathplanner/paths/Center Field Limelight 4.path b/src/main/deploy/pathplanner/paths/Center Field Limelight 4.path index fd315072..cae24c47 100644 --- a/src/main/deploy/pathplanner/paths/Center Field Limelight 4.path +++ b/src/main/deploy/pathplanner/paths/Center Field Limelight 4.path @@ -3,13 +3,13 @@ "waypoints": [ { "anchor": { - "x": 4.593828627860818, - "y": 6.423304449662335 + "x": 3.726943637093382, + "y": 5.45197548410364 }, "prevControl": null, "nextControl": { - "x": 4.510273448027813, - "y": 6.0055285504973055 + "x": 4.071608753904531, + "y": 4.96108880258473 }, "isLocked": false, "linkedName": null @@ -32,12 +32,12 @@ }, { "anchor": { - "x": 7.894258231264555, - "y": 4.073315016859041 + "x": 7.403371549745644, + "y": 4.219536581566802 }, "prevControl": { - "x": 7.100484022850999, - "y": 4.1777589916502995 + "x": 6.609597341332088, + "y": 4.32398055635806 }, "nextControl": null, "isLocked": false, diff --git a/src/main/deploy/pathplanner/paths/Center Field Limelight 5.path b/src/main/deploy/pathplanner/paths/Center Field Limelight 5.path index 3bbbe8bf..155e08e8 100644 --- a/src/main/deploy/pathplanner/paths/Center Field Limelight 5.path +++ b/src/main/deploy/pathplanner/paths/Center Field Limelight 5.path @@ -32,12 +32,12 @@ }, { "anchor": { - "x": 4.5624954354234415, - "y": 6.256194089996322 + "x": 3.6538328547395014, + "y": 5.65041903620703 }, "prevControl": { - "x": 4.61471742281907, - "y": 5.0759771748551135 + "x": 4.489384653069561, + "y": 4.595534890815329 }, "nextControl": null, "isLocked": false, diff --git a/src/main/deploy/pathplanner/paths/Center Field Limelight 6.path b/src/main/deploy/pathplanner/paths/Center Field Limelight 6.path index f76dfe9a..70123210 100644 --- a/src/main/deploy/pathplanner/paths/Center Field Limelight 6.path +++ b/src/main/deploy/pathplanner/paths/Center Field Limelight 6.path @@ -32,12 +32,12 @@ }, { "anchor": { - "x": 7.862925038827178, - "y": 2.736432139530946 + "x": 7.466037934620398, + "y": 2.9662088840717122 }, "prevControl": { - "x": 7.069150830413621, - "y": 3.5302063479445027 + "x": 6.672263726206841, + "y": 3.759983092485269 }, "nextControl": null, "isLocked": false, diff --git a/src/main/deploy/pathplanner/paths/Center Forward.path b/src/main/deploy/pathplanner/paths/Center Forward.path new file mode 100644 index 00000000..e9bca659 --- /dev/null +++ b/src/main/deploy/pathplanner/paths/Center Forward.path @@ -0,0 +1,52 @@ +{ + "version": 1.0, + "waypoints": [ + { + "anchor": { + "x": 1.335176614373586, + "y": 5.535530663936646 + }, + "prevControl": null, + "nextControl": { + "x": 5.126492899296232, + "y": 7.687076544636549 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 8.766904366548946, + "y": 6.8946404084978985 + }, + "prevControl": { + "x": 7.766904366548946, + "y": 6.8946404084978985 + }, + "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": 50.355825042855095, + "rotateFast": false + }, + "reversed": false, + "folder": null, + "previewStartingState": { + "rotation": 0.0, + "velocity": 0 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Center Limelight 1 Piece.path b/src/main/deploy/pathplanner/paths/Center Limelight 1 Piece.path index e0f6b1e5..8ee1d2ae 100644 --- a/src/main/deploy/pathplanner/paths/Center Limelight 1 Piece.path +++ b/src/main/deploy/pathplanner/paths/Center Limelight 1 Piece.path @@ -8,20 +8,20 @@ }, "prevControl": null, "nextControl": { - "x": 2.404830710017292, - "y": 5.570246205735591 + "x": 1.867840885808999, + "y": 5.566863856374023 }, "isLocked": false, "linkedName": null }, { "anchor": { - "x": 2.7389631054469707, + "x": 2.0245068479958848, "y": 