From 5c4df7c3c1dcd5686941ca7a648efe597ddd5ee5 Mon Sep 17 00:00:00 2001 From: William Crouch Date: Mon, 30 Mar 2026 20:50:11 -0400 Subject: [PATCH 1/4] Deleting extraneous autons --- .../pathplanner/autos/Full Simple Auto.auto | 31 -------- .../autos/Full Tour and Shoot.auto | 17 ++++- ...diate HP Auto (Through Tower) - RIGHT.auto | 67 ----------------- .../autos/Immediate Shoot Auto - LEFT.auto | 61 --------------- .../autos/Immediate Shoot Auto - RIGHT.auto | 61 --------------- .../autos/Move Back and Shoot.auto | 44 ----------- .../autos/Simple Forward Auto.auto | 25 ------- .../autos/Simple Rotation Auto.auto | 25 ------- src/main/deploy/pathplanner/paths/1.path | 54 ------------- src/main/deploy/pathplanner/paths/2.path | 54 ------------- .../pathplanner/paths/Depot Path - 1.path | 54 ------------- .../paths/Field to Shoot - SHOOT LEFT.path | 54 ------------- .../paths/Field to Shoot - SHOOT RIGHT.path | 54 ------------- .../pathplanner/paths/Forward Simple.path | 54 ------------- .../deploy/pathplanner/paths/Full Tour.path | 4 +- ...Right Tower (through tower) - HP AUTO.path | 63 ---------------- .../pathplanner/paths/Outpost 2 Path - 3.path | 54 ------------- .../pathplanner/paths/Outpost Path -2.path | 59 --------------- .../Overbump through Field - SHOOT LEFT.path | 75 ------------------- .../Overbump through Field - SHOOT RIGHT.path | 75 ------------------- ...rough Depot (through tower) - HP AUTO.path | 54 ------------- .../pathplanner/paths/Rotation Simple.path | 54 ------------- .../pathplanner/paths/Shoot Path - 4.path | 59 --------------- .../paths/Shoot to Climb - CENTER.path | 54 ------------- .../paths/Shoot to Climb - SHOOT LEFT.path | 54 ------------- .../paths/Shoot to Climb - SHOOT RIGHT.path | 54 ------------- .../paths/Shoot to Overbump - SHOOT LEFT.path | 54 ------------- .../Shoot to Overbump - SHOOT RIGHT.path | 54 ------------- .../paths/Start to shoot - SHOOT LEFT.path | 54 ------------- .../paths/Start to shoot - SHOOT RIGHT.path | 54 ------------- src/main/deploy/pathplanner/settings.json | 8 -- 31 files changed, 17 insertions(+), 1521 deletions(-) delete mode 100644 src/main/deploy/pathplanner/autos/Full Simple Auto.auto delete mode 100644 src/main/deploy/pathplanner/autos/Immediate HP Auto (Through Tower) - RIGHT.auto delete mode 100644 src/main/deploy/pathplanner/autos/Immediate Shoot Auto - LEFT.auto delete mode 100644 src/main/deploy/pathplanner/autos/Immediate Shoot Auto - RIGHT.auto delete mode 100644 src/main/deploy/pathplanner/autos/Move Back and Shoot.auto delete mode 100644 src/main/deploy/pathplanner/autos/Simple Forward Auto.auto delete mode 100644 src/main/deploy/pathplanner/autos/Simple Rotation Auto.auto delete mode 100644 src/main/deploy/pathplanner/paths/1.path delete mode 100644 src/main/deploy/pathplanner/paths/2.path delete mode 100644 src/main/deploy/pathplanner/paths/Depot Path - 1.path delete mode 100644 src/main/deploy/pathplanner/paths/Field to Shoot - SHOOT LEFT.path delete mode 100644 src/main/deploy/pathplanner/paths/Field to Shoot - SHOOT RIGHT.path delete mode 100644 src/main/deploy/pathplanner/paths/Forward Simple.path delete mode 100644 src/main/deploy/pathplanner/paths/HP to Right Tower (through tower) - HP AUTO.path delete mode 100644 src/main/deploy/pathplanner/paths/Outpost 2 Path - 3.path delete mode 100644 src/main/deploy/pathplanner/paths/Outpost Path -2.path delete mode 100644 src/main/deploy/pathplanner/paths/Overbump through Field - SHOOT LEFT.path delete mode 100644 src/main/deploy/pathplanner/paths/Overbump through Field - SHOOT RIGHT.path delete mode 100644 src/main/deploy/pathplanner/paths/Right Tower through Depot (through tower) - HP AUTO.path delete mode 100644 src/main/deploy/pathplanner/paths/Rotation Simple.path delete mode 100644 src/main/deploy/pathplanner/paths/Shoot Path - 4.path delete mode 100644 src/main/deploy/pathplanner/paths/Shoot to Climb - CENTER.path delete mode 100644 src/main/deploy/pathplanner/paths/Shoot to Climb - SHOOT LEFT.path delete mode 100644 src/main/deploy/pathplanner/paths/Shoot to Climb - SHOOT RIGHT.path delete mode 100644 src/main/deploy/pathplanner/paths/Shoot to Overbump - SHOOT LEFT.path delete mode 100644 src/main/deploy/pathplanner/paths/Shoot to Overbump - SHOOT RIGHT.path delete mode 100644 src/main/deploy/pathplanner/paths/Start to shoot - SHOOT LEFT.path delete mode 100644 src/main/deploy/pathplanner/paths/Start to shoot - SHOOT RIGHT.path diff --git a/src/main/deploy/pathplanner/autos/Full Simple Auto.auto b/src/main/deploy/pathplanner/autos/Full Simple Auto.auto deleted file mode 100644 index 9b7c52b..0000000 --- a/src/main/deploy/pathplanner/autos/Full Simple Auto.auto +++ /dev/null @@ -1,31 +0,0 @@ -{ - "version": "2025.0", - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "Seed" - } - }, - { - "type": "path", - "data": { - "pathName": "Forward Simple" - } - }, - { - "type": "path", - "data": { - "pathName": "Rotation Simple" - } - } - ] - } - }, - "resetOdom": true, - "folder": "Simple Autons", - "choreoAuto": false -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Full Tour and Shoot.auto b/src/main/deploy/pathplanner/autos/Full Tour and Shoot.auto index ded2d27..681c13b 100644 --- a/src/main/deploy/pathplanner/autos/Full Tour and Shoot.auto +++ b/src/main/deploy/pathplanner/autos/Full Tour and Shoot.auto @@ -27,9 +27,22 @@ } }, { - "type": "wait", + "type": "sequential", "data": { - "waitTime": 5.0 + "commands": [ + { + "type": "wait", + "data": { + "waitTime": 5.0 + } + }, + { + "type": "named", + "data": { + "name": "Stow Intake" + } + } + ] } } ] diff --git a/src/main/deploy/pathplanner/autos/Immediate HP Auto (Through Tower) - RIGHT.auto b/src/main/deploy/pathplanner/autos/Immediate HP Auto (Through Tower) - RIGHT.auto deleted file mode 100644 index 9a43928..0000000 --- a/src/main/deploy/pathplanner/autos/Immediate HP Auto (Through Tower) - RIGHT.auto +++ /dev/null @@ -1,67 +0,0 @@ -{ - "version": "2025.0", - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "Collect Intake" - } - }, - { - "type": "path", - "data": { - "pathName": "Start to HP - HP AUTO" - } - }, - { - "type": "named", - "data": { - "name": "HP Reload" - } - }, - { - "type": "path", - "data": { - "pathName": "HP to Right Tower (through tower) - HP AUTO" - } - }, - { - "type": "named", - "data": { - "name": "Stow Intake" - } - }, - { - "type": "path", - "data": { - "pathName": "Right Tower through Depot (through tower) - HP AUTO" - } - }, - { - "type": "path", - "data": { - "pathName": "Depot to Shoot - HP AUTO" - } - }, - { - "type": "named", - "data": { - "name": "AutonShoot" - } - }, - { - "type": "path", - "data": { - "pathName": "Shoot to Climb - HP