Skip to content

Commit

Permalink
pathplanner auto
Browse files Browse the repository at this point in the history
  • Loading branch information
penguin212 committed Apr 4, 2024
1 parent a5a98f9 commit beb5e3f
Show file tree
Hide file tree
Showing 15 changed files with 784 additions and 83 deletions.
2 changes: 1 addition & 1 deletion .pathplanner/settings.json
Original file line number Diff line number Diff line change
Expand Up @@ -4,7 +4,7 @@
"holonomicMode": true,
"pathFolders": [],
"autoFolders": [],
"defaultMaxVel": 3.0,
"defaultMaxVel": 4.12,
"defaultMaxAccel": 3.0,
"defaultMaxAngVel": 540.0,
"defaultMaxAngAccel": 720.0,
Expand Down
25 changes: 25 additions & 0 deletions src/main/deploy/pathplanner/autos/A1456.auto
Original file line number Diff line number Diff line change
@@ -0,0 +1,25 @@
{
"version": 1.0,
"startingPose": {
"position": {
"x": 0.6582127857550991,
"y": 6.628333484912334
},
"rotation": 59.91997316061384
},
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "A1456"
}
}
]
}
},
"folder": null,
"choreoAuto": false
}
25 changes: 25 additions & 0 deletions src/main/deploy/pathplanner/autos/A154.auto
Original file line number Diff line number Diff line change
@@ -0,0 +1,25 @@
{
"version": 1.0,
"startingPose": {
"position": {
"x": 0.6582127857550991,
"y": 6.628333484912334
},
"rotation": 57.215719134130836
},
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "A154"
}
}
]
}
},
"folder": null,
"choreoAuto": false
}
325 changes: 325 additions & 0 deletions src/main/deploy/pathplanner/paths/A1456.path
Original file line number Diff line number Diff line change
@@ -0,0 +1,325 @@
{
"version": 1.0,
"waypoints": [
{
"anchor": {
"x": 0.6582127857550991,
"y": 6.628333484912334
},
"prevControl": null,
"nextControl": {
"x": 1.6100701432172113,
"y": 6.847658310701237
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 8.44786151110764,
"y": 7.341005451241672
},
"prevControl": {
"x": 8.388659854242785,
"y": 7.518610421836227
},
"nextControl": {
"x": 8.487329282350876,
"y": 7.222602137511967
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 5.8035208378109076,
"y": 6.5220491979445505
},
"prevControl": {
"x": 5.823254723432525,
"y": 7.0176484224404785
},
"nextControl": {
"x": 5.794188685334656,
"y": 6.287680375767852
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 8.28012348332801,
"y": 5.742560715895044
},
"prevControl": {
"x": 8.023582970242865,
"y": 5.338016060647505
},
"nextControl": {
"x": 8.445543936244938,
"y": 6.003416045493453
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 5.8035208378109076,
"y": 6.5220491979445505
},
"prevControl": {
"x": 5.931791094347303,
"y": 6.662438481246984
},
"nextControl": {
"x": 5.649643309381696,
"y": 6.353633257134473
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 8.28012348332801,
"y": 4.124382094918037
},
"prevControl": {
"x": 8.319591254567126,
"y": 4.380922607999063
},
"nextControl": {
"x": 8.239586541181037,
"y": 3.860891970935212
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 4.274144702135559,
"y": 5.071608604755672
},
"prevControl": {
"x": 5.8035208378109004,
"y": 4.153982923350462
},
"nextControl": null,
"isLocked": false,
"linkedName": null
}
],
"rotationTargets": [
{
"waypointRelativePos": 0.2,
"rotationDegrees": 10.0,
"rotateFast": false
},
{
"waypointRelativePos": 4.7,
"rotationDegrees": -42.506287523797496,
"rotateFast": false
},
{
"waypointRelativePos": 4.199999999999999,
"rotationDegrees": 11.624631750657304,
"rotateFast": false
}
],
"constraintZones": [
{
"name": "Shoot A",
"minWaypointRelativePos": 0.0,
"maxWaypointRelativePos": 0.2,
"constraints": {
"maxVelocity": 0.5,
"maxAcceleration": 3.0,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0
}
},
{
"name": "Shoot 1",
"minWaypointRelativePos": 0.5,
"maxWaypointRelativePos": 0.6000000000000001,
"constraints": {
"maxVelocity": 1.3,
"maxAcceleration": 3.0,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0
}
}
],
"eventMarkers": [
{
"name": "Shoot A",
"waypointRelativePos": 0.1,
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "Shoot"
}
}
]
}
}
},
{
"name": "Intake 1",
"waypointRelativePos": 0.2,
"command": {
"type": "parallel",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "Intake"
}
}
]
}
}
},
{
"name": "Shoot 1",
"waypointRelativePos": 0.5,
"command": {
"type": "parallel",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "Shoot"
}
}
]
}
}
},
{
"name": "Intake 4",
"waypointRelativePos": 0.7,
"command": {
"type": "parallel",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "Intake"
}
}
]
}
}
},
{
"name": "Shoot 4",
"waypointRelativePos": 1.75,
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "Shoot"
}
}
]
}
}
},
{
"name": "Intake 5",
"waypointRelativePos": 2.6,
"command": {
"type": "parallel",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "Intake"
}
}
]
}
}
},
{
"name": "Shoot 5",
"waypointRelativePos": 3.75,
"command": {
"type": "parallel",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "Shoot"
}
}
]
}
}
},
{
"name": "Intake 6",
"waypointRelativePos": 4.65,
"command": {
"type": "parallel",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "Intake"
}
}
]
}
}
},
{
"name": "Shoot 6",
"waypointRelativePos": 5.85,
"command": {
"type": "parallel",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "Shoot"
}
}
]
}
}
}
],
"globalConstraints": {
"maxVelocity": 4.12,
"maxAcceleration": 3.0,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0
},
"goalEndState": {
"velocity": 0,
"rotation": -9.619727799698838,
"rotateFast": false
},
"reversed": false,
"folder": null,
"previewStartingState": {
"rotation": 60.124007308310574,
"velocity": 0
},
"useDefaultConstraints": true
}
Loading

0 comments on commit beb5e3f

Please sign in to comment.