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Added auto for robot

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This commit is contained in:
Mehooliu
2026-03-02 16:11:09 -05:00
parent 76e55fc5ec
commit 69279812f3
8 changed files with 388 additions and 1 deletions
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54
src/main/deploy/pathplanner/paths/HP to Hub.path Normal file
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{
"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
}

79
src/main/deploy/pathplanner/paths/HP to hub and shoot.path Normal file
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@@ -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
}

54
src/main/deploy/pathplanner/paths/Hub to side of Climb.path Normal file
View File

@@ -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
}

54
src/main/deploy/pathplanner/paths/Side of Climb to Climb.path Normal file
View File

@@ -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
}

54
src/main/deploy/pathplanner/paths/Starting to HP.path Normal file
View File

@@ -0,0 +1,54 @@
{
"version": "2025.0",
"waypoints": [
{
"anchor": {
"x": 3.5159570661896247,
"y": 0.4572987477638639
},
"prevControl": null,
"nextControl": {
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"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": {
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"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
}