AUTO" - } - } - ] - } - }, - "resetOdom": true, - "folder": "Other Comp Autons", - "choreoAuto": false -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Immediate Shoot Auto - LEFT.auto b/src/main/deploy/pathplanner/autos/Immediate Shoot Auto - LEFT.auto deleted file mode 100644 index d2c2ba4..0000000 --- a/src/main/deploy/pathplanner/autos/Immediate Shoot Auto - LEFT.auto +++ /dev/null @@ -1,61 +0,0 @@ -{ - "version": "2025.0", - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "Start to shoot - SHOOT LEFT" - } - }, - { - "type": "named", - "data": { - "name": "AutonShoot" - } - }, - { - "type": "path", - "data": { - "pathName": "Shoot to Overbump - SHOOT LEFT" - } - }, - { - "type": "named", - "data": { - "name": "Collect Intake" - } - }, - { - "type": "path", - "data": { - "pathName": "Overbump through Field - SHOOT LEFT" - } - }, - { - "type": "path", - "data": { - "pathName": "Field to Shoot - SHOOT LEFT" - } - }, - { - "type": "named", - "data": { - "name": "AutonShoot" - } - }, - { - "type": "path", - "data": { - "pathName": "Shoot to Climb - SHOOT LEFT" - } - } - ] - } - }, - "resetOdom": true, - "folder": "Other Comp Autons", - "choreoAuto": false -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Immediate Shoot Auto - RIGHT.auto b/src/main/deploy/pathplanner/autos/Immediate Shoot Auto - RIGHT.auto deleted file mode 100644 index 299a625..0000000 --- a/src/main/deploy/pathplanner/autos/Immediate Shoot Auto - RIGHT.auto +++ /dev/null @@ -1,61 +0,0 @@ -{ - "version": "2025.0", - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "Start to shoot - SHOOT RIGHT" - } - }, - { - "type": "named", - "data": { - "name": "AutonShoot" - } - }, - { - "type": "path", - "data": { - "pathName": "Shoot to Overbump - SHOOT RIGHT" - } - }, - { - "type": "named", - "data": { - "name": "Collect Intake" - } - }, - { - "type": "path", - "data": { - "pathName": "Overbump through Field - SHOOT RIGHT" - } - }, - { - "type": "path", - "data": { - "pathName": "Field to Shoot - SHOOT RIGHT" - } - }, - { - "type": "named", - "data": { - "name": "AutonShoot" - } - }, - { - "type": "path", - "data": { - "pathName": "Shoot to Climb - SHOOT RIGHT" - } - } - ] - } - }, - "resetOdom": true, - "folder": "Other Comp Autons", - "choreoAuto": false -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Move Back and Shoot.auto b/src/main/deploy/pathplanner/autos/Move Back and Shoot.auto deleted file mode 100644 index cea96aa..0000000 --- a/src/main/deploy/pathplanner/autos/Move Back and Shoot.auto +++ /dev/null @@ -1,44 +0,0 @@ -{ - "version": "2025.0", - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "Start to Shoot - CENTER" - } - }, - { - "type": "race", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "AutonShoot" - } - }, - { - "type": "wait", - "data": { - "waitTime": 5.0 - } - } - ] - } - }, - { - "type": "named", - "data": { - "name": "StopShot" - } - } - ] - } - }, - "resetOdom": true, - "folder": "Basic Comp Autons", - "choreoAuto": false -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Simple Forward Auto.auto b/src/main/deploy/pathplanner/autos/Simple Forward Auto.auto deleted file mode 100644 index b794f0f..0000000 --- a/src/main/deploy/pathplanner/autos/Simple Forward Auto.auto +++ /dev/null @@ -1,25 +0,0 @@ -{ - "version": "2025.0", - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "Seed" - } - }, - { - "type": "path", - "data": { - "pathName": "Forward Simple" - } - } - ] - } - }, - "resetOdom": true, - "folder": "Simple Autons", - "choreoAuto": false -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Simple Rotation Auto.auto b/src/main/deploy/pathplanner/autos/Simple Rotation Auto.auto deleted file mode 100644 index fafa49a..0000000 --- a/src/main/deploy/pathplanner/autos/Simple Rotation Auto.auto +++ /dev/null @@ -1,25 +0,0 @@ -{ - "version": "2025.0", - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "Seed" - } - }, - { - "type": "path", - "data": { - "pathName": "Rotation Simple" - } - } - ] - } - }, - "resetOdom": true, - "folder": "Simple Autons", - "choreoAuto": false -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/1.path b/src/main/deploy/pathplanner/paths/1.path deleted file mode 100644 index f1f1290..0000000 --- a/src/main/deploy/pathplanner/paths/1.path +++ /dev/null @@ -1,54 +0,0 @@ -{ - "version": "2025.0", - "waypoints": [ - { - "anchor": { - "x": 3.238, - "y": 3.179851198598982 - }, - "prevControl": null, - "nextControl": { - "x": 2.457431495949073, - "y": 2.980132737950834 - }, - "isLocked": false, - "linkedName": null - }, - { - "anchor": { - "x": 1.0, - "y": 1.0 - }, - "prevControl": { - "x": 2.270351128472223, - "y": 0.9975724103009258 - }, - "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": 179.60398696427043 - }, - "reversed": false, - "folder": null, - "idealStartingState": { - "velocity": 0, - "rotation": -179.46896508702454 - }, - "useDefaultConstraints": true -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/2.path b/src/main/deploy/pathplanner/paths/2.path deleted file mode 100644 index 339e573..0000000 --- a/src/main/deploy/pathplanner/paths/2.path +++ /dev/null @@ -1,54 +0,0 @@ -{ - "version": "2025.0", - "waypoints": [ - { - "anchor": { - "x": 0.8069829193959241, - "y": 0.6799783365174665 - }, - "prevControl": null, - "nextControl": { - "x": 1.8646866471069874, - "y": 1.6965427697416304 - }, - "isLocked": false, - "linkedName": null - }, - { - "anchor": { - "x": 2.6173113400655024, - "y": 2.653168497543669 - }, - "prevControl": { - "x": 1.8331215884279475, - "y": 1.784456195414848 - }, - "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": 34.16894996806721 - }, - "reversed": false, - "folder": null, - "idealStartingState": { - "velocity": 0, - "rotation": -179.55517050349204 - }, - "useDefaultConstraints": true -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Depot Path - 1.path b/src/main/deploy/pathplanner/paths/Depot Path - 1.path deleted file mode 100644 index c138618..0000000 --- a/src/main/deploy/pathplanner/paths/Depot Path - 1.path +++ /dev/null @@ -1,54 +0,0 @@ -{ - "version": "2025.0", - "waypoints": [ - { - "anchor": { - "x": 3.604, - "y": 0.615 - }, - "prevControl": null, - "nextControl": { - "x": 3.2359732054830928, - "y": 0.6086984082259487 - }, - "isLocked": false, - "linkedName": null - }, - { - "anchor": { - "x": 0.48570759578525524, - "y": 0.6146265060240967 - }, - "prevControl": { - "x": 0.7974708394714801, - "y": 0.6017551800320586 - }, - "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": 0.0, - "rotation": 180.0 - }, - "reversed": false, - "folder": null, - "idealStartingState": { - "velocity": 0, - "rotation": 179.9999999995257 - }, - "useDefaultConstraints": true -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Field