5.570246205735591 }, "prevControl": { - "x": 1.7389631054469707, - "y": 5.570246205735591 + "x": 1.5545089614352265, + "y": 5.566863856374023 }, "nextControl": null, "isLocked": false, diff --git a/src/main/deploy/pathplanner/paths/Center Limelight 1.path b/src/main/deploy/pathplanner/paths/Center Limelight 1.path index 0bc9a9ce..46e87732 100644 --- a/src/main/deploy/pathplanner/paths/Center Limelight 1.path +++ b/src/main/deploy/pathplanner/paths/Center Limelight 1.path @@ -8,20 +8,20 @@ }, "prevControl": null, "nextControl": { - "x": 2.3561397466804435, - "y": 5.531293435066112 + "x": 2.0245068479958848, + "y": 5.525086266457521 }, "isLocked": false, "linkedName": null }, { "anchor": { - "x": 1.909024481556072, + "x": 2.0453956429541362, "y": 5.531293435066112 }, "prevControl": { - "x": 0.909024481556072, - "y": 5.531293435066112 + "x": 1.4709537816022202, + "y": 5.525086266457521 }, "nextControl": null, "isLocked": false, diff --git a/src/main/deploy/pathplanner/paths/Center Limelight 2.path b/src/main/deploy/pathplanner/paths/Center Limelight 2.path index 71eb0f9a..4b955bee 100644 --- a/src/main/deploy/pathplanner/paths/Center Limelight 2.path +++ b/src/main/deploy/pathplanner/paths/Center Limelight 2.path @@ -16,12 +16,12 @@ }, { "anchor": { - "x": 1.8701178634584756, - "y": 6.195878932042224 + "x": 2.2438391950575256, + "y": 6.485970834537088 }, "prevControl": { - "x": 1.198978701274938, - "y": 5.991619187029844 + "x": 1.7320637185803638, + "y": 6.193527705121568 }, "nextControl": null, "isLocked": false, diff --git a/src/main/deploy/pathplanner/paths/Center Limelight 3.path b/src/main/deploy/pathplanner/paths/Center Limelight 3.path index 4fd2b525..58ba045b 100644 --- a/src/main/deploy/pathplanner/paths/Center Limelight 3.path +++ b/src/main/deploy/pathplanner/paths/Center Limelight 3.path @@ -8,20 +8,20 @@ }, "prevControl": null, "nextControl": { - "x": 2.0475514260637064, - "y": 6.368778004459924 + "x": 2.4527271446400407, + "y": 6.3188604748710775 }, "isLocked": false, "linkedName": null }, { "anchor": { - "x": 1.899297827031673, - "y": 4.960593807443538 + "x": 2.108062027828891, + "y": 4.3344249538371855 }, "prevControl": { - "x": 1.3247444596568483, - "y": 5.272215972799375 + "x": 2.1602840152245197, + "y": 4.96108880258473 }, "nextControl": null, "isLocked": false, @@ -39,7 +39,7 @@ }, "goalEndState": { "velocity": 0, - "rotation": -43.36342295838326, + "rotation": -12.804266065286738, "rotateFast": false }, "reversed": false, diff --git a/src/main/deploy/pathplanner/paths/Center Limelight 4.path b/src/main/deploy/pathplanner/paths/Center Limelight 4.path index f5f7661f..ff245aae 100644 --- a/src/main/deploy/pathplanner/paths/Center Limelight 4.path +++ b/src/main/deploy/pathplanner/paths/Center Limelight 4.path @@ -16,12 +16,12 @@ }, { "anchor": { - "x": 7.064151379487593, - "y": 2.344123740380181 + "x": 7.413815947224771, + "y": 2.391767022719796 }, "prevControl": { - "x": 5.759233562060025, - "y": 1.3995190516453007 + "x": 6.108898129797203, + "y": 1.4471623339849158 }, "nextControl": null, "isLocked": false, diff --git a/src/main/deploy/pathplanner/paths/Center Limelight 5.path b/src/main/deploy/pathplanner/paths/Center Limelight 5.path index f00426cc..57299a71 100644 --- a/src/main/deploy/pathplanner/paths/Center Limelight 5.path +++ b/src/main/deploy/pathplanner/paths/Center Limelight 5.path @@ -16,12 +16,12 @@ }, { "anchor": { - "x": 2.8330566613739863, - "y": 3.4821423197348755 + "x": 1.7947301034551182, + "y": 3.4988731555071255 }, "prevControl": { - "x": 3.2517989460708923, - "y": 2.0603661902988692 + "x": 