diff --git a/src/main/deploy/pathplanner/autos/Inside_2_CoralL2.auto b/src/main/deploy/pathplanner/autos/Inside_2_CoralL2.auto new file mode 100644 index 0000000..b2e762c --- /dev/null +++ b/src/main/deploy/pathplanner/autos/Inside_2_CoralL2.auto @@ -0,0 +1,45 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "Inside_2" + } + }, + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "elevatorHome" + } + }, + { + "type": "named", + "data": { + "name": "coralLevelTwo" + } + } + ] + } + } + ] + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Inside_4_CoralL2.auto b/src/main/deploy/pathplanner/autos/Inside_4_CoralL2.auto new file mode 100644 index 0000000..e92c090 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/Inside_4_CoralL2.auto @@ -0,0 +1,45 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "Inside_4" + } + }, + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "elevatorHome" + } + }, + { + "type": "named", + "data": { + "name": "coralLevelTwo" + } + } + ] + } + } + ] + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Inside_4_CoralL4.auto b/src/main/deploy/pathplanner/autos/Inside_4_CoralL4.auto new file mode 100644 index 0000000..dc14aa1 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/Inside_4_CoralL4.auto @@ -0,0 +1,45 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "Inside_4" + } + }, + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "elevatorHome" + } + }, + { + "type": "named", + "data": { + "name": "coralLevelFour" + } + } + ] + } + } + ] + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/MId-2-To-Processor.auto b/src/main/deploy/pathplanner/autos/Inside_Drive.auto similarity index 63% rename from src/main/deploy/pathplanner/autos/MId-2-To-Processor.auto rename to src/main/deploy/pathplanner/autos/Inside_Drive.auto index 442498b..9d3436d 100644 --- a/src/main/deploy/pathplanner/autos/MId-2-To-Processor.auto +++ b/src/main/deploy/pathplanner/autos/Inside_Drive.auto @@ -7,13 +7,7 @@ { "type": "path", "data": { - "pathName": "Mid_3" - } - }, - { - "type": "path", - "data": { - "pathName": "2-Processor" + "pathName": "Inside_Drive" } } ] diff --git a/src/main/deploy/pathplanner/autos/Low-1-To-Processor.auto b/src/main/deploy/pathplanner/autos/Low-1-To-Processor.auto deleted file mode 100644 index 12b25f5..0000000 --- a/src/main/deploy/pathplanner/autos/Low-1-To-Processor.auto +++ /dev/null @@ -1,25 +0,0 @@ -{ - "version": "2025.0", - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "Inside_to1" - } - }, - { - "type": "path", - "data": { - "pathName": "1-Processor" - } - } - ] - } - }, - "resetOdom": true, - "folder": null, - "choreoAuto": false -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Low-2-To-Processor.auto b/src/main/deploy/pathplanner/autos/Low-2-To-Processor.auto deleted file mode 100644 index ca4ac89..0000000 --- a/src/main/deploy/pathplanner/autos/Low-2-To-Processor.auto +++ /dev/null @@ -1,25 +0,0 @@ -{ - "version": "2025.0", - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "Inside_to3" - } - }, - { - "type": "path", - "data": { - "pathName": "2-Processor" - } - } - ] - } - }, - "resetOdom": true, - "folder": null, - "choreoAuto": false -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Low-3-To-Processor.auto b/src/main/deploy/pathplanner/autos/Low-3-To-Processor.auto deleted file mode 100644 index cd3b0de..0000000 --- a/src/main/deploy/pathplanner/autos/Low-3-To-Processor.auto +++ /dev/null @@ -1,25 +0,0 @@ -{ - "version": "2025.0", - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "Inside_to5" - } - }, - { - "type": "path", - "data": { - "pathName": "3-Processor" - } - } - ] - } - }, - "resetOdom": true, - "folder": null, - "choreoAuto": false -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Low-4-To-Processor.auto b/src/main/deploy/pathplanner/autos/Low-4-To-Processor.auto deleted file mode 100644 index 068cc75..0000000 --- a/src/main/deploy/pathplanner/autos/Low-4-To-Processor.auto +++ /dev/null @@ -1,25 +0,0 @@ -{ - "version": "2025.0", - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "inside_to7" - } - }, - { - "type": "path", - "data": { - "pathName": "4-Processor" - } - } - ] - } - }, - "resetOdom": true, - "folder": null, - "choreoAuto": false -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Low-6-To-Processor.auto b/src/main/deploy/pathplanner/autos/Low-6-To-Processor.auto deleted file mode 100644 index c15c538..0000000 --- a/src/main/deploy/pathplanner/autos/Low-6-To-Processor.auto +++ /dev/null @@ -1,25 +0,0 @@ -{ - "version": "2025.0", - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "Outside_11" - } - }, - { - "type": "path", - "data": { - "pathName": "6-Processor" - } - } - ] - } - }, - "resetOdom": true, - "folder": null, - "choreoAuto": false -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Mid_12_CoralL2.auto b/src/main/deploy/pathplanner/autos/Mid_12_CoralL2.auto new file mode 100644 index 0000000..0b39184 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/Mid_12_CoralL2.auto @@ -0,0 +1,45 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "Mid_12" + } + }, + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "elevatorHome" + } + }, + { + "type": "named", + "data": { + "name": "coralLevelTwo" + } + } + ] + } + } + ] + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Mid_1_CoralL2.auto b/src/main/deploy/pathplanner/autos/Mid_1_CoralL2.auto new file mode 100644 index 0000000..a8ff5dd --- /dev/null +++ b/src/main/deploy/pathplanner/autos/Mid_1_CoralL2.auto @@ -0,0 +1,45 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "Mid_1" + } + }, + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "elevatorHome" + } + }, + { + "type": "named", + "data": { + "name": "coralLevelTwo" + } + } + ] + } + } + ] + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Mid-3-To-Processor.auto b/src/main/deploy/pathplanner/autos/Mid_Drive.auto similarity index 63% rename from src/main/deploy/pathplanner/autos/Mid-3-To-Processor.auto rename to src/main/deploy/pathplanner/autos/Mid_Drive.auto index 5fb033a..2ae5330 100644 --- a/src/main/deploy/pathplanner/autos/Mid-3-To-Processor.auto +++ b/src/main/deploy/pathplanner/autos/Mid_Drive.auto @@ -7,13 +7,7 @@ { "type": "path", "data": { - "pathName": "Mid_5" - } - }, - { - "type": "path", - "data": { - "pathName": "3-Processor" + "pathName": "Mid_Drive" } } ] diff --git a/src/main/deploy/pathplanner/autos/Outside_10_CoralL2.auto b/src/main/deploy/pathplanner/autos/Outside_10_CoralL2.auto new file mode 100644 index 0000000..7201b87 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/Outside_10_CoralL2.auto @@ -0,0 +1,45 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "Outside_10" + } + }, + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "elevatorHome" + } + }, + { + "type": "named", + "data": { + "name": "coralLevelTwo" + } + } + ] + } + } + ] + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Outside_12_CoralL4.auto b/src/main/deploy/pathplanner/autos/Outside_12_CoralL4.auto new file mode 100644 index 0000000..fed544c --- /dev/null +++ b/src/main/deploy/pathplanner/autos/Outside_12_CoralL4.auto @@ -0,0 +1,45 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "parallel", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "Outside_12" + } + }, + { + "type": "sequential", + "data": { + "commands": [ + { + "type": "named", + "data": { + "name": "elevatorHome" + } + }, + { + "type": "named", + "data": { + "name": "coralLevelTwo" + } + } + ] + } + } + ] + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Mid-4-To-Processor.auto b/src/main/deploy/pathplanner/autos/Outside_Drive.auto similarity index 63% rename from src/main/deploy/pathplanner/autos/Mid-4-To-Processor.auto rename to src/main/deploy/pathplanner/autos/Outside_Drive.auto index e3f976f..cb06c20 100644 --- a/src/main/deploy/pathplanner/autos/Mid-4-To-Processor.auto +++ b/src/main/deploy/pathplanner/autos/Outside_Drive.auto @@ -7,13 +7,7 @@ { "type": "path", "data": { - "pathName": "Mid-7" - } - }, - { - "type": "path", - "data": { - "pathName": "4-Processor" + "pathName": "Outside_Drive" } } ] diff --git a/src/main/deploy/pathplanner/autos/Square.auto b/src/main/deploy/pathplanner/autos/Square.auto index d27c2aa..f43fd5a 100644 --- a/src/main/deploy/pathplanner/autos/Square.auto +++ b/src/main/deploy/pathplanner/autos/Square.auto @@ -7,25 +7,25 @@ { "type": "path", "data": { - "pathName": "test " + "pathName": "Square_1 " } }, { "type": "path", "data": { - "pathName": "Copy of New Path" + "pathName": "Square_2" } }, { "type": "path", "data": { - "pathName": "Copy of Copy of New Path" + "pathName": "Square_3" } }, { "type": "path", "data": { - "pathName": "Copy of Copy of Copy of New Path" + "pathName": "Square_4" } } ] diff --git a/src/main/deploy/pathplanner/autos/Top-1-To-Processor.auto b/src/main/deploy/pathplanner/autos/Top-1-To-Processor.auto deleted file mode 100644 index 19e23f2..0000000 --- a/src/main/deploy/pathplanner/autos/Top-1-To-Processor.auto +++ /dev/null @@ -1,25 +0,0 @@ -{ - "version": "2025.0", - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "Outside-1" - } - }, - { - "type": "path", - "data": { - "pathName": "1-Processor" - } - } - ] - } - }, - "resetOdom": true, - "folder": null, - "choreoAuto": false -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Top-2-To-Processor.auto