to Shoot - SHOOT LEFT.path b/src/main/deploy/pathplanner/paths/Field to Shoot - SHOOT LEFT.path deleted file mode 100644 index 2a84859..0000000 --- a/src/main/deploy/pathplanner/paths/Field to Shoot - SHOOT LEFT.path +++ /dev/null @@ -1,54 +0,0 @@ -{ - "version": "2025.0", - "waypoints": [ - { - "anchor": { - "x": 7.797, - "y": 2.118 - }, - "prevControl": null, - "nextControl": { - "x": 5.955621796588128, - "y": 2.5165972115973068 - }, - "isLocked": false, - "linkedName": null - }, - { - "anchor": { - "x": 3.338031383873929, - "y": 2.118 - }, - "prevControl": { - "x": 4.598582370716036, - "y": 2.709704186429008 - }, - "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": 60.31783745930524 - }, - "reversed": false, - "folder": "Immediate Shoot - LEFT", - "idealStartingState": { - "velocity": 0, - "rotation": 90.18948660335153 - }, - "useDefaultConstraints": true -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Field to Shoot - SHOOT RIGHT.path b/src/main/deploy/pathplanner/paths/Field to Shoot - SHOOT RIGHT.path deleted file mode 100644 index 66e5bc6..0000000 --- a/src/main/deploy/pathplanner/paths/Field to Shoot - SHOOT RIGHT.path +++ /dev/null @@ -1,54 +0,0 @@ -{ - "version": "2025.0", - "waypoints": [ - { - "anchor": { - "x": 7.797, - "y": 5.9 - }, - "prevControl": null, - "nextControl": { - "x": 5.976364367847712, - "y": 5.21865096830986 - }, - "isLocked": false, - "linkedName": null - }, - { - "anchor": { - "x": 3.338031383873929, - "y": 5.9 - }, - "prevControl": { - "x": 5.088626141615317, - "y": 5.540636966329226 - }, - "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": -55.28211601337009 - }, - "reversed": false, - "folder": "Immediate Shoot - RIGHT", - "idealStartingState": { - "velocity": 0, - "rotation": 90.18948660335153 - }, - "useDefaultConstraints": true -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Forward Simple.path b/src/main/deploy/pathplanner/paths/Forward Simple.path deleted file mode 100644 index 61446e6..0000000 --- a/src/main/deploy/pathplanner/paths/Forward Simple.path +++ /dev/null @@ -1,54 +0,0 @@ -{ - "version": "2025.0", - "waypoints": [ - { - "anchor": { - "x": 1.5, - "y": 7.0 - }, - "prevControl": null, - "nextControl": { - "x": 2.5, - "y": 7.0 - }, - "isLocked": false, - "linkedName": null - }, - { - "anchor": { - "x": 3.5, - "y": 7.0 - }, - "prevControl": { - "x": 2.5, - "y": 7.0 - }, - "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": "Simple Paths", - "idealStartingState": { - "velocity": 0, - "rotation": 0.0 - }, - "useDefaultConstraints": true -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Full Tour.path b/src/main/deploy/pathplanner/paths/Full Tour.path index e89d99b..76c882c 100644 --- a/src/main/deploy/pathplanner/paths/Full Tour.path +++ b/src/main/deploy/pathplanner/paths/Full Tour.path @@ -84,8 +84,8 @@ "y": 2.7447032696759264 }, "prevControl": { - "x": 4.096988824790656, - "y": 2.7447032696759264 + "x": 4.0132840909090906, + "y": 2.5302045454545454 }, "nextControl": null, "isLocked": false, diff --git a/src/main/deploy/pathplanner/paths/HP to Right Tower (through tower) - HP AUTO.path b/src/main/deploy/pathplanner/paths/HP to Right Tower (through tower) - HP AUTO.path deleted file mode 100644 index 97cb640..0000000 --- a/src/main/deploy/pathplanner/paths/HP to Right Tower (through tower) - HP AUTO.path +++ /dev/null @@ -1,63 +0,0 @@ -{ - "version": "2025.0", - "waypoints": [ - { - "anchor": { - "x": 0.55, - "y": 0.62 - }, - "prevControl": null, - "nextControl": { - "x": 1.8469257089120377, - "y": 0.6584851707175927 - }, - "isLocked": false, - "linkedName": null - }, - { - "anchor": { - "x": 0.34, - "y": 2.5 - }, - "prevControl": { - "x": 0.13628414351851886, - "y": 0.9130680761052317 - }, - "nextControl": null, - "isLocked": false, - "linkedName": null - } - ], - "rotationTargets": [ - { - "waypointRelativePos": 0.5, - "rotationDegrees": 135.0 - 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SHOOT LEFT.path b/src/main/deploy/pathplanner/paths/Shoot to Overbump - SHOOT LEFT.path deleted file mode 100644 index 3d08072..0000000 --- a/src/main/deploy/pathplanner/paths/Shoot to Overbump - SHOOT LEFT.path +++ /dev/null @@ -1,54 +0,0 @@ -{ - "version": "2025.0", - "waypoints": [ - { - "anchor": { - "x": 2.496, - "y": 5.619 - }, - "prevControl": null, - "nextControl": { - "x": 4.368679921324825, - "y": 5.7210289667693655 - }, - "isLocked": false, - "linkedName": null - }, - { - "anchor": { - "x": 5.956902990206867, - "y": 5.619 - }, - "prevControl": { - "x": 4.956902990206867, - "y": 5.619 - }, - "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, - 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SHOOT RIGHT.path +++ /dev/null @@ -1,54 +0,0 @@ -{ - "version": "2025.0", - "waypoints": [ - { - "anchor": { - "x": 3.555107009242959, - "y": 2.6 - }, - "prevControl": null, - "nextControl": { - "x": 3.005892825042831, - "y": 2.3685744913088005 - }, - "isLocked": false, - "linkedName": null - }, - { - "anchor": { - "x": 2.496, - "y": 2.4 - }, - "prevControl": { - "x": 3.293124860800254, - "y": 2.821171808141837 - }, - "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": 37.500508916961145 - }, - "reversed": false, - "folder": "Immediate Shoot - RIGHT", - "idealStartingState": { - "velocity": 0, - "rotation": -178.86444563841715 - }, - "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 d59f569..ae697e8 100644 --- a/src/main/deploy/pathplanner/settings.json +++ b/src/main/deploy/pathplanner/settings.json @@ -7,26 +7,18 @@ "Basic Comp Paths - LEFT", "Basic Comp Paths - RIGHT", "Center AUTO", - "Comp Autos", "Depot AUTO", "HP AUTO", - "HP AUTO - Through tower", - "Immediate Shoot - LEFT", - "Immediate Shoot - RIGHT", - "Left Middle AUTO", "Mid-field", "Plus - Test", - "Plus Sign Test", "Rotation + Translation Test", "Shoot Then Depot Paths", - "Simple Paths", "Square Test", "Test Paths" ], "autoFolders": [ "Basic Comp Autons", "Other Comp Autons", - "Simple Autons", "Test Autons" ], "defaultMaxVel": 3.0, From ade66ff8a45425db9f8370a4c037070e12c0fb74 Mon Sep 17 00:00:00 2001 From: William Crouch Date: Mon, 30 Mar 2026 21:11:32 -0400 Subject: [PATCH 2/4] Targeting autons that go at the depot at an angle --- .../pathplanner/autos/Around the world.auto | 73 ------- .../autos/Basic Comp Auto - CENTER.auto | 68 ------- .../pathplanner/autos/Depot Shoot - Orig.auto | 56 ------ .../deploy/pathplanner/autos/HP Elim 1.auto | 184 ------------------ .../autos/HP Shoot Mid Collect Park.auto | 2 +- .../pathplanner/autos/HP Shoot Mid Sweep.auto | 70 ++++++- .../autos/Just Drive Auto - CENTER.auto | 31 --- .../pathplanner/autos/Shoot Then Depot.auto | 87 --------- .../paths/Depot to shoot - orig.path | 54 ----- .../pathplanner/paths/HP Mid Sweep.path | 89 --------- .../paths/HP to Shoot - CENTER.path | 54 ----- .../pathplanner/paths/Hub to pouch.path | 70 ------- src/main/deploy/pathplanner/paths/Points.path | 54 ----- .../pathplanner/paths/Return From Depot.path | 54 ----- .../pathplanner/paths/Shoot to Depot.path | 54 ----- .../paths/Shoot to HP - CENTER.path | 59 ------ .../paths/Start to Shoot - CENTER.path | 54 ----- .../pathplanner/paths/collect to shot.path | 54 ----- .../deploy/pathplanner/paths/collect.path | 54 ----- .../pathplanner/paths/hub_s to center.path | 54 ----- .../pathplanner/paths/pouch to hub.path | 70 ------- src/main/deploy/pathplanner/settings.json | 3 - 22 files changed, 68 insertions(+), 1280 deletions(-) delete mode 100644 src/main/deploy/pathplanner/autos/Around the world.auto delete mode 100644 src/main/deploy/pathplanner/autos/Basic Comp Auto - CENTER.auto delete mode 100644 src/main/deploy/pathplanner/autos/Depot Shoot - Orig.auto delete mode 100644 src/main/deploy/pathplanner/autos/HP Elim 1.auto delete mode 100644 src/main/deploy/pathplanner/autos/Just Drive Auto - CENTER.auto delete mode 100644 src/main/deploy/pathplanner/autos/Shoot Then Depot.auto delete mode 100644 src/main/deploy/pathplanner/paths/Depot to shoot - orig.path delete mode 100644 src/main/deploy/pathplanner/paths/HP Mid Sweep.path delete mode 100644 src/main/deploy/pathplanner/paths/HP to Shoot - CENTER.path delete mode 100644 src/main/deploy/pathplanner/paths/Hub to pouch.path delete mode 100644 src/main/deploy/pathplanner/paths/Points.path delete mode 100644 src/main/deploy/pathplanner/paths/Return From Depot.path delete mode 100644 src/main/deploy/pathplanner/paths/Shoot to Depot.path delete mode 100644 src/main/deploy/pathplanner/paths/Shoot to HP - CENTER.path delete mode 100644 src/main/deploy/pathplanner/paths/Start to Shoot - CENTER.path delete mode 100644 src/main/deploy/pathplanner/paths/collect to shot.path delete mode 100644 src/main/deploy/pathplanner/paths/collect.path delete mode 100644 src/main/deploy/pathplanner/paths/hub_s to center.path delete mode 100644 src/main/deploy/pathplanner/paths/pouch to hub.path diff --git a/src/main/deploy/pathplanner/autos/Around the world.auto b/src/main/deploy/pathplanner/autos/Around the world.auto deleted file mode 100644 index f3ae800..0000000 --- a/src/main/deploy/pathplanner/autos/Around the world.auto +++ /dev/null @@ -1,73 +0,0 @@ -{ - "version": "2025.0", - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "AutonShoot" - } - }, - { - "type": "path", - "data": { - "pathName": "Hub to pouch" - } - }, - { - "type": "named", - "data": { - "name": "Collect Intake" - } - }, - { - "type": "path", - "data": { - "pathName": "pouch to hub" - } - }, - { - "type": "named", - "data": { - "name": "AutonShoot" - } - }, - { - "type": "path", - "data": { - "pathName": "hub_s to center" - } - }, - { - "type": "path", - "data": { - "pathName": "collect" - } - }, - { - "type": "named", - "data": { - "name": "Collect Intake" - } - }, - { - "type": "path", - "data": { - "pathName": "collect to shot" - } - }, - { - "type": "named", - "data": { - "name": "AutonShoot" - } - } - ] - } - }, - "resetOdom": true, - "folder": "Test Autons", - "choreoAuto": false -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Basic Comp Auto - CENTER.auto b/src/main/deploy/pathplanner/autos/Basic Comp Auto - CENTER.auto deleted file mode 100644 index b446284..0000000 --- a/src/main/deploy/pathplanner/autos/Basic Comp Auto - CENTER.auto +++ /dev/null @@ -1,68 +0,0 @@ -{ - "version": "2025.0", - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "Start to Shoot - CENTER" - } - }, - { - "type": "race", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "AutonShoot" - } - }, - { - "type": "wait", - "data": { - "waitTime": 5.0 - } - } - ] - } - }, - { - "type": "named", - "data": { - "name": "StopShot" - } - }, - { - "type": "named", - "data": { - "name": "Collect Intake" - } - }, - { - "type": "path", - "data": { - "pathName": "Shoot to HP - CENTER" - } - }, - { - "type": "named", - "data": { - "name": "HP Reload" - } - }, - { - "type": "path", - "data": { - "pathName": "HP to Shoot - CENTER" - } - } - ] - } - }, - "resetOdom": true, - "folder": "Basic Comp Autons", - "choreoAuto": false -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Depot Shoot - Orig.auto b/src/main/deploy/pathplanner/autos/Depot Shoot - Orig.auto deleted file mode 100644 index 7a3bb90..0000000 --- a/src/main/deploy/pathplanner/autos/Depot Shoot - Orig.auto +++ /dev/null @@ -1,56 +0,0 @@ -{ - "version": "2025.0", - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "Start to pre-depot - DEPOT" - } - }, - { - "type": "named", - "data": { - "name": "Collect Intake" - } - }, - { - "type": "path", - "data": { - "pathName": "Depot to shoot - orig" - } - }, - { - "type": "race", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "AutonShoot" - } - }, - { - "type": "wait", - "data": { - "waitTime": 9.0 - } - } - ] - } - }, - { - "type": "named", - "data": { - "name": "StopShot" - } - } - ] - } - }, - "resetOdom": true, - "folder": "Basic Comp Autons", - "choreoAuto": false -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/HP Elim 1.auto b/src/main/deploy/pathplanner/autos/HP Elim 1.auto deleted file mode 100644 index 84c9ef1..0000000 --- a/src/main/deploy/pathplanner/autos/HP Elim 1.auto +++ /dev/null @@ -1,184 +0,0 @@ -{ - "version": "2025.0", - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "Start To HP - HP SHOOT" - } - }, - { - "type": "named", - "data": { - "name": "Collect Intake" - } - }, - { - "type": "parallel", - "data": { - "commands": [] - } - } - ] - } - }, - { - "type": "wait", - "data": { - "waitTime": 2.0 - } - }, - { - "type": "path", - "data": { - "pathName": "HP to Shoot - HP SHOOT" - } - }, - { - "type": "race", - "data": { - "commands": [ - { - "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": "wait", - "data": { - "waitTime": 6.0 - } - } - ] - } - }, - { - "type": "path", - "data": { - "pathName": "HPShoot to Midfield" - } - }, - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "Collect Intake" - } - }, - { - "type": "path", - "data": { - "pathName": "HP Mid Half" - } - } - ] - } - }, - { - "type": "parallel", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "Back to HP Shot" - } - }, - { - "type": "named", - "data": { - "name": "StopRoller" - } - } - ] - } - }, - { - "type": "race", - "data": { - "commands": [ - { - "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": "wait", - "data": { - "waitTime": 6.0 - } - } - ] - } - } - ] - } - }, - "resetOdom": true, - "folder": "Basic Comp Autons", - "choreoAuto": false -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/HP