From 69279812f3a39e760d4272b4473a79f5fadfc1ce Mon Sep 17 00:00:00 2001
From: Mehooliu <matthewchen2424@gmail.com>
Date: Mon, 2 Mar 2026 16:11:09 -0500
Subject: [PATCH] Added auto for robot

---
 .../autos/90 Degree Test Auto.auto            |  2 +-
 .../pathplanner/autos/HP Auto + Climb.auto    | 61 ++++++++++++++
 .../autos/HP to Hub and Shoot Auto.auto       | 31 ++++++++
 .../deploy/pathplanner/paths/HP to Hub.path   | 54 +++++++++++++
 .../paths/HP to hub and shoot.path            | 79 +++++++++++++++++++
 .../paths/Hub to side of Climb.path           | 54 +++++++++++++
 .../paths/Side of Climb to Climb.path         | 54 +++++++++++++
 .../pathplanner/paths/Starting to HP.path     | 54 +++++++++++++
 8 files changed, 388 insertions(+), 1 deletion(-)
 create mode 100644 src/main/deploy/pathplanner/autos/HP Auto + Climb.auto
 create mode 100644 src/main/deploy/pathplanner/autos/HP to Hub and Shoot Auto.auto
 create mode 100644 src/main/deploy/pathplanner/paths/HP to Hub.path
 create mode 100644 src/main/deploy/pathplanner/paths/HP to hub and shoot.path
 create mode 100644 src/main/deploy/pathplanner/paths/Hub to side of Climb.path
 create mode 100644 src/main/deploy/pathplanner/paths/Side of Climb to Climb.path
 create mode 100644 src/main/deploy/pathplanner/paths/Starting to HP.path

diff --git a/src/main/deploy/pathplanner/autos/90 Degree Test Auto.auto b/src/main/deploy/pathplanner/autos/90 Degree Test Auto.auto
index f3e865b..891a8e9 100644
--- a/src/main/deploy/pathplanner/autos/90 Degree Test Auto.auto	
+++ b/src/main/deploy/pathplanner/autos/90 Degree Test Auto.auto	
@@ -7,7 +7,7 @@
         {
           "type": "path",
           "data": {
-            "pathName": "test_90Degree_Turn"
+            "pathName": "HP to hub and shoot"
           }
         }
       ]
diff --git a/src/main/deploy/pathplanner/autos/HP Auto + Climb.auto b/src/main/deploy/pathplanner/autos/HP Auto + Climb.auto
new file mode 100644
index 0000000..d8ff8c6
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/HP Auto + Climb.auto	
@@ -0,0 +1,61 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "Deploy_Intake_Command"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Starting to HP"
+          }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 3.0
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "HP to Hub"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Shoot_Fuel_Command"
+          }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 3.0
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Stop_Shooter_Command"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Hub to side of Climb"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/autos/HP to Hub and Shoot Auto.auto b/src/main/deploy/pathplanner/autos/HP to Hub and Shoot Auto.auto
new file mode 100644
index 0000000..ce599cd
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/HP to Hub and Shoot Auto.auto	
@@ -0,0 +1,31 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "Deploy_Intake_Command"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "HP to hub and shoot"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Shoot_Fuel_Command"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/HP to Hub.path b/src/main/deploy/pathplanner/paths/HP to Hub.path
new file mode 100644
index 0000000..74ab6bc
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/HP to Hub.path	
@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 0.5,
+        "y": 0.65
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 0.8535533905932737,
+        "y": 1.0035533905932739
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 2.5,
+        "y": 2.5
+      },
+      "prevControl": {
+        "x": 2.146446609406726,
+        "y": 2.146446609406726
+      },
+      "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": 38.99099404250546
+  },
+  "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/HP to hub and shoot.path b/src/main/deploy/pathplanner/paths/HP to hub and shoot.path
new file mode 100644
index 0000000..986ce14
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/HP to hub and shoot.path	
@@ -0,0 +1,79 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 0.4655813953488368,
+        "y": 0.6682289803220032
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 3.580858676207512,
+        "y": -0.27284436493738906
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 2.591109123434704,
+        "y": 2.1771914132379244
+      },
+      "prevControl": {
+        "x": 3.078571154198153,
+        "y": 2.162419836548123
+      },
+      "nextControl": {
+        "x": 2.055670840787119,
+        "y": 2.1934168157423963
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 3.077871198568873,
+        "y": 3.86463327370304
+      },
+      "prevControl": {
+        "x": 1.9420930232558136,
+        "y": 4.026887298747764
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 0.5,
+      "rotationDegrees": 180.0
+    },
+    {
+      "waypointRelativePos": 1.567134268537075,
+      "rotationDegrees": -1.0
+    }
+  ],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 2.0,
+    "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": 0.0
+  },
+  "useDefaultConstraints": false
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/Hub to side of Climb.path b/src/main/deploy/pathplanner/paths/Hub to side of Climb.path
new file mode 100644
index 0000000..17d6206
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/Hub to side of Climb.path	
@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 2.5,
+        "y": 2.5
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 2.030153689607046,
+        "y": 2.3289899283371653
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 0.8,
+        "y": 2.0
+      },
+      "prevControl": {
+        "x": 1.2698463103929543,
+        "y": 2.1710100716628347
+      },
+      "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": -80.0
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 45.0
+  },
+  "useDefaultConstraints": true
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/Side of Climb to Climb.path b/src/main/deploy/pathplanner/paths/Side of Climb to Climb.path
new file mode 100644
index 0000000..cf2120f
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/Side of Climb to Climb.path	
@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 0.8,
+        "y": 2.0
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 0.8,
+        "y": 2.5
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 0.8,
+        "y": 2.7
+      },
+      "prevControl": {
+        "x": 0.8,
+        "y": 2.2
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 1.0,
+    "maxAcceleration": 1.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": -90.0
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": -90.0
+  },
+  "useDefaultConstraints": false
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/Starting to HP.path b/src/main/deploy/pathplanner/paths/Starting to HP.path
new file mode 100644
index 0000000..e1878fe
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/Starting to HP.path	
@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 3.5159570661896247,
+        "y": 0.4572987477638639
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 2.8344901610017894,
+        "y": 0.4248479427549193
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 0.5,
+        "y": 0.65
+      },
+      "prevControl": {
+        "x": 1.0519022424324624,
+        "y": 0.6499999999999999
+      },
+      "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": 180.0
+  },
+  "useDefaultConstraints": true
+}
\ No newline at end of file