b/src/main/deploy/pathplanner/autos/Top-2-To-Processor.auto deleted file mode 100644 index 24d23da..0000000 --- a/src/main/deploy/pathplanner/autos/Top-2-To-Processor.auto +++ /dev/null @@ -1,25 +0,0 @@ -{ - "version": "2025.0", - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "Outside-3" - } - }, - { - "type": "path", - "data": { - "pathName": "2-Processor" - } - } - ] - } - }, - "resetOdom": true, - "folder": null, - "choreoAuto": false -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Top-3-To-Processor.auto b/src/main/deploy/pathplanner/autos/Top-3-To-Processor.auto deleted file mode 100644 index 5aa92e8..0000000 --- a/src/main/deploy/pathplanner/autos/Top-3-To-Processor.auto +++ /dev/null @@ -1,25 +0,0 @@ -{ - "version": "2025.0", - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "Outside-5" - } - }, - { - "type": "path", - "data": { - "pathName": "3-Processor" - } - } - ] - } - }, - "resetOdom": true, - "folder": null, - "choreoAuto": false -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/low-4-To-Processor .auto b/src/main/deploy/pathplanner/autos/low-4-To-Processor .auto deleted file mode 100644 index a8f3810..0000000 --- a/src/main/deploy/pathplanner/autos/low-4-To-Processor .auto +++ /dev/null @@ -1,25 +0,0 @@ -{ - "version": "2025.0", - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "4-Processor" - } - }, - { - "type": "path", - "data": { - "pathName": "inside_to7" - } - } - ] - } - }, - "resetOdom": true, - "folder": null, - "choreoAuto": false -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/mid-1-To-Processor.auto b/src/main/deploy/pathplanner/autos/mid-1-To-Processor.auto deleted file mode 100644 index 8a0ed6f..0000000 --- a/src/main/deploy/pathplanner/autos/mid-1-To-Processor.auto +++ /dev/null @@ -1,25 +0,0 @@ -{ - "version": "2025.0", - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "Mid_2" - } - }, - { - "type": "path", - "data": { - "pathName": "1-Processor" - } - } - ] - } - }, - "resetOdom": true, - "folder": null, - "choreoAuto": false -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/1-Processor.path b/src/main/deploy/pathplanner/paths/1-Processor.path deleted file mode 100644 index 3392505..0000000 --- a/src/main/deploy/pathplanner/paths/1-Processor.path +++ /dev/null @@ -1,54 +0,0 @@ -{ - "version": "2025.0", - "waypoints": [ - { - "anchor": { - "x": 5.37225, - "y": 5.38025 - }, - "prevControl": null, - "nextControl": { - "x": 6.642043456370969, - "y": 4.760930350580195 - }, - "isLocked": false, - "linkedName": null - }, - { - "anchor": { - "x": 6.4545, - "y": 0.5929999999999995 - }, - "prevControl": { - "x": 6.3615600310466185, - "y": 1.6553087061541685 - }, - "nextControl": null, - "isLocked": false, - "linkedName": null - } - ], - "rotationTargets": [], - "constraintZones": [], - "pointTowardsZones": [], - "eventMarkers": [], - "globalConstraints": { - "maxVelocity": 3.0, - "maxAcceleration": 3.0, - "maxAngularVelocity": 540.0, - "maxAngularAcceleration": 720.0, - "nominalVoltage": 12.0, - "unlimited": false - }, - "goalEndState": { - "velocity": 0, - "rotation": -90.60950657667522 - }, - "reversed": false, - "folder": null, - "idealStartingState": { - "velocity": 0, - "rotation": -119.27525427725256 - }, - "useDefaultConstraints": true -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/4-Processor.path b/src/main/deploy/pathplanner/paths/10_Processor.path similarity index 75% rename from src/main/deploy/pathplanner/paths/4-Processor.path rename to src/main/deploy/pathplanner/paths/10_Processor.path index 472eec3..58d5ed5 100644 --- a/src/main/deploy/pathplanner/paths/4-Processor.path +++ b/src/main/deploy/pathplanner/paths/10_Processor.path @@ -3,25 +3,25 @@ "waypoints": [ { "anchor": { - "x": 3.588, - "y": 2.5039999999999996 + "x": 3.1589999999962814, + "y": 4.200499999994054 }, "prevControl": null, "nextControl": { - "x": 4.22175, - "y": 1.92875 + "x": 1.0334999999962826, + "y": 2.9817499999940544 }, "isLocked": false, "linkedName": null }, { "anchor": { - "x": 6.34725, - "y": 0.6417499999999996 + "x": 5.986500000000001, + "y": 0.5734999999999991 }, "prevControl": { - "x": 5.342999999999999, - "y": 1.217 + "x": 6.210749999996283, + "y": 1.2364999999940551 }, "nextControl": null, "isLocked": false, @@ -48,7 +48,7 @@ "folder": null, "idealStartingState": { "velocity": 0, - "rotation": 58.32453126189071 + "rotation": 0.0 }, "useDefaultConstraints": true } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/3-Processor.path b/src/main/deploy/pathplanner/paths/3-Processor.path deleted file mode 100644 index 94803bb..0000000 --- a/src/main/deploy/pathplanner/paths/3-Processor.path +++ /dev/null @@ -1,54 +0,0 @@ -{ - "version": "2025.0", - "waypoints": [ - { - "anchor": { - "x": 5.3625, - "y": 2.6404999999999994 - }, - "prevControl": null, - "nextControl": { - "x": 6.006409980765843, - "y": 1.5252151978128605 - }, - "isLocked": false, - "linkedName": null - }, - { - "anchor": { - "x": 6.330466148723641, - "y": 0.6308962264150944 - }, - "prevControl": { - "x": 5.980054676660968, - "y": 1.9386496437079925 - }, - "nextControl": null, - "isLocked": false, - "linkedName": null - } - ], - "rotationTargets": [], - "constraintZones": [], - "pointTowardsZones": [], - "eventMarkers": [], - "globalConstraints": { - "maxVelocity": 3.0, - "maxAcceleration": 3.0, - "maxAngularVelocity": 540.0, - "maxAngularAcceleration": 720.0, - "nominalVoltage": 12.0, - "unlimited": false - }, - "goalEndState": { - "velocity": 0, - "rotation": -89.0 - }, - "reversed": false, - "folder": null, - "idealStartingState": { - "velocity": 0, - "rotation": 119.99999999999999 - }, - "useDefaultConstraints": true -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/2-Processor.path b/src/main/deploy/pathplanner/paths/4_Processor.path similarity index 77% rename from src/main/deploy/pathplanner/paths/2-Processor.path rename to src/main/deploy/pathplanner/paths/4_Processor.path index 43602ae..26a66cc 100644 --- a/src/main/deploy/pathplanner/paths/2-Processor.path +++ b/src/main/deploy/pathplanner/paths/4_Processor.path @@ -3,25 +3,25 @@ "waypoints": [ { "anchor": { - "x": 6.122999999999999, - "y": 3.9567499999999995 + "x": 5.8305, + "y": 3.8495 }, "prevControl": null, "nextControl": { - "x": 6.303595107642722, - "y": 2.6717490390682523 + "x": 6.9225, + "y": 3.430249999999999 }, "isLocked": false, "linkedName": null }, { "anchor": { - "x": 6.38625, - "y": 0.6904999999999996 + "x": 6.005999999999999, + "y": 0.5832499999999993 }, "prevControl": { - "x": 6.247943482888698, - "y": 2.6683753423369576 + "x": 5.867693482888697, + "y": 2.561125342336956 }, "nextControl": null, "isLocked": false, diff --git a/src/main/deploy/pathplanner/paths/5-Processor.path b/src/main/deploy/pathplanner/paths/5-Processor.path deleted file mode 100644 index 3608722..0000000 --- a/src/main/deploy/pathplanner/paths/5-Processor.path +++ /dev/null @@ -1,54 +0,0 @@ -{ - "version": "2025.0", - "waypoints": [ - { - "anchor": { - "x": 2.8079999999999994, - "y": 3.9859999999999998 - }, - "prevControl": null, - "nextControl": { - "x": 2.938108700147307, - "y": 2.7480984081333535 - }, - "isLocked": false, - "linkedName": null - }, - { - "anchor": { - "x": 6.435, - "y": 0.6319999999999993 - }, - "prevControl": { - "x": 4.816901659702522, - "y": 0.5188515416519113 - }, - "nextControl": null, - "isLocked": false, - "linkedName": null - } - ], - "rotationTargets": [], - "constraintZones": [], - "pointTowardsZones": [], - "eventMarkers": [], - "globalConstraints": { - "maxVelocity": 3.0, - "maxAcceleration": 3.0, - "maxAngularVelocity": 540.0, - "maxAngularAcceleration": 720.0, - "nominalVoltage": 12.0, - "unlimited": false - }, - "goalEndState": { - "velocity": 0, - "rotation": -89.0 - }, - "reversed": false, - "folder": null, - "idealStartingState": { - "velocity": 0, - "rotation": 0.0 - }, - "useDefaultConstraints": true -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/6-Processor.path b/src/main/deploy/pathplanner/paths/6-Processor.path deleted file mode 100644 index 72a8b68..0000000 --- a/src/main/deploy/pathplanner/paths/6-Processor.path +++ /dev/null @@ -1,54 +0,0 @@ -{ - 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"x": 8.121749999999999, - "y": 6.6185 + "x": 8.04375, + "y": 5.029249999999999 }, "prevControl": null, "nextControl": { - "x": 6.97125, - "y": 6.404 + "x": 7.08825, + "y": 5.1267499999999995 }, "isLocked": false, "linkedName": null }, { "anchor": { - "x": 5.2065, - "y": 5.63375 + "x": 5.303999999999999, + "y": 5.097499999999999 }, "prevControl": { - "x": 6.015750000000001, - "y": 6.053000000000001 + "x": 6.064499999999999, + "y": 5.818999999999999 }, "nextControl": null, "isLocked": false, diff --git a/src/main/deploy/pathplanner/paths/Inside_to3.path b/src/main/deploy/pathplanner/paths/Inside_4.path similarity index 81% rename from src/main/deploy/pathplanner/paths/Inside_to3.path rename to src/main/deploy/pathplanner/paths/Inside_4.path index 505ca63..da15c5a 100644 --- a/src/main/deploy/pathplanner/paths/Inside_to3.path +++ b/src/main/deploy/pathplanner/paths/Inside_4.path @@ -4,24 +4,24 @@ { "anchor": { "x": 7.995, - "y": 5.10725 + "y": 5.097499999999999 }, "prevControl": null, "nextControl": { - "x": 7.244249999999999, - "y": 4.3077499999999995 + "x": 7.71225, + "y": 4.922 }, "isLocked": false, "linkedName": null }, { "anchor": { - "x": 6.132750000000001, - "y": 4.17125 + "x": 5.82075, + "y": 3.8495 }, "prevControl": { - "x": 6.649500000000001, - "y": 4.1419999999999995 + "x": 7.53675, + "y": 3.8202500000000006 }, "nextControl": null, "isLocked": false, diff --git a/src/main/deploy/pathplanner/paths/inside_Forward.path b/src/main/deploy/pathplanner/paths/Inside_Drive.path similarity index 78% rename from src/main/deploy/pathplanner/paths/inside_Forward.path rename to src/main/deploy/pathplanner/paths/Inside_Drive.path index f04638b..abe8dad 100644 --- a/src/main/deploy/pathplanner/paths/inside_Forward.path +++ b/src/main/deploy/pathplanner/paths/Inside_Drive.path @@ -8,20 +8,20 @@ }, "prevControl": null, "nextControl": { - "x": 7.22475, - "y": 4.0445 + "x": 6.815249999994275, + "y": 4.385749999997878 }, "isLocked": false, "linkedName": null }, { "anchor": { - "x": 6.756749999999999, - 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"pointTowardsZones": [], - "eventMarkers": [], - "globalConstraints": { - "maxVelocity": 3.0, - "maxAcceleration": 3.0, - "maxAngularVelocity": 540.0, - "maxAngularAcceleration": 720.0, - "nominalVoltage": 12.0, - "unlimited": false - }, - "goalEndState": { - "velocity": 0, - "rotation": 0.0 - }, - "reversed": false, - "folder": null, - "idealStartingState": { - "velocity": 0, - "rotation": 180.0 - }, - "useDefaultConstraints": true -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Mid-7.path b/src/main/deploy/pathplanner/paths/Mid-7.path deleted file mode 100644 index 90a4e57..0000000 --- a/src/main/deploy/pathplanner/paths/Mid-7.path +++ /dev/null @@ -1,54 +0,0 @@ -{ - "version": "2025.0", - "waypoints": [ - { - "anchor": { - "x": 8.0535, - "y": 5.6435 - }, - "prevControl": null, - "nextControl": { - "x": 6.298500000000001, - "y": 0.944 - }, - "isLocked": false, - "linkedName": null - }, - { - "anchor": { - "x": 3.8025, - "y": 2.3675 - }, - "prevControl": { - "x": 5.187, - "y": 1.2657499999999993 - }, - "nextControl": null, - "isLocked": false, - "linkedName": null - } - ], - "rotationTargets": [], - "constraintZones": [], - "pointTowardsZones": [], - "eventMarkers": [], - "globalConstraints": { - "maxVelocity": 3.0, - "maxAcceleration": 3.0, - "maxAngularVelocity": 540.0, - "maxAngularAcceleration": 720.0, - "nominalVoltage": 12.0, - "unlimited": false - }, - "goalEndState": { - "velocity": 0, - "rotation": 59.99999999999999 - }, - "reversed": false, - "folder": null, - "idealStartingState": { - "velocity": 0, - "rotation": 180.0 - }, - "useDefaultConstraints": true -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Mid_2.path b/src/main/deploy/pathplanner/paths/Mid_1.path similarity index 85% rename from src/main/deploy/pathplanner/paths/Mid_2.path rename to src/main/deploy/pathplanner/paths/Mid_1.path index 903b2bf..c42835b 100644 --- a/src/main/deploy/pathplanner/paths/Mid_2.path +++ b/src/main/deploy/pathplanner/paths/Mid_1.path @@ -8,20 +8,20 @@ }, "prevControl": null, "nextControl": { - "x": 6.786, - "y": 6.881749999999999 + "x": 6.815250000000001, + "y": 6.296749999999999 }, "isLocked": false, "linkedName": null }, { "anchor": { - "x": 5.5575, - "y": 5.5264999999999995 + "x": 5.02125, + "y": 5.234 }, "prevControl": { - "x": 6.201, - "y": 6.7745 + "x": 5.3235, + "y": 6.062749999999999 }, "nextControl": null, "isLocked": false, diff --git a/src/main/deploy/pathplanner/paths/Mid-6.path b/src/main/deploy/pathplanner/paths/Mid_12.path similarity index 80% rename from src/main/deploy/pathplanner/paths/Mid-6.path rename to src/main/deploy/pathplanner/paths/Mid_12.path index 3331605..2f90941 100644 --- a/src/main/deploy/pathplanner/paths/Mid-6.path +++ b/src/main/deploy/pathplanner/paths/Mid_12.path @@ -3,25 +3,25 @@ "waypoints": [ { "anchor": { - "x": 8.80425, - "y": 6.209 + "x": 8.02425, + "y": 6.16025 }, "prevControl": null, "nextControl": { - "x": 5.040302520716971, - "y": 6.872685494567214 + "x": 5.3235, + "y": 6.179749999999999 }, "isLocked": false, "linkedName": null }, { "anchor": { - "x": 3.6757500000000003, - "y": 5.546 + "x": 3.9682500000000003, + "y": 5.28275 }, "prevControl": { - "x": 3.9682500000000003, - "y": 7.028 + "x": 3.50025, + "y": 6.335749999999999 }, "nextControl": null, "isLocked": false, @@ -42,7 +42,7 @@ }, "goalEndState": { "velocity": 0, - "rotation": -58.00000000000001 + "rotation": -59.99999999999999 }, "reversed": false, "folder": null, diff --git a/src/main/deploy/pathplanner/paths/Mid_3.path b/src/main/deploy/pathplanner/paths/Mid_3.path deleted file mode 100644 index bf4a748..0000000 --- a/src/main/deploy/pathplanner/paths/Mid_3.path +++ /dev/null @@ -1,54 +0,0 @@ -{ - "version": "2025.0", - "waypoints": [ - { - "anchor": { - "x": 7.975499999999999, - "y": 6.209 - }, - "prevControl": null, - "nextControl": { - "x": 8.0535, - "y": 5.204749999999999 - }, - "isLocked": false, - "linkedName": null - }, - { - "anchor": { - "x": 6.357, - "y": 4.181 - }, - "prevControl": { - "x": 7.16625, - "y": 4.03475 - }, - "nextControl": null, - "isLocked": false, - "linkedName": null - } - ], - "rotationTargets": [], - "constraintZones": [], - "pointTowardsZones": [], - "eventMarkers": [], - "globalConstraints": { - "maxVelocity": 3.0, - "maxAcceleration": 3.0, - "maxAngularVelocity": 540.0, - "maxAngularAcceleration": 720.0, - "nominalVoltage": 12.0, - "unlimited": false - }, - "goalEndState": { - "velocity": 0, - "rotation": 180.0 - }, - "reversed": false, - "folder": null, - "idealStartingState": { - "velocity": 0, - "rotation": -92.3859440303887 - }, - "useDefaultConstraints": true -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Mid_5.path b/src/main/deploy/pathplanner/paths/Mid_5.path deleted file mode 100644 index 9844fd4..0000000 --- a/src/main/deploy/pathplanner/paths/Mid_5.path +++ /dev/null @@ -1,54 +0,0 @@ -{ - "version": "2025.0", - "waypoints": [ - { - "anchor": { - "x": 7.94625, - "y": 6.0335 - }, - "prevControl": null, - "nextControl": { - "x": 7.80975, - "y": 4.181 - }, - "isLocked": false, - "linkedName": null - 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}, - "prevControl": { - "x": 7.683, - "y": 2.1725 - }, - "nextControl": null, - "isLocked": false, - "linkedName": null - } - ], - "rotationTargets": [], - "constraintZones": [], - "pointTowardsZones": [], - "eventMarkers": [], - "globalConstraints": { - "maxVelocity": 3.0, - "maxAcceleration": 3.0, - "maxAngularVelocity": 540.0, - "maxAngularAcceleration": 720.0, - "nominalVoltage": 12.0, - "unlimited": false - }, - "goalEndState": { - "velocity": 0, - "rotation": 119.99999999999999 - }, - "reversed": false, - "folder": null, - "idealStartingState": { - "velocity": 0, - "rotation": 177.7093899573615 - }, - "useDefaultConstraints": true -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Outside-8.path b/src/main/deploy/pathplanner/paths/Outside-8.path deleted file mode 100644 index c4b6a46..0000000 --- a/src/main/deploy/pathplanner/paths/Outside-8.path +++ /dev/null @@ -1,70 +0,0 @@ -{ - "version": "2025.0", - "waypoints": [ - { - "anchor": { - "x": 8.0535, - "y": 7.2425 - }, - "prevControl": null, - "nextControl": { - "x": 6.1619999999924415, - "y": 6.404000000009662 - }, - "isLocked": false, - "linkedName": null - }, - { - "anchor": { - "x": 2.3107499999949304, - "y": 4.473499999995674 - }, - "prevControl": { - "x": 2.23274999999493, - "y": 6.189499999995673 - }, - "nextControl": { - "x": 2.3857679978357993, - "y": 2.823104047496556 - }, - "isLocked": false, - "linkedName": null - }, - { - "anchor": { - "x": 3.46125, - "y": 2.572249999999999 - }, - "prevControl": { - "x": 2.759250000000512, - "y": 3.020749999992007 - }, - "nextControl": null, - "isLocked": false, - "linkedName": null - } - ], - "rotationTargets": [], - "constraintZones": [], - "pointTowardsZones": [], - "eventMarkers": [], - "globalConstraints": { - "maxVelocity": 3.0, - "maxAcceleration": 3.0, - "maxAngularVelocity": 540.0, - "maxAngularAcceleration": 720.0, - "nominalVoltage": 12.0, - "unlimited": false - }, - "goalEndState": { - "velocity": 0, - "rotation": 59.45242825109296 - }, - "reversed": false, - "folder": null, - "idealStartingState": { - "velocity": 0, - "rotation": 180.0 - }, - "useDefaultConstraints": true -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Outside-9.path b/src/main/deploy/pathplanner/paths/Outside-9.path deleted file mode 100644 index 11eace1..0000000 --- a/src/main/deploy/pathplanner/paths/Outside-9.path +++ /dev/null @@ -1,54 +0,0 @@ -{ - "version": "2025.0", - "waypoints": [ - { - "anchor": { - "x": 8.7555, - "y": 7.281499999999999 - }, - "prevControl": null, - "nextControl": { - "x": 7.1856288866598, - "y": 7.281499999999999 - }, - "isLocked": false, - "linkedName": null - }, - { - "anchor": { - "x": 2.5155000000000003, - "y": 3.8592499999999994 - }, - "prevControl": { - "x": 0.9457499999999992, - "y": 5.321749999999998 - }, - "nextControl": null, - "isLocked": false, - "linkedName": null - } - ], - "rotationTargets": [], - "constraintZones": [], - "pointTowardsZones": [], - "eventMarkers": [], - "globalConstraints": { - "maxVelocity": 3.0, - "maxAcceleration": 3.0, - "maxAngularVelocity": 540.0, - "maxAngularAcceleration": 720.0, - "nominalVoltage": 12.0, - "unlimited": false - }, - "goalEndState": { - "velocity": 0, - "rotation": 0.0 - }, - "reversed": false, - "folder": null, - "idealStartingState": { - "velocity": 