Shoot Mid Collect Park.auto b/src/main/deploy/pathplanner/autos/HP Shoot Mid Collect Park.auto index 4491b46..908c678 100644 --- a/src/main/deploy/pathplanner/autos/HP Shoot Mid Collect Park.auto +++ b/src/main/deploy/pathplanner/autos/HP Shoot Mid Collect Park.auto @@ -105,7 +105,7 @@ { "type": "path", "data": { - "pathName": "HP Mid Sweep" + "pathName": "HP Mid Half" } } ] diff --git a/src/main/deploy/pathplanner/autos/HP Shoot Mid Sweep.auto b/src/main/deploy/pathplanner/autos/HP Shoot Mid Sweep.auto index b8fc10f..84c9ef1 100644 --- a/src/main/deploy/pathplanner/autos/HP Shoot Mid Sweep.auto +++ b/src/main/deploy/pathplanner/autos/HP Shoot Mid Sweep.auto @@ -19,6 +19,12 @@ "data": { "name": "Collect Intake" } + }, + { + "type": "parallel", + "data": { + "commands": [] + } } ] } @@ -99,16 +105,74 @@ { "type": "path", "data": { - "pathName": "HP Mid Sweep" + "pathName": "HP Mid Half" } } ] } }, { - "type": "path", + "type": "parallel", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "Back to HP Shot" + } + }, + { + "type": "named", + "data": { + "name": "StopRoller" + } + } + ] + } + }, + { + "type": "race", "data": { - "pathName": "Back to HP Shot" + "commands": [ + { + "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": "wait", + "data": { + "waitTime": 6.0 + } + } + ] } } ] diff --git a/src/main/deploy/pathplanner/autos/Just Drive Auto - CENTER.auto b/src/main/deploy/pathplanner/autos/Just Drive Auto - CENTER.auto deleted file mode 100644 index b6ba402..0000000 --- a/src/main/deploy/pathplanner/autos/Just Drive Auto - CENTER.auto +++ /dev/null @@ -1,31 +0,0 @@ -{ - "version": "2025.0", - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "Start to Shoot - CENTER" - } - }, - { - "type": "path", - "data": { - "pathName": "Shoot to HP - CENTER" - } - }, - { - "type": "path", - "data": { - "pathName": "HP to Shoot - CENTER" - } - } - ] - } - }, - "resetOdom": true, - "folder": "Basic Comp Autons", - "choreoAuto": false -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Shoot Then Depot.auto b/src/main/deploy/pathplanner/autos/Shoot Then Depot.auto deleted file mode 100644 index 99a2dfc..0000000 --- a/src/main/deploy/pathplanner/autos/Shoot Then Depot.auto +++ /dev/null @@ -1,87 +0,0 @@ -{ - "version": "2025.0", - "command": { - "type": "sequential", - "data": { - "commands": [ - { - "type": "path", - "data": { - "pathName": "Start to Shoot - CENTER" - } - }, - { - "type": "race", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "AutonShoot" - } - }, - { - "type": "wait", - "data": { - "waitTime": 3.0 - } - } - ] - } - }, - { - "type": "named", - "data": { - "name": "StopShot" - } - }, - { - "type": "named", - "data": { - "name": "Collect Intake" - } - }, - { - "type": "path", - "data": { - "pathName": "Shoot to Depot" - } - }, - { - "type": "path", - "data": { - "pathName": "Return From Depot" - } - }, - { - "type": "race", - "data": { - "commands": [ - { - "type": "named", - "data": { - "name": "AutonShoot" - } - }, - { - "type": "wait", - "data": { - "waitTime": 5.0 - } - } - ] - } - }, - { - "type": "named", - "data": { - "name": "StopShot" - } - } - ] - } - }, - "resetOdom": true, - "folder": "Basic Comp Autons", - "choreoAuto": false -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Depot to shoot - orig.path b/src/main/deploy/pathplanner/paths/Depot to shoot - orig.path deleted file mode 100644 index 8c9d1b9..0000000 --- a/src/main/deploy/pathplanner/paths/Depot to shoot - orig.path +++ /dev/null @@ -1,54 +0,0 @@ -{ - "version": "2025.0", - "waypoints": [ - { - "anchor": { - "x": 0.32, - "y": 7.112 - }, - "prevControl": null, - "nextControl": { - "x": 1.141077907987342, - "y": 7.1268307291656425 - }, - "isLocked": false, - "linkedName": null - }, - { - "anchor": { - "x": 2.7573374565984534, - "y": 5.507037905091568 - }, - "prevControl": { - "x": 1.3671440042175016, - "y": 6.9667496820299055 - }, - "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": -36.58324672124552 - }, - "reversed": false, - "folder": "Depot AUTO", - "idealStartingState": { - "velocity": 0, - "rotation": 89.87472453983301 - }, - "useDefaultConstraints": true -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/HP Mid Sweep.path b/src/main/deploy/pathplanner/paths/HP Mid Sweep.path deleted file mode 100644 index 51a50ff..0000000 --- a/src/main/deploy/pathplanner/paths/HP Mid Sweep.path +++ /dev/null @@ -1,89 +0,0 @@ -{ - "version": "2025.0", - "waypoints": [ - { - "anchor": { - "x": 6.874332754629631, - "y": 1.1193335503472224 - }, - "prevControl": null, - "nextControl": { - "x": 7.668747535631472, - "y": 2.0167092641871163 - }, - "isLocked": false, - "linkedName": "HP Middle Sweep" - }, - { - "anchor": { - "x": 7.6215711082175925, - "y": 1.8222847945601859 - }, - "prevControl": { - "x": 7.250286093820664, - "y": 1.792845102371032 - }, - "nextControl": { - "x": 7.87078890475738, - "y": 1.8420456115436232 - }, - "isLocked": false, - "linkedName": null - }, - { - "anchor": { - "x": 7.737832059679766, - "y": 3.556 - }, - "prevControl": { - "x": 7.405737617194074, - "y": 3.1869995314807453 - }, - "nextControl": null, - "isLocked": false, - "linkedName": "HPSweepEnd" - } - ], - "rotationTargets": [ - { - "waypointRelativePos": 0.5, - "rotationDegrees": 90.0 - } - ], - "constraintZones": [ - { - "name": "Constraints Zone", - "minWaypointRelativePos": 0.4116142714570863, - "maxWaypointRelativePos": 2.0, - "constraints": { - "maxVelocity": 1.5, - "maxAcceleration": 3.0, - "maxAngularVelocity": 540.0, - "maxAngularAcceleration": 720.0, - "nominalVoltage": 12.0, - "unlimited": false - } - } - ], - "pointTowardsZones": [], - "eventMarkers": [], - "globalConstraints": { - "maxVelocity": 3.0, - "maxAcceleration": 3.0, - "maxAngularVelocity": 540.0, - "maxAngularAcceleration": 720.0, - "nominalVoltage": 12.0, - "unlimited": false - }, - "goalEndState": { - "velocity": 0, - "rotation": 90.0 - }, - "reversed": false, - "folder": "HP AUTO", - "idealStartingState": { - "velocity": 0, - "rotation": 45.0 - }, - "useDefaultConstraints": true -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/HP to Shoot - CENTER.path b/src/main/deploy/pathplanner/paths/HP to Shoot - CENTER.path deleted file mode 100644 index 79b1f4d..0000000 --- a/src/main/deploy/pathplanner/paths/HP to Shoot - CENTER.path +++ /dev/null @@ -1,54 +0,0 @@ -{ - "version": "2025.0", - "waypoints": [ - { - "anchor": { - "x": 0.847, - "y": 0.65 - }, - "prevControl": null, - "nextControl": { - "x": 1.6651489060587514, - "y": 1.0150202723378208 - }, - "isLocked": false, - "linkedName": null - }, - { - "anchor": { - "x": 2.25, - "y": 4.0 - }, - "prevControl": { - "x": 1.9884508395807834, - "y": 2.6549768111230105 - }, - "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": "Center AUTO", - "idealStartingState": { - "velocity": 0, - "rotation": 180.0 - }, - "useDefaultConstraints": true -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Hub to pouch.path b/src/main/deploy/pathplanner/paths/Hub to pouch.path deleted file mode 100644 index 02225c9..0000000 --- a/src/main/deploy/pathplanner/paths/Hub to pouch.path +++ /dev/null @@ -1,70 +0,0 @@ -{ - "version": "2025.0", - "waypoints": [ - { - "anchor": { - "x": 3.534450784593438, - "y": 4.1191012838801715 - }, - "prevControl": null, - "nextControl": { - "x": 2.4087874465049923, - "y": 4.520199714693296 - }, - "isLocked": false, - "linkedName": null - }, - { - "anchor": { - "x": 1.7618544935805986, - "y": 4.960114122681883 - }, - "prevControl": { - "x": 2.041483433139685, - "y": 4.940140626999092 - }, - "nextControl": { - "x": 1.3995720399429386, - "y": 4.985991440798858 - }, - "isLocked": false, - "linkedName": null - }, - { - "anchor": { - "x": 0.5456205420827387, - "y": 5.115378031383738 - }, - "prevControl": { - "x": 1.1149215406562045, - "y": 4.584893009985736 - }, - "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": 90.0 - }, - "reversed": false, - "folder": "Around the World", - "idealStartingState": { - "velocity": 0, - "rotation": 0.0 - }, - "useDefaultConstraints": true -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Points.path b/src/main/deploy/pathplanner/paths/Points.path deleted file mode 100644 index e9afa4c..0000000 --- a/src/main/deploy/pathplanner/paths/Points.path +++ /dev/null @@ -1,54 +0,0 @@ -{ - "version": "2025.0", - "waypoints": [ - { - "anchor": { - "x": 3.5633455433455437, - "y": 0.621 - }, - "prevControl": null, - "nextControl": { - "x": 2.8852046097454296, - "y": 0.6137189920297468 - }, - "isLocked": false, - "linkedName": null - }, - { - "anchor": { - "x": 3.0, - "y": 0.621 - }, - "prevControl": { - "x": 3.718737748997465, - "y": 0.6231515583098579 - }, - "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": "HP AUTO", - "idealStartingState": { - "velocity": 0, - "rotation": 180.0 - }, - "useDefaultConstraints": true -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Return From Depot.path b/src/main/deploy/pathplanner/paths/Return From Depot.path deleted file mode 100644 index 25b9de5..0000000 --- a/src/main/deploy/pathplanner/paths/Return From Depot.path +++ /dev/null @@ -1,54 +0,0 @@ -{ - "version": "2025.0", - "waypoints": [ - { - "anchor": { - "x": 0.577, - "y": 4.92 - }, - "prevControl": null, - "nextControl": { - "x": 0.5441084337349397, - "y": 7.575578313253011 - }, - "isLocked": false, - "linkedName": null - }, - { - "anchor": { - "x": 2.25, - "y": 4.0 - }, - "prevControl": { - "x": 1.910072289156626, - "y": 9.116385542168675 - }, - "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": "Shoot Then Depot Paths", - "idealStartingState": { - "velocity": 0, - "rotation": 90.0 - }, - "useDefaultConstraints": true -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Shoot to Depot.path b/src/main/deploy/pathplanner/paths/Shoot to Depot.path deleted file mode 100644 index feee682..0000000 --- a/src/main/deploy/pathplanner/paths/Shoot to Depot.path +++ /dev/null @@ -1,54 +0,0 @@ -{ - "version": "2025.0", - "waypoints": [ - { - "anchor": { - "x": 2.25, - "y": 4.0 - }, - "prevControl": null, - "nextControl": { - "x": 2.24058487874465, - "y": 5.309457917261056 - }, - "isLocked": false, - "linkedName": null - }, - { - "anchor": { - "x": 0.5659638554216868, - "y": 4.920144578313253 - }, - "prevControl": { - "x": 1.014, - "y": 4.843650602409639 - }, - "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": 90.0 - }, - "reversed": false, - "folder": "Shoot Then Depot Paths", - "idealStartingState": { - "velocity": 0, - "rotation": 0.0 - }, - "useDefaultConstraints": true -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Shoot to HP - CENTER.path b/src/main/deploy/pathplanner/paths/Shoot to HP - CENTER.path deleted file mode 100644 index 3636a48..0000000 --- a/src/main/deploy/pathplanner/paths/Shoot to HP - CENTER.path +++ /dev/null @@ -1,59 +0,0 @@ -{ - "version": "2025.0", - "waypoints": [ - { - "anchor": { - "x": 2.25, - "y": 4.0 - }, - "prevControl": null, - "nextControl": { - "x": 2.082727633491432, - "y": 1.8730084818696446 - }, - "isLocked": false, - "linkedName": null - }, - { - "anchor": { - "x": 0.847, - "y": 0.65 - }, - "prevControl": { - "x": 1.3949057055025293, - "y": 1.6765242538024667 - }, - "nextControl": null, - "isLocked": false, - "linkedName": null - } - ], - "rotationTargets": [ - { - "waypointRelativePos": 0.3510074231177034, - "rotationDegrees": -90.0 - } - ], - "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": 179.25641974735566 - }, - "reversed": false, - "folder": "Center AUTO", - "idealStartingState": { - "velocity": 0, - "rotation": 0.0 - }, - "useDefaultConstraints": true -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Start to Shoot - CENTER.path b/src/main/deploy/pathplanner/paths/Start to Shoot - CENTER.path deleted file mode 100644 index 7507391..0000000 --- a/src/main/deploy/pathplanner/paths/Start to Shoot - CENTER.path +++ /dev/null @@ -1,54 +0,0 @@ -{ - "version": "2025.0", - "waypoints": [ - { - "anchor": { - "x": 3.645493421052632, - "y": 4.0 - }, - "prevControl": null, - "nextControl": { - "x": 3.1504040316792814, - "y": 4.0 - }, - "isLocked": false, - "linkedName": null - }, - { - "anchor": { - "x": 2.25, - "y": 4.0 - }, - "prevControl": { - "x": 2.85728498740718, - "y": 4.0 - }, - "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": -0.21901661014910967 - }, - "reversed": false, - "folder": "Center AUTO", - "idealStartingState": { - "velocity": 0, - "rotation": 0.0 - }, - "useDefaultConstraints": true -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/collect to shot.path b/src/main/deploy/pathplanner/paths/collect to shot.path deleted file mode 100644 index 0811296..0000000 --- a/src/main/deploy/pathplanner/paths/collect to shot.path +++ /dev/null @@ -1,54 +0,0 @@ -{ - "version": "2025.0", - "waypoints": [ - { - "anchor": { - "x": 7.7653922967189715, - "y": 2.6052781740370903 - }, - "prevControl": null, - "nextControl": { - "x": 8.554650499286732, - "y": 2.6052781740370903 - }, - "isLocked": false, - "linkedName": null - }, - { - "anchor": { - "x": 2.589928673323822, - "y": 2.6052781740370903 - }, - "prevControl": { - "x": 4.802439372325249, - "y": 2.566462196861627 - }, - "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": 15.945395900922769 - }, - "reversed": false, - "folder": "Around the World", - "idealStartingState": { - "velocity": 0, - "rotation": -37.14668669802186 - }, - "useDefaultConstraints": true -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/collect.path b/src/main/deploy/pathplanner/paths/collect.path deleted file mode 100644 index 86933d6..0000000 --- a/src/main/deploy/pathplanner/paths/collect.path +++ /dev/null @@ -1,54 +0,0 @@ -{ - "version": "2025.0", - "waypoints": [ - { - "anchor": { - "x": 6.070427960057061, - "y": 5.684679029957205 - }, - "prevControl": null, - "nextControl": { - "x": 7.325477888730385, - "y": 5.387089871611984 - }, - "isLocked": false, - "linkedName": null - }, - { - "anchor": { - "x": 7.95947218259629, - "y": 2.592339514978602 - }, - "prevControl": { - "x": 7.7653922967189715, - "y": 3.5627389443651927 - }, - "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": -66.80140948635173 - }, - "reversed": false, - "folder": "Around the World", - "idealStartingState": { - "velocity": 0, - "rotation": -29.898901838614535 - }, - "useDefaultConstraints": true -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/hub_s to center.path b/src/main/deploy/pathplanner/paths/hub_s to center.path deleted file mode 100644 index 031dd15..0000000 --- a/src/main/deploy/pathplanner/paths/hub_s to center.path +++ /dev/null @@ -1,54 +0,0 @@ -{ - "version": "2025.0", - "waypoints": [ - { - "anchor": { - "x": 2.8875178316690437, - "y": 5.024807417974323 - }, - "prevControl": null, - "nextControl": { - "x": 4.24607703281027, - "y": 5.529415121255349 - }, - "isLocked": false, - "linkedName": null - }, - { - "anchor": { - "x": 6.2774465049928665, - "y": 5.801126961483595 - }, - "prevControl": { - "x": 5.371740370898715, - "y": 5.71055634807418 - }, - "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": -36.8698976458439 - }, - "reversed": false, - "folder": "Around the World", - "idealStartingState": { - "velocity": 0, - "rotation": -39.400660663479464 - }, - "useDefaultConstraints": true -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/pouch to hub.path b/src/main/deploy/pathplanner/paths/pouch to hub.path deleted file mode 100644 index 6cfc547..0000000 --- a/src/main/deploy/pathplanner/paths/pouch to hub.path +++ /dev/null @@ -1,70 +0,0 @@ -{ - "version": "2025.0", - "waypoints": [ - { - "anchor": { - "x": 0.5844365192582024, - "y": 4.895420827389444 - }, - "prevControl": null, - "nextControl": { - "x": 0.5585592011412266, - "y": 5.839942938659058 - }, - "isLocked": false, - "linkedName": null - }, - { - "anchor": { - "x": 0.4550499286733236, - "y": 7.0691155492154065 - }, - "prevControl": { - "x": 0.45504992867332367, - "y": 6.3406334235631885 - }, - "nextControl": { - "x": 0.45504992867332367, - "y": 7.754864479315264 - }, - "isLocked": false, - "linkedName": null - }, - { - "anchor": { - "x": 2.913395149786019, - "y": 5.076562054208274 - }, - "prevControl": { - "x": 2.162952924393723, - "y": 5.775249643366619 - }, - "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": -49.23639479905885 - }, - "reversed": false, - "folder": "Around the World", - "idealStartingState": { - "velocity": 0, - "rotation": 90.9548412538722 - }, - "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 ae697e8..b07802c 100644 --- a/src/main/deploy/pathplanner/settings.json +++ b/src/main/deploy/pathplanner/settings.json @@ -3,16 +3,13 @@ "robotLength": 0.9, "holonomicMode": true, "pathFolders": [ - "Around the World", "Basic Comp Paths - LEFT", "Basic Comp Paths - RIGHT", - "Center AUTO", "Depot AUTO", "HP AUTO", "Mid-field", "Plus - Test", "Rotation + Translation Test", - "Shoot Then Depot Paths", "Square Test", "Test Paths" ], From 0d85e656cb308fb37aefe00d5d15195da86eac9a Mon Sep 17 00:00:00 2001 From: TheGreatPintoJ Date: Tue, 31 Mar 2026 20:43:00 -0400 Subject: [PATCH 3/4] Minor updates (linked waypoints and start/end velo) --- .../pathplanner/paths/Collect - LEFT.path | 12 ++--- .../pathplanner/paths/Collect - RIGHT.path | 12 ++--- .../deploy/pathplanner/paths/HP Mid Half.path | 4 +- .../paths/HP to Shoot - HP SHOOT.path | 4 +- .../paths/HPShoot to Midfield.path | 2 +- .../pathplanner/paths/Mid field park.path | 2 +- .../paths/Overbump to Shoot - LEFT.path | 4 +- .../paths/Overbump to Shoot - RIGHT.path | 6 +-- .../paths/Shoot to Climb - LEFT.path | 54 ------------------- .../paths/Start To HP - HP SHOOT.path | 6 +-- .../paths/Start to Overbump - LEFT.path | 10 ++-- .../paths/Start to Overbump - RIGHT.path | 24 +++++++-- 12 files changed, 51 insertions(+), 89 deletions(-) delete mode 100644 src/main/deploy/pathplanner/paths/Shoot to Climb - LEFT.path diff --git a/src/main/deploy/pathplanner/paths/Collect - LEFT.path b/src/main/deploy/pathplanner/paths/Collect - LEFT.path index 6fac865..d62a290 100644 --- a/src/main/deploy/pathplanner/paths/Collect - LEFT.path +++ b/src/main/deploy/pathplanner/paths/Collect - LEFT.path @@ -3,16 +3,16 @@ "waypoints": [ { "anchor": { - "x": 6.5, - "y": 5.6 + "x": 6.641575425442613, + "y": 6.398147178342491 }, "prevControl": null, "nextControl": { - "x": 7.998288159771754, - "y": 7.133808844507846 + "x": 8.139863585214368, + "y": 7.931956022850337 }, "isLocked": false, - "linkedName": null + "linkedName": "Overbump_left" }, { "anchor": { @@ -25,7 +25,7 @@ }, "nextControl": null, "isLocked": false, - "linkedName": null + "linkedName": "Collect_left" } ], "rotationTargets": [ diff --git a/src/main/deploy/pathplanner/paths/Collect - RIGHT.path b/src/main/deploy/pathplanner/paths/Collect - RIGHT.path index 3551eff..c0df23b 100644 --- a/src/main/deploy/pathplanner/paths/Collect - RIGHT.path +++ b/src/main/deploy/pathplanner/paths/Collect - RIGHT.path @@ -3,16 +3,16 @@ "waypoints": [ { "anchor": { - "x": 6.5, - "y": 2.4 + "x": 6.483677550747863, + "y": 1.201836271367522 }, "prevControl": null, "nextControl": { - "x": 7.868901569179313, - "y": 0.185748930097152 + "x": 7.852579119927175, + "y": -1.012414798535326 }, "isLocked": false, - "linkedName": null + "linkedName": "Overbump_right" }, { "anchor": { @@ -25,7 +25,7 @@ }, "nextControl": null, "isLocked": false, - "linkedName": null + "linkedName": "Collect_right" } ], "rotationTargets": [ diff --git a/src/main/deploy/pathplanner/paths/HP Mid Half.path b/src/main/deploy/pathplanner/paths/HP Mid Half.path index 8b955b1..7a699ab 100644 --- a/src/main/deploy/pathplanner/paths/HP Mid Half.path +++ b/src/main/deploy/pathplanner/paths/HP Mid Half.path @@ -55,13 +55,13 @@ "unlimited": false }, "goalEndState": { - "velocity": 0, + "velocity": 1.5, "rotation": 90.0 }, "reversed": false, "folder": "HP AUTO", "idealStartingState": { - "velocity": 0, + "velocity": 2.0, "rotation": 45.0 }, "useDefaultConstraints": true diff --git a/src/main/deploy/pathplanner/paths/HP to Shoot - HP SHOOT.path b/src/main/deploy/pathplanner/paths/HP to Shoot - HP SHOOT.path index 71a7840..0a2a74f 100644 --- a/src/main/deploy/pathplanner/paths/HP to Shoot - HP SHOOT.path +++ b/src/main/deploy/pathplanner/paths/HP to Shoot - HP SHOOT.path @@ -12,7 +12,7 @@ "y": 0.6465859125422662 }, "isLocked": false, - "linkedName": null + "linkedName": "Outpost_collect" }, { "anchor": { @@ -64,7 +64,7 @@ "folder": "HP AUTO", "idealStartingState": { "velocity": 0, - "rotation": 179.53156538894675 + "rotation": 180.0 }, "useDefaultConstraints": true } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/HPShoot to Midfield.path b/src/main/deploy/pathplanner/paths/HPShoot to Midfield.path index 7defa8f..b84a585 100644 --- a/src/main/deploy/pathplanner/paths/HPShoot to Midfield.path +++ b/src/main/deploy/pathplanner/paths/HPShoot to Midfield.path @@ -73,7 +73,7 @@ "unlimited": false }, "goalEndState": { - "velocity": 0, + "velocity": 2.0, "rotation": 45.0 }, "reversed": false, diff --git a/src/main/deploy/pathplanner/paths/Mid field park.path b/src/main/deploy/pathplanner/paths/Mid field park.path index 3bc1326..ef88d9f 100644 --- a/src/main/deploy/pathplanner/paths/Mid field park.path +++ b/src/main/deploy/pathplanner/paths/Mid field park.path @@ -47,7 +47,7 @@ "reversed": false, "folder": "HP AUTO", "idealStartingState": { - "velocity": 0, + "velocity": 2.0, "rotation": 90.0 }, "useDefaultConstraints": true diff --git a/src/main/deploy/pathplanner/paths/Overbump to Shoot - LEFT.path b/src/main/deploy/pathplanner/paths/Overbump to Shoot - LEFT.path index 43c1435..e06fe89 100644 --- a/src/main/deploy/pathplanner/paths/Overbump to Shoot - LEFT.path +++ b/src/main/deploy/pathplanner/paths/Overbump to Shoot - LEFT.path @@ -12,7 +12,7 @@ "y": 2.3982594944428333 }, "isLocked": false, - "linkedName": null + "linkedName": "Collect_left" }, { "anchor": { @@ -53,7 +53,7 @@ "folder": "Basic Comp Paths - LEFT", "idealStartingState": { "velocity": 2.0, - "rotation": -90.0 + "rotation": -88.56790381583522 }, "useDefaultConstraints": false } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Overbump to Shoot - RIGHT.path b/src/main/deploy/pathplanner/paths/Overbump to Shoot - RIGHT.path index 8bc359b..9843ed6 100644 --- a/src/main/deploy/pathplanner/paths/Overbump to Shoot - RIGHT.path +++ b/src/main/deploy/pathplanner/paths/Overbump to Shoot - RIGHT.path @@ -3,16 +3,16 @@ "waypoints": [ { "anchor": { - "x": 7.791, + "x": 7.804208273894435, "y": 5.0 }, "prevControl": null, "nextControl": { - "x": 7.480741797432238, + "x": 7.4939500713266725, "y": 5.425905848787448 }, "isLocked": false, - "linkedName": null + "linkedName": "Collect_right" }, { "anchor": { diff --git a/src/main/deploy/pathplanner/paths/Shoot to Climb - LEFT.path b/src/main/deploy/pathplanner/paths/Shoot to Climb - LEFT.path deleted file mode 100644 index 6bb14c8..0000000 --- a/src/main/deploy/pathplanner/paths/Shoot to Climb - LEFT.path +++ /dev/null @@ -1,54 +0,0 @@ -{ - "version": "2025.0", - "waypoints": [ - { - "anchor": { - "x": 2.5, - "y": 2.4 - }, - "prevControl": null, - "nextControl": { - "x": 2.8370386274038903, - "y": 2.758133728425777 - }, - "isLocked": false, - "linkedName": null - }, - { - "anchor": { - "x": 1.612, - "y": 3.303215909090909 - }, - "prevControl": { - "x": 2.4957412202744127, - "y": 3.447562646744536 - }, - "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": "Basic Comp Paths - LEFT", - "idealStartingState": { - "velocity": 0, - "rotation": 40.0 - }, - "useDefaultConstraints": true -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Start To HP - HP SHOOT.path b/src/main/deploy/pathplanner/paths/Start To HP - HP SHOOT.path index 65d852a..cee88c1 100644 --- a/src/main/deploy/pathplanner/paths/Start To HP - HP SHOOT.path +++ b/src/main/deploy/pathplanner/paths/Start To HP - HP SHOOT.path @@ -20,12 +20,12 @@ "y": 0.62 }, "prevControl": { - "x": 2.2344211701357732, - "y": 0.6380678900122655 + "x": 2.234518069671876, + "y": 0.6199999999999998 }, "nextControl": null, "isLocked": false, - "linkedName": null + "linkedName": "Outpost_collect" } ], "rotationTargets": [], diff --git a/src/main/deploy/pathplanner/paths/Start to Overbump - LEFT.path b/src/main/deploy/pathplanner/paths/Start to Overbump - LEFT.path index cc2806c..35f551f 100644 --- a/src/main/deploy/pathplanner/paths/Start to Overbump - LEFT.path +++ b/src/main/deploy/pathplanner/paths/Start to Overbump - LEFT.path @@ -16,16 +16,16 @@ }, { "anchor": { - "x": 6.5, - "y": 5.6 + "x": 6.641575425442613, + "y": 6.398147178342491 }, "prevControl": { - "x": 5.4697790849278345, - "y": 5.6 + "x": 5.873888936584248, + "y": 4.934498769459707 }, "nextControl": null, "isLocked": false, - "linkedName": null + "linkedName": "Overbump_left" } ], "rotationTargets": [ diff --git a/src/main/deploy/pathplanner/paths/Start to Overbump - RIGHT.path b/src/main/deploy/pathplanner/paths/Start to Overbump - RIGHT.path index 4a288d7..276ee28 100644 --- a/src/main/deploy/pathplanner/paths/Start to Overbump - RIGHT.path +++ b/src/main/deploy/pathplanner/paths/Start to Overbump - RIGHT.path @@ -32,16 +32,32 @@ }, { "anchor": { - "x": 6.5, + "x": 5.708680173992674, "y": 2.4 }, "prevControl": { - "x": 6.749268637710473, - "y": 2.3808911995676025 + "x": 5.204956486112279, + "y": 2.4 + }, + "nextControl": { + "x": 6.219946136903238, + "y": 2.4 }, - "nextControl": null, "isLocked": false, "linkedName": null + }, + { + "anchor": { + "x": 6.483677550747863, + "y": 1.201836271367522 + }, + "prevControl": { + "x": 6.515689722603783, + "y": 1.7828571905525032 + }, + "nextControl": null, + "isLocked": false, + "linkedName": "Overbump_right" } ], "rotationTargets": [], From 99ac7dee1c390d96527581e243b2d8aac6e542e3 Mon Sep 17 00:00:00 2001 From: William Crouch Date: Wed, 1 Apr 2026 14:03:07 -0400 Subject: [PATCH 4/4] Removed empty parallel groups --- .../deploy/pathplanner/autos/HP Shoot Mid Collect Park.auto | 6 ------ src/main/deploy/pathplanner/autos/HP Shoot Mid Sweep.auto | 6 ------ 2 files changed, 12 deletions(-) diff --git a/src/main/deploy/pathplanner/autos/HP Shoot Mid Collect Park.auto b/src/main/deploy/pathplanner/autos/HP Shoot Mid Collect Park.auto index 908c678..3802d30 100644 --- a/src/main/deploy/pathplanner/autos/HP Shoot Mid Collect Park.auto +++ b/src/main/deploy/pathplanner/autos/HP Shoot Mid Collect Park.auto @@ -19,12 +19,6 @@ "data": { "name": "Collect Intake" } - }, - { - "type": "parallel", - "data": { - "commands": [] - } } ] } diff --git a/src/main/deploy/pathplanner/autos/HP Shoot Mid Sweep.auto b/src/main/deploy/pathplanner/autos/HP Shoot Mid Sweep.auto index 84c9ef1..a275cd8 100644 --- a/src/main/deploy/pathplanner/autos/HP Shoot Mid Sweep.auto +++ b/src/main/deploy/pathplanner/autos/HP Shoot Mid Sweep.auto @@ -19,12 +19,6 @@ "data": { "name": "Collect Intake" } - }, - { - "type": "parallel", - "data": { - "commands": [] - } } ] }