2.2134723881520246, + "y": 2.0770970260711192 }, "nextControl": null, "isLocked": false, @@ -39,7 +39,7 @@ }, "goalEndState": { "velocity": 0, - "rotation": -41.42366562500259, + "rotation": -51.91122711902467, "rotateFast": false }, "reversed": false, diff --git a/src/main/deploy/pathplanner/paths/Center Limelight 6.path b/src/main/deploy/pathplanner/paths/Center Limelight 6.path index b20b0955..25c3ba2b 100644 --- a/src/main/deploy/pathplanner/paths/Center Limelight 6.path +++ b/src/main/deploy/pathplanner/paths/Center Limelight 6.path @@ -16,12 +16,12 @@ }, { "anchor": { - "x": 7.696383923573536, - "y": 3.063896175185714 + "x": 7.915147026222807, + "y": 3.3839847832367425 }, "prevControl": { - "x": 7.297118024211369, - "y": 1.690811009086556 + "x": 7.5158811268606405, + "y": 2.0108996171375844 }, "nextControl": null, "isLocked": false, diff --git a/src/main/deploy/pathplanner/paths/CenterBackup1.path b/src/main/deploy/pathplanner/paths/CenterBackup1.path new file mode 100644 index 00000000..d9f37c8f --- /dev/null +++ b/src/main/deploy/pathplanner/paths/CenterBackup1.path @@ -0,0 +1,52 @@ +{ + "version": 1.0, + "waypoints": [ + { + "anchor": { + "x": 1.3464015540130732, + "y": 5.57998439840296 + }, + "prevControl": null, + "nextControl": { + "x": 2.346401554013074, + "y": 5.57998439840296 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 3.4888039408344538, + "y": 5.57998439840296 + }, + "prevControl": { + "x": 2.4888039408344538, + "y": 5.57998439840296 + }, + "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": 0, + "rotateFast": false + }, + "reversed": false, + "folder": null, + "previewStartingState": { + "rotation": 0, + "velocity": 0 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/CenterBackup2.path b/src/main/deploy/pathplanner/paths/CenterBackup2.path new file mode 100644 index 00000000..4d300cd3 --- /dev/null +++ b/src/main/deploy/pathplanner/paths/CenterBackup2.path @@ -0,0 +1,52 @@ +{ + "version": 1.0, + "waypoints": [ + { + "anchor": { + "x": 3.420636592162865, + "y": 5.570246205735591 + }, + "prevControl": null, + "nextControl": { + "x": 1.68723829737102, + "y": 6.3785161971272935 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 3.420636592162865, + "y": 7.040713298508448 + }, + "prevControl": { + "x": 1.7554056460426093, + "y": 7.1380952251821475 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [], + "constraintZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 3.0, + 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b/src/main/deploy/pathplanner/paths/CenterBackup5.path @@ -0,0 +1,52 @@ +{ + "version": 1.0, + "waypoints": [ + { + "anchor": { + "x": 8.60135509120366, + "y": 2.697479368861467 + }, + "prevControl": null, + "nextControl": { + "x": 6.585549209058087, + "y": 0.43821867003164694 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 1.74250811605949, + "y": 3.4675399630697483 + }, + "prevControl": { + "x": 1.9470101620742586, + "y": 2.9514157516991433 + }, + "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": -45.00000000000005, + "rotateFast": false + }, + "reversed": false, + "folder": null, + "previewStartingState": { + "rotation": 21.80140948635179, + "velocity": 0 + }, + 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c5addb31..20c763cd 100644 --- a/src/main/deploy/pathplanner/paths/Left Limelight 2.path +++ b/src/main/deploy/pathplanner/paths/Left Limelight 2.path @@ -8,20 +8,20 @@ }, "prevControl": null, "nextControl": { - "x": 1.463259866021512, - "y": 6.485636316468363 + "x": 2.1707284127036455, + "y": 6.015972947981653 }, "isLocked": false, "linkedName": null }, { "anchor": { - "x": 2.583152022769052, - "y": 5.502078857064002 + "x": 2.0036180530376333, + "y": 5.598197048816623 }, "prevControl": { - "x": 2.144933352737406, - "y": 5.443649701059782 + "x": 2.0976176303497653, + "y": 5.974195358065149 }, "nextControl": null, "isLocked": false, diff --git a/src/main/deploy/pathplanner/paths/Left Limelight 3.path b/src/main/deploy/pathplanner/paths/Left Limelight 3.path index 518b26d1..162e3dfd 100644 --- a/src/main/deploy/pathplanner/paths/Left Limelight 3.path +++ b/src/main/deploy/pathplanner/paths/Left Limelight 3.path @@ -8,20 +8,20 @@ }, "prevControl": null, "nextControl": { - "x": 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"isLocked": false, diff --git a/src/main/deploy/pathplanner/paths/Left Limelight 5.path b/src/main/deploy/pathplanner/paths/Left Limelight 5.path index 60e7e539..2ed678d2 100644 --- a/src/main/deploy/pathplanner/paths/Left Limelight 5.path +++ b/src/main/deploy/pathplanner/paths/Left Limelight 5.path @@ -8,20 +8,20 @@ }, "prevControl": null, "nextControl": { - "x": 7.4035573931171585, - "y": 1.4607289001060078 + "x": 6.849818483351981, + "y": 0.3342207193320248 }, "isLocked": false, "linkedName": null }, { "anchor": { - "x": 3.1090144268009174, - "y": 2.3176898548345597 + "x": 1.2620658320197053, + "y": 3.676427912652264 }, "prevControl": { - "x": 3.644615023506263, - "y": 1.7723510654618457 + "x": 1.6693973337056094, + "y": 3.0288752689464666 }, "nextControl": null, "isLocked": false, @@ -39,7 +39,7 @@ }, "goalEndState": { "velocity": 0, - "rotation": -29.054604099077075, + "rotation": -55.61965527615521, "rotateFast": false }, "reversed": false, diff --git a/src/main/deploy/pathplanner/paths/Left Limelight 6.path b/src/main/deploy/pathplanner/paths/Left Limelight 6.path index 6bb7a742..e2a5cfac 100644 --- a/src/main/deploy/pathplanner/paths/Left Limelight 6.path +++ b/src/main/deploy/pathplanner/paths/Left Limelight 6.path @@ -3,41 +3,41 @@ "waypoints": [ { "anchor": { - "x": 3.1090144268009174, - "y": 2.3176898548345597 + "x": 2.442282747160915, + "y": 2.778209729447448 }, "prevControl": null, "nextControl": { - "x": 4.452885014904075, - "y": 3.3402000849078815 + "x": 3.9044983942385194, + "y": 3.4466511681114964 }, "isLocked": false, "linkedName": null }, { "anchor": { - "x": 5.144296694287339, - "y": 3.768680562272157 + "x": 4.844494167359836, + "y": 3.7182055025687664 }, "prevControl": { - "x": 4.480206191370604, - "y": 3.540399451894529 + "x": 4.3358036908498185, + "y": 2.9157338243683215 }, "nextControl": { - "x": 6.079163190354851, - "y": 4.0900409202953645 + "x": 5.3737648046055755, + "y": 4.553142888082103 }, "isLocked": false, 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a/src/main/deploy/pathplanner/paths/Right Limelight 3.path b/src/main/deploy/pathplanner/paths/Right Limelight 3.path index 7328a0d1..1c04842e 100644 --- a/src/main/deploy/pathplanner/paths/Right Limelight 3.path +++ b/src/main/deploy/pathplanner/paths/Right Limelight 3.path @@ -8,20 +8,20 @@ }, "prevControl": null, "nextControl": { - "x": 1.3171869760109631, - "y": 5.7357954810808796 + "x": 2.2542835925366513, + "y": 6.2457496925171965 }, "isLocked": false, "linkedName": null }, { "anchor": { - "x": 2.5052464814300928, - "y": 6.962807757169489 + "x": 1.9513960656420046, + "y": 7.008190708493376 }, "prevControl": { - "x": 1.5052464814300928, - "y": 6.962807757169489 + "x": 2.3691719648070344, + "y": 5.94286216562255 }, "nextControl": null, "isLocked": false, diff --git a/src/main/deploy/pathplanner/paths/Right Limelight 4.path b/src/main/deploy/pathplanner/paths/Right Limelight 4.path index 81c68e07..79b2940e 100644 --- a/src/main/deploy/pathplanner/paths/Right Limelight 4.path +++ b/src/main/deploy/pathplanner/paths/Right Limelight 4.path @@ -3,25 +3,25 @@ "waypoints": [ { "anchor": { - "x": 2.5052464814300928, - "y": 6.962807757169489 + "x": 3.225612558095346, + "y": 7.0186351059725025 }, "prevControl": null, "nextControl": { - "x": 3.7809497208555514, - "y": 7.371811849199025 + "x": 4.501315797520807, + "y": 7.427639198002039 }, "isLocked": false, "linkedName": null }, { "anchor": { - "x": 7.812561485146696, - "y": 5.794224637085098 + "x": 7.455593537141273, + "y": 5.786196203435664 }, "prevControl": { - "x": 6.8874331817465535, - "y": 6.174014151112526 + "x": 6.530465233741131, + "y": 6.165985717463092 }, "nextControl": null, "isLocked": false, diff --git a/src/main/deploy/pathplanner/paths/Right Limelight 5.path b/src/main/deploy/pathplanner/paths/Right Limelight 5.path index 0f6295fc..3cd23885 100644 --- a/src/main/deploy/pathplanner/paths/Right Limelight 5.path +++ b/src/main/deploy/pathplanner/paths/Right Limelight 5.path @@ -8,20 +8,20 @@ }, "prevControl": null, "nextControl": { - "x": 6.867956796411813, - "y": 6.534327279805212 + "x": 6.254487827041813, + "y": 7.582632569845292 }, "isLocked": false, "linkedName": null }, { "anchor": { - "x": 3.849117069527141, - "y": 6.641447399146282 + "x": 3.0271690059919565, + "y": 5.410197894187137 }, "prevControl": { - "x": 4.472361400238816, - "y": 6.75830571115472 + "x": 3.650413336703628, + "y": 5.527056206195575 }, "nextControl": null, "isLocked": false, @@ -39,7 +39,7 @@ }, "goalEndState": { "velocity": 0, - "rotation": 0, + "rotation": 3.179830119864366, "rotateFast": false }, "reversed": false, diff --git a/src/main/deploy/pathplanner/paths/Right Limelight 6.path b/src/main/deploy/pathplanner/paths/Right Limelight 6.path index b5bff3fd..aef4c03f 100644 --- a/src/main/deploy/pathplanner/paths/Right Limelight 6.path +++ b/src/main/deploy/pathplanner/paths/Right Limelight 6.path @@ -3,13 +3,13 @@ "waypoints": [ { "anchor": { - "x": 3.849117069527141, - "y": 6.641447399146282 + 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a/src/main/deploy/pathplanner/paths/Right-Auto Ruiner.path +++ b/src/main/deploy/pathplanner/paths/Right-Auto Ruiner.path @@ -16,48 +16,48 @@ }, { "anchor": { - "x": 8.116213463908409, - "y": 0.886175532730662 + "x": 8.34816208185204, + "y": 0.8277463767264434 }, "prevControl": { - "x": 7.685460491538737, - "y": 0.7277380121519171 + "x": 7.917409109482368, + "y": 0.6693088561476985 }, "nextControl": { - "x": 9.394501771274664, - "y": 1.3563494908806235 + "x": 9.626450389218295, + "y": 1.297920334876405 }, "isLocked": false, "linkedName": null }, { "anchor": { - "x": 7.873369436306303, - "y": 2.3079516621666696 + "x": 8.116213463908409, + "y": 2.2982134694993004 }, "prevControl": { - "x": 6.12222005788186, - "y": 1.299856480100275 + "x": 6.365064085483965, + "y": 1.2901182874329058 }, "nextControl": { - "x": 9.175908458578483, - "y": 3.057792497554153 + "x": 9.41875248618059, + "y": 3.048054304886784 }, "isLocked": false, "linkedName": null }, { "anchor": { - "x": 7.873369436306303, - 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b/src/main/deploy/pathplanner/paths/RightBackup3.path @@ -0,0 +1,52 @@ +{ + "version": 1.0, + "waypoints": [ + { + "anchor": { + "x": 3.236056955574472, + "y": 5.514641868978395 + }, + "prevControl": null, + "nextControl": { + "x": 1.9200628732046274, + "y": 6.203972102600694 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 3.518055687510867, + "y": 7.008190708493376 + }, + "prevControl": { + "x": 2.1080620278288915, + "y": 7.206634260596767 + }, + "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": 0, + "rotateFast": false + }, + "reversed": false, + "folder": null, + "previewStartingState": { + "rotation": 2.544804379813093, + "velocity": 0 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/RightBackup4.path b/src/main/deploy/pathplanner/paths/RightBackup4.path new file mode 100644 index 00000000..d4f205a0 --- /dev/null +++ b/src/main/deploy/pathplanner/paths/RightBackup4.path @@ -0,0 +1,52 @@ +{ + "version": 1.0, + "waypoints": [ + { + "anchor": { + "x": 3.518055687510867, + "y": 7.008190708493376 + }, + "prevControl": null, + "nextControl": { + "x": 3.1525017757414653, + "y": 6.945524323618622 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 2.4005051572444116, + "y": 6.7053031815987305 + }, + "prevControl": { + "x": 2.828725453888568, + "y": 6.85152474630649 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [], + "constraintZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 3.0, + "maxAcceleration": 3.0, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0 + }, + 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"anchor": { + "x": 3.93676080353347, + "y": 5.151503921038685 + }, + "prevControl": null, + "nextControl": { + "x": 4.676863446253583, + "y": 4.9275254896891765 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 5.368275125636847, + "y": 4.343233929646981 + }, + "prevControl": { + "x": 4.614824152751561, + "y": 4.333932065784199 + }, + "nextControl": { + "x": 6.15706873169381, + "y": 4.352972122314352 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 8.63056966920577, + "y": 3.963444415619555 + }, + "prevControl": { + "x": 7.54963028312771, + "y": 4.3140193516448715 + }, + "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": 0, + "rotateFast": false + }, + "reversed": false, + "folder": null, + "previewStartingState": { + "rotation": 2.544804379813093, + "velocity": 0 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/src/main/java/org/carlmontrobotics/RobotContainer.java b/src/main/java/org/carlmontrobotics/RobotContainer.java index d9ddb660..abb37f7f 100644 --- a/src/main/java/org/carlmontrobotics/RobotContainer.java +++ b/src/main/java/org/carlmontrobotics/RobotContainer.java @@ -112,6 +112,13 @@ public class RobotContainer { "Center Limelight 4 Piece", "Center Limelight 4 Piece Path Following", "Left-Amp", + + "Center Limelight 1 Piece", "Left Limelight 1 Piece", + "Right Limelight 1 Piece", "Center Field Limelight", + "Center Field Limelight(No Preload)", "Center Forward", + "Right Forward", "Left Forward", + "Backup-Center", "Backup-Right", "Backup-Left", + }; DigitalInput[] autoSelectors = new DigitalInput[Math.min(autoNames.length, 10)]; @@ -194,7 +201,7 @@ private void setBindingsDriver() { .onFalse(new InstantCommand(() -> drivetrain.setFieldOriented(true))); axisTrigger(driverController, Manipulator.SHOOTER_BUTTON) - .whileTrue(new AlignToApriltag(drivetrain, limelight)); + .whileTrue(new AlignToApriltag(drivetrain, limelight, 2.0)); new JoystickButton(driverController, Driver.rotateFieldRelative0Deg).onTrue( new RotateToFieldRelativeAngle(Rotation2d.fromDegrees(0), drivetrain)); new JoystickButton(driverController, Driver.rotateFieldRelative90Deg) @@ -359,9 +366,12 @@ private void registerAutoCommands() { NamedCommands.registerCommand("AimArmSpeakerMT2", new AimArmSpeaker(arm, limelight)); NamedCommands.registerCommand("AlignToAprilTagMegaTag2", - new AlignToApriltag(drivetrain, limelight)); + new AlignToApriltag(drivetrain, limelight, 0.0)); NamedCommands.registerCommand("Shoot", new SequentialCommandGroup( - new