readded pathplanner stuff, worked a bit on cba, added swervedrivetosh…

…oot, planning to make followpathcmd some time soon
StuyPulse · Aug 3, 2024 · 50bd894 · 50bd894
1 parent 4406135
commit 50bd894
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Showing 15 changed files with 680 additions and 0 deletions.
diff --git a/.pathplanner/settings.json b/.pathplanner/settings.json
@@ -0,0 +1,15 @@
+{
+  "robotWidth": 0.9,
+  "robotLength": 0.9,
+  "holonomicMode": true,
+  "pathFolders": [
+    "ABCDE",
+    "HGF"
+  ],
+  "autoFolders": [],
+  "defaultMaxVel": 3.0,
+  "defaultMaxAccel": 3.0,
+  "defaultMaxAngVel": 540.0,
+  "defaultMaxAngAccel": 720.0,
+  "maxModuleSpeed": 4.5
+}
diff --git a/src/main/deploy/pathplanner/autos/ADEF.auto b/src/main/deploy/pathplanner/autos/ADEF.auto
@@ -0,0 +1,61 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 1.435487934219916,
+      "y": 6.595791855088175
+    },
+    "rotation": 1.3048503501930353
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Amp to A"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "A to D"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "D to Shoot"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "D Shoot to E"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "E to Shoot"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "E Shoot to F"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "F to Shoot"
+          }
+        }
+      ]
+    }
+  },
+  "folder": null,
+  "choreoAuto": false
+}
diff --git a/src/main/deploy/pathplanner/autos/BFAC.auto b/src/main/deploy/pathplanner/autos/BFAC.auto
@@ -0,0 +1,49 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 1.4053936459807443,
+      "y": 5.5301848373414
+    },
+    "rotation": 0
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Center to B"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "B to F"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "F to A Shoot"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "FA Shoot to A"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "A to C"
+          }
+        }
+      ]
+    }
+  },
+  "folder": null,
+  "choreoAuto": false
+}
diff --git a/src/main/deploy/pathplanner/autos/BFCA.auto b/src/main/deploy/pathplanner/autos/BFCA.auto
@@ -0,0 +1,49 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 1.4053936459807443,
+      "y": 5.5301848373414
+    },
+    "rotation": 0
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Center to B"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "B to F"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "F to C Shoot"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "FC Shoot to C"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "C to A"
+          }
+        }
+      ]
+    }
+  },
+  "folder": null,
+  "choreoAuto": false
+}
diff --git a/src/main/deploy/pathplanner/autos/BFED.auto b/src/main/deploy/pathplanner/autos/BFED.auto
@@ -0,0 +1,61 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 1.4053936459807443,
+      "y": 5.5301848373414
+    },
+    "rotation": 0
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Center to B"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "B to F"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "F to Shoot ALT"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "F Shoot ALT to E"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "E to Shoot"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "E Shoot to D"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "D to Shoot"
+          }
+        }
+      ]
+    }
+  },
+  "folder": null,
+  "choreoAuto": false
+}
diff --git a/src/main/deploy/pathplanner/autos/BFGH.auto b/src/main/deploy/pathplanner/autos/BFGH.auto
@@ -0,0 +1,61 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 1.4053936459807443,
+      "y": 5.5301848373414
+    },
+    "rotation": 0
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Center to B"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "B to F"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "F to Shoot"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "F Shoot to G"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "G to Shoot"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "G Shoot to H"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "H to Shoot"
+          }
+        }
+      ]
+    }
+  },
+  "folder": null,
+  "choreoAuto": false
+}
diff --git a/src/main/deploy/pathplanner/autos/CBA.auto b/src/main/deploy/pathplanner/autos/CBA.auto
@@ -0,0 +1,37 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 1.4365936349060198,
+      "y": 5.5179740558513855
+    },
+    "rotation": 0
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Center to C"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "C to B"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "B to A"
+          }
+        }
+      ]
+    }
+  },
+  "folder": null,
+  "choreoAuto": false
+}