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Citris Auton #67

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afa043d
Citris Auton
bunny2027 Mar 10, 2026
6df7250
Buildable
Orcasphynx Mar 18, 2026
a638ffa
Merge branch 'development' into feature/citrus
Orcasphynx Apr 7, 2026
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73 changes: 73 additions & 0 deletions src/main/deploy/pathplanner/autos/Citris copy.auto
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Original file line number Diff line number Diff line change
@@ -0,0 +1,73 @@
{
"version": "2025.0",
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "pouch to hub"
}
},
{
"type": "path",
"data": {
"pathName": "Hub to pouch"
}
},
{
"type": "named",
"data": {
"name": "Collect Intake"
}
},
{
"type": "path",
"data": {
"pathName": "cubby to shot"
}
},
{
"type": "named",
"data": {
"name": "AutonShoot"
}
},
{
"type": "path",
"data": {
"pathName": "shot to mid"
}
},
{
"type": "named",
"data": {
"name": "Collect Intake"
}
},
{
"type": "path",
"data": {
"pathName": "run mid"
}
},
{
"type": "path",
"data": {
"pathName": "mid to 2nd"
}
},
{
"type": "named",
"data": {
"name": "AutonShoot"
}
}
]
}
},
"resetOdom": true,
"folder": "Test Autons",
"choreoAuto": false
}
32 changes: 32 additions & 0 deletions src/main/deploy/pathplanner/autos/HP Shoot.auto
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Expand Up @@ -35,6 +35,38 @@
"pathName": "HP to Shoot - HP SHOOT"
}
},
{
"type": "parallel",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "AutonShoot"
}
},
{
"type": "sequential",
"data": {
"commands": [
{
"type": "wait",
"data": {
"waitTime": 3.0
}
},
{
"type": "named",
"data": {
"name": "Stow Intake"
}
}
]
}
}
]
}
},
{
"type": "parallel",
"data": {
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6 changes: 0 additions & 6 deletions src/main/deploy/pathplanner/autos/Immediate HP Auto (Around Tower) - RIGHT.auto
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Expand Up @@ -22,12 +22,6 @@
"pathName": "HP to Right Tower - HP AUTO"
}
},
{
"type": "named",
"data": {
"name": "Collect Intake"
}
},
{
"type": "path",
"data": {
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15 changes: 14 additions & 1 deletion src/main/deploy/pathplanner/paths/Back To Shoot.path
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Expand Up @@ -44,7 +44,12 @@
"linkedName": null
}
],
"rotationTargets": [],
"rotationTargets": [
{
"waypointRelativePos": 0.4430379746835446,
"rotationDegrees": 91.23093843575762
}
],
"constraintZones": [],
"pointTowardsZones": [],
"eventMarkers": [],
Expand All @@ -58,13 +63,21 @@
},
"goalEndState": {
"velocity": 0,
<<<<<<< HEAD:src/main/deploy/pathplanner/paths/pouch to hub.path
"rotation": 90.65854317756363
=======
"rotation": -44.957281812565405
>>>>>>> development:src/main/deploy/pathplanner/paths/Back To Shoot.path
},
"reversed": false,
"folder": "Depot AUTO",
"idealStartingState": {
"velocity": 0,
<<<<<<< HEAD:src/main/deploy/pathplanner/paths/pouch to hub.path
"rotation": 0.6902771978651236
=======
"rotation": -87.68518833808571
>>>>>>> development:src/main/deploy/pathplanner/paths/Back To Shoot.path
},
"useDefaultConstraints": true
}
4 changes: 4 additions & 0 deletions src/main/deploy/pathplanner/paths/Back to HP Shot.path
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Expand Up @@ -64,7 +64,11 @@
"folder": "HP AUTO",
"idealStartingState": {
"velocity": 0,
<<<<<<< HEAD:src/main/deploy/pathplanner/paths/Hub to pouch.path
"rotation": 90.70975035955198
=======
"rotation": 90.0
>>>>>>> development:src/main/deploy/pathplanner/paths/Back to HP Shot.path
},
"useDefaultConstraints": true
}
54 changes: 54 additions & 0 deletions src/main/deploy/pathplanner/paths/cubby to shot.path
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@@ -0,0 +1,54 @@
{
"version": "2025.0",
"waypoints": [
{
"anchor": {
"x": 0.509,
"y": 7.082
},
"prevControl": null,
"nextControl": {
"x": 1.509,
"y": 7.082
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 3.0815977175463622,
"y": 4.9083594864479325
},
"prevControl": {
"x": 2.4734807417974314,
"y": 5.503537803138374
},
"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": -37.18470645323322
},
"reversed": false,
"folder": "Around the World",
"idealStartingState": {
"velocity": 0,
"rotation": 0.0
},
"useDefaultConstraints": true
}
59 changes: 59 additions & 0 deletions src/main/deploy/pathplanner/paths/mid to 2nd.path
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@@ -0,0 +1,59 @@
{
"version": "2025.0",
"waypoints": [
{
"anchor": {
"x": 7.675,
"y": 1.169
},
"prevControl": null,
"nextControl": {
"x": 8.675,
"y": 1.1690000000000005
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 2.5511126961483592,
"y": 2.721726105563481
},
"prevControl": {
"x": 3.6767760342368043,
"y": 2.838174037089873
},
"nextControl": null,
"isLocked": false,
"linkedName": null
}
],
"rotationTargets": [
{
"waypointRelativePos": 0.6814345991561169,
"rotationDegrees": 0.0
}
],
"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": 35.8376529542783
},
"reversed": false,
"folder": "Around the World",
"idealStartingState": {
"velocity": 0,
"rotation": 0.0
},
"useDefaultConstraints": true
}
54 changes: 54 additions & 0 deletions src/main/deploy/pathplanner/paths/run mid.path
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@@ -0,0 +1,54 @@
{
"version": "2025.0",
"waypoints": [
{
"anchor": {
"x": 7.675,
"y": 7.329
},
"prevControl": null,
"nextControl": {
"x": 7.652137361528301,
"y": 6.898425905918782
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 7.675,
"y": 1.1690870185449365
},
"prevControl": {
"x": 7.685206203526455,
"y": 2.233796687236829
},
"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": -90.01645068964164
},
"reversed": false,
"folder": "Around the World",
"idealStartingState": {
"velocity": 0,
"rotation": -90.01791124422833
},
"useDefaultConstraints": true
}
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