From ef55d25c8c1d5d3ace088b0168fa85642e33dd33 Mon Sep 17 00:00:00 2001 From: Sh0nuf Date: Sun, 16 Mar 2025 20:09:25 -0400 Subject: [PATCH 1/3] This is for the Auton Path Planner!!! widderwally --- src/main/cpp/RobotContainer.cpp | 7 ++ .../deploy/pathplanner/autos/New Auto.auto | 31 +++++++ .../pathplanner/paths/Example Path.path | 86 ------------------- .../deploy/pathplanner/paths/New Path.path | 54 ++++++++++++ src/main/deploy/pathplanner/settings.json | 4 +- 5 files changed, 95 insertions(+), 87 deletions(-) create mode 100644 src/main/deploy/pathplanner/autos/New Auto.auto delete mode 100644 src/main/deploy/pathplanner/paths/Example Path.path create mode 100644 src/main/deploy/pathplanner/paths/New Path.path diff --git a/src/main/cpp/RobotContainer.cpp b/src/main/cpp/RobotContainer.cpp index ae4e7be..d40db6f 100644 --- a/src/main/cpp/RobotContainer.cpp +++ b/src/main/cpp/RobotContainer.cpp @@ -212,3 +212,10 @@ void RobotContainer::EnableTagTracking() { void RobotContainer::SetSlew(bool state) { m_drive.SetLimiting(state); } + +frc2::CommandPtr RobotContainer::GetAutonomousCommand(){ + // This method loads the auto when it is called, however, it is recommended + // to first