0, - "rotation": 180.0 - }, - "useDefaultConstraints": true -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/inside_to11.path b/src/main/deploy/pathplanner/paths/Outside_10.path similarity index 70% rename from src/main/deploy/pathplanner/paths/inside_to11.path rename to src/main/deploy/pathplanner/paths/Outside_10.path index e18fbd0..480a07c 100644 --- a/src/main/deploy/pathplanner/paths/inside_to11.path +++ b/src/main/deploy/pathplanner/paths/Outside_10.path @@ -3,41 +3,41 @@ "waypoints": [ { "anchor": { - "x": 8.00475, - "y": 5.10725 + "x": 8.0145, + "y": 7.25225 }, "prevControl": null, "nextControl": { - "x": 6.7860000000000005, - "y": 5.1365 + "x": 6.4446288866598005, + "y": 7.25225 }, "isLocked": false, "linkedName": null }, { "anchor": { - "x": 5.986500000000001, - "y": 6.199249999999999 + "x": 2.83725, + "y": 6.35525 }, "prevControl": { - "x": 6.8347500000000005, - "y": 5.8775 + "x": 4.307038883621079, + "y": 7.384102218534751 }, "nextControl": { - "x": 5.154522639402186, - "y": 6.5148276195371 + "x": 2.3497500000000002, + "y": 6.013999999999999 }, "isLocked": false, "linkedName": null }, { "anchor": { - "x": 3.8805, - "y": 5.614249999999999 + "x": 3.1395000000000004, + "y": 4.15175 }, "prevControl": { - "x": 4.12425, - "y": 6.374750000000001 + "x": 2.31075, + "y": 4.317499999999999 }, "nextControl": null, "isLocked": false, @@ -58,7 +58,7 @@ }, "goalEndState": { "velocity": 0, - "rotation": -60.94539590092295 + "rotation": 0.0 }, "reversed": false, "folder": null, diff --git a/src/main/deploy/pathplanner/paths/Outside_11.path b/src/main/deploy/pathplanner/paths/Outside_12.path similarity index 83% rename from src/main/deploy/pathplanner/paths/Outside_11.path rename to src/main/deploy/pathplanner/paths/Outside_12.path index 8688ca1..6a54f32 100644 --- a/src/main/deploy/pathplanner/paths/Outside_11.path +++ b/src/main/deploy/pathplanner/paths/Outside_12.path @@ -8,20 +8,20 @@ }, "prevControl": null, "nextControl": { - "x": 6.326416426611434, - "y": 6.957468568073208 + "x": 6.230250000000001, + "y": 7.2132499999999995 }, "isLocked": false, "linkedName": null }, { "anchor": { - "x": 3.4905, - "y": 5.5264999999999995 + "x": 3.9585000000000004, + "y": 5.24375 }, "prevControl": { - "x": 5.327592505836327, - "y": 6.587145852770847 + "x": 3.53925, + "y": 6.17 }, "nextControl": null, "isLocked": false, diff --git a/src/main/deploy/pathplanner/paths/Outside_Forward.path b/src/main/deploy/pathplanner/paths/Outside_Drive.path similarity index 86% rename from src/main/deploy/pathplanner/paths/Outside_Forward.path rename to src/main/deploy/pathplanner/paths/Outside_Drive.path index 86d51f3..fd36ddc 100644 --- a/src/main/deploy/pathplanner/paths/Outside_Forward.path +++ b/src/main/deploy/pathplanner/paths/Outside_Drive.path @@ -16,12 +16,12 @@ }, { "anchor": { - "x": 6.474000000000001, - "y": 6.794 + "x": 3.2370000000000014, + "y": 6.6575 }, "prevControl": { - "x": 7.364531582820059, - "y": 6.794 + "x": 3.9292500000000006, + "y": 7.067 }, "nextControl": null, "isLocked": false, @@ -42,7 +42,7 @@ }, "goalEndState": { "velocity": 0, - "rotation": 180.0 + "rotation": -59.99999999999999 }, "reversed": false, "folder": null, diff --git a/src/main/deploy/pathplanner/paths/test .path b/src/main/deploy/pathplanner/paths/Square_1 .path similarity index 100% rename from src/main/deploy/pathplanner/paths/test .path rename to src/main/deploy/pathplanner/paths/Square_1 .path diff --git a/src/main/deploy/pathplanner/paths/Copy of New Path.path b/src/main/deploy/pathplanner/paths/Square_2.path similarity index 100% rename from src/main/deploy/pathplanner/paths/Copy of New Path.path rename to src/main/deploy/pathplanner/paths/Square_2.path diff --git a/src/main/deploy/pathplanner/paths/Copy of Copy of New Path.path b/src/main/deploy/pathplanner/paths/Square_3.path similarity index 100% rename from src/main/deploy/pathplanner/paths/Copy of Copy of New Path.path rename to src/main/deploy/pathplanner/paths/Square_3.path diff --git a/src/main/deploy/pathplanner/paths/Copy of Copy of Copy of New Path.path b/src/main/deploy/pathplanner/paths/Square_4.path similarity index 100% rename from src/main/deploy/pathplanner/paths/Copy of Copy of Copy of New Path.path rename to src/main/deploy/pathplanner/paths/Square_4.path diff --git a/src/main/deploy/pathplanner/paths/inside_to7.path b/src/main/deploy/pathplanner/paths/inside_to7.path deleted file mode 100644 index 3a54fbe..0000000 --- a/src/main/deploy/pathplanner/paths/inside_to7.path +++ /dev/null @@ -1,70 +0,0 @@ -{ - "version": "2025.0", - "waypoints": [ - { - "anchor": { - "x": 7.975499999999999, - "y": 