ParallelCommandGroup(new AlignToApriltag(drivetrain, limelight), + new ParallelCommandGroup( + // TODO: Use Align To Drivetrain + // new AlignDrivetrain(drivetrain), + new AlignToApriltag(drivetrain, limelight, 0.0), new AimArmSpeaker(arm, limelight), new RampRPMAuton(intakeShooter)), new PassToOuttake(intakeShooter), @@ -375,6 +385,11 @@ private void registerAutoCommands() { new AutoMATICALLYGetNote(drivetrain, limelight, intakeShooter, -1))); + NamedCommands.registerCommand("Limelight Intake Straight", + new ParallelCommandGroup(new Intake(intakeShooter), + new AutoMATICALLYGetNote(drivetrain, limelight, + intakeShooter, 0))); + NamedCommands.registerCommand("StopIntake", new InstantCommand(intakeShooter::stopIntake)); NamedCommands.registerCommand("StopOutake", diff --git a/src/main/java/org/carlmontrobotics/commands/AlignDrivetrain.java b/src/main/java/org/carlmontrobotics/commands/AlignDrivetrain.java new file mode 100644 index 00000000..4718754c --- /dev/null +++ b/src/main/java/org/carlmontrobotics/commands/AlignDrivetrain.java @@ -0,0 +1,47 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +package org.carlmontrobotics.commands; + +import java.util.Optional; + +import org.carlmontrobotics.subsystems.Drivetrain; + +import edu.wpi.first.math.geometry.Rotation2d; +import edu.wpi.first.wpilibj.DriverStation.Alliance; +import edu.wpi.first.wpilibj2.command.InstantCommand; +import edu.wpi.first.wpilibj2.command.ProxyCommand; +import edu.wpi.first.wpilibj.DriverStation; + +/** Add your docs here. */ +public class AlignDrivetrain extends ProxyCommand { + static double blueSpeakerX = 0.14; + static double blueSpeakerY = 5.54; + + static double redSpeakerX = 16.36; + static double redSpeakerY = 5.51; + + public AlignDrivetrain(Drivetrain dt) { + super(() -> { + Optional allianceSide = DriverStation.getAlliance(); + if (allianceSide.get() == Alliance.Red) { + // double redAngle = Math.atan2(redSpeakerY-dt.getPose().getY(), + // dt.getPose().getX()); + return new RotateToFieldRelativeAngle(new Rotation2d( + dt.getPose().getX(), blueSpeakerY - dt.getPose().getY()), dt); + + } else if (allianceSide.get() == Alliance.Blue) { + // double blueAngle = Math.atan2(blueSpeakerY-dt.getPose().getY(), + // dt.getPose().getX()); + return new RotateToFieldRelativeAngle( + new Rotation2d(redSpeakerX - dt.getPose().getX(), + redSpeakerY - dt.getPose().getY()), + dt); + + } + // create an if statement based on alliance side + return new InstantCommand(); + }); + } +} diff --git a/src/main/java/org/carlmontrobotics/commands/AlignToApriltag.java b/src/main/java/org/carlmontrobotics/commands/AlignToApriltag.java index 57b0a242..07331e9f 100644 --- a/src/main/java/org/carlmontrobotics/commands/AlignToApriltag.java +++ b/src/main/java/org/carlmontrobotics/commands/AlignToApriltag.java @@ -30,9 +30,12 @@ public class AlignToApriltag extends Command { SmartDashboard.getNumber("apriltag align kd", thetaPIDController[2])); - public AlignToApriltag(Drivetrain drivetrain, Limelight limelight) { + double RotationSpeed = 0.0; + + public AlignToApriltag(Drivetrain drivetrain, Limelight limelight, double RotationSpeed) { this.limelight = limelight; this.drivetrain = drivetrain; + this.RotationSpeed = RotationSpeed; this.teleopDrive = (TeleopDrive) drivetrain.getDefaultCommand(); rotationPID.enableContinuousInput(-180, 180); @@ -95,7 +98,7 @@ public void execute() { double rotationDrive = rotationPID.calculate(drivetrain.getHeading()); if (!limelight.seesTag()) { - rotationDrive = 2; + rotationDrive = RotationSpeed; } if (rotationPID.atSetpoint()) rotationDrive = 0;