Test Auto with more complicated path

4201VitruvianBots · Jan 18, 2025 · a520ac8 · a520ac8
1 parent a19fe72
commit a520ac8
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Showing 2 changed files with 42 additions and 16 deletions.
diff --git a/...in/deploy/pathplanner/paths/New Path.path → src/main/deploy/pathplanner/paths/Test1.path b/...in/deploy/pathplanner/paths/New Path.path → src/main/deploy/pathplanner/paths/Test1.path
@@ -16,44 +16,44 @@
     },
     {
       "anchor": {
-        "x": 4.029,
-        "y": 6.922
+        "x": 4.323,
+        "y": 6.921747159090909
       },
       "prevControl": {
-        "x": 3.779,
-        "y": 6.922
+        "x": 4.073,
+        "y": 6.921747159090909
       },
       "nextControl": {
-        "x": 4.279,
-        "y": 6.922
+        "x": 4.573,
+        "y": 6.921747159090909
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 4.029,
-        "y": 5.645383522727273
+        "x": 4.323,
+        "y": 5.546
       },
       "prevControl": {
-        "x": 3.779,
-        "y": 5.645383522727273
+        "x": 4.072999999999999,
+        "y": 5.546
       },
       "nextControl": {
-        "x": 4.279,
-        "y": 5.645383522727273
+        "x": 4.572999999999996,
+        "y": 5.546
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
         "x": 1.884630681818182,
-        "y": 5.645383522727273
+        "y": 5.545667613636364
       },
       "prevControl": {
-        "x": 1.6346306818181817,
-        "y": 5.645383522727273
+        "x": 1.634630681818182,
+        "y": 5.545667613636364
       },
       "nextControl": null,
       "isLocked": false,
@@ -63,7 +63,14 @@
   "rotationTargets": [],
   "constraintZones": [],
   "pointTowardsZones": [],
-  "eventMarkers": [],
+  "eventMarkers": [
+    {
+      "name": "",
+      "waypointRelativePos": 0,
+      "endWaypointRelativePos": null,
+      "command": null
+    }
+  ],
   "globalConstraints": {
     "maxVelocity": 3.0,
     "maxAcceleration": 3.0,

diff --git a/src/main/java/frc/robot/commands/TestAuto1.java b/src/main/java/frc/robot/commands/TestAuto1.java
@@ -0,0 +1,19 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
+
+// NOTE:  Consider using this command inline, rather than writing a subclass.  For more
+// information, see:
+// https://docs.wpilib.org/en/stable/docs/software/commandbased/convenience-features.html
+public class TestAuto1 extends SequentialCommandGroup {
+  /** Creates a new TestAuto1. */
+  public TestAuto1() {
+    // Add your commands in the addCommands() call, e.g.
+    // addCommands(new FooCommand(), new BarCommand());
+    addCommands();
+  }
+}