4.912249999999999 - }, - "prevControl": null, - "nextControl": { - "x": 6.707999999999999, - "y": 3.284 - }, - "isLocked": false, - "linkedName": null - }, - { - "anchor": { - "x": 6.36675, - "y": 2.6502499999999998 - }, - "prevControl": { - "x": 7.134963909636255, - "y": 3.152819847425588 - }, - "nextControl": { - "x": 5.3235, - "y": 1.9677499999999997 - }, - "isLocked": false, - "linkedName": null - }, - { - "anchor": { - "x": 3.63675, - "y": 2.6502499999999998 - }, - "prevControl": { - "x": 4.251, - "y": 1.9482499999999994 - }, - "nextControl": null, - "isLocked": false, - "linkedName": null - } - ], - "rotationTargets": [], - "constraintZones": [], - "pointTowardsZones": [], - "eventMarkers": [], - "globalConstraints": { - "maxVelocity": 3.0, - "maxAcceleration": 3.0, - "maxAngularVelocity": 540.0, - "maxAngularAcceleration": 720.0, - "nominalVoltage": 12.0, - "unlimited": false - }, - "goalEndState": { - "velocity": 0, - "rotation": 58.39249775375112 - }, - "reversed": false, - "folder": null, - "idealStartingState": { - "velocity": 0, - "rotation": -152.48799737614854 - }, - "useDefaultConstraints": true -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/settings.json b/src/main/deploy/pathplanner/settings.json index 5bf438c..0778ca8 100644 --- a/src/main/deploy/pathplanner/settings.json +++ b/src/main/deploy/pathplanner/settings.json @@ -1,6 +1,6 @@ { - "robotWidth": 0.9, - "robotLength": 0.9, + "robotWidth": 0.953, + "robotLength": 0.953, "holonomicMode": true, "pathFolders": [], "autoFolders": [], diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index d70e94f..2a53e41 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -12,6 +12,7 @@ import org.littletonrobotics.junction.wpilog.WPILOGWriter; import com.pathplanner.lib.auto.AutoBuilder; +import com.pathplanner.lib.auto.NamedCommands; import edu.wpi.first.wpilibj.smartdashboard.SendableChooser; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; @@ -53,7 +54,7 @@ public Robot() { pilotController = new CommandXboxController(0); coPilotController = new CommandXboxController(1); - + drivetrain = new SwerveDrive2025(); vision = new Vision2025(drivetrain); @@ -66,19 +67,34 @@ public Robot() { @Override public void robotInit() { - Command levelOne = new ElevatorHeightCommand2025(elevator, Level.L1, IntakeOffset.CORAL); - Command levelTwo = new ElevatorHeightCommand2025(elevator, Level.L2, IntakeOffset.CORAL); - Command levelThree = new ElevatorHeightCommand2025(elevator, Level.L3, IntakeOffset.CORAL); - Command levelFour = new ElevatorHeightCommand2025(elevator, Level.L4, IntakeOffset.CORAL); - Command reset = new InstantCommand( + Command coralLevelOne = new ElevatorHeightCommand2025(elevator, Level.L1, IntakeOffset.CORAL); + Command coralLevelTwo = new ElevatorHeightCommand2025(elevator, Level.L2, IntakeOffset.CORAL); + Command coralLevelThree = new ElevatorHeightCommand2025(elevator, Level.L3, IntakeOffset.CORAL); + Command coralLevelFour = new ElevatorHeightCommand2025(elevator, Level.L4, IntakeOffset.CORAL); + + Command algaeLevelTwo = new ElevatorHeightCommand2025(elevator, Level.L2, IntakeOffset.ALGAE); + Command algaeLevelThree = new ElevatorHeightCommand2025(elevator, Level.L3, IntakeOffset.ALGAE); + + Command elevatorHome = new InstantCommand( () -> elevator.goHome(), elevator); - pilotController.a().onTrue(levelOne); - pilotController.b().onTrue(levelTwo); - pilotController.x().onTrue(levelThree); - pilotController.y().onTrue(levelFour); - pilotController.povDown().onTrue(reset); + NamedCommands.registerCommand("coralLevelOne", coralLevelOne); + NamedCommands.registerCommand("coralLevelTwo", coralLevelTwo); + NamedCommands.registerCommand("coralLevelThree", coralLevelThree); + NamedCommands.registerCommand("coralLevelFour", coralLevelFour); + NamedCommands.registerCommand("algaeLevelTwo", algaeLevelTwo); + NamedCommands.registerCommand("algaeLevelThree", algaeLevelThree); + NamedCommands.registerCommand("elevatorHome", elevatorHome); + + coPilotController.a().onTrue(coralLevelOne); + coPilotController.b().and(coPilotController.rightTrigger().negate()).onTrue(coralLevelTwo); + coPilotController.b().and(coPilotController.rightTrigger()).onTrue(algaeLevelTwo); + coPilotController.x().and(coPilotController.rightTrigger().negate()).onTrue(coralLevelThree); + coPilotController.x().and(coPilotController.rightTrigger()).onTrue(algaeLevelThree); + + coPilotController.y().onTrue(coralLevelFour); + coPilotController.povDown().onTrue(elevatorHome); drivetrain.setDefaultCommand(new TeleopDriveCommand(pilotController::getLeftY, pilotController::getLeftX, pilotController::getRightX, 5.21, 1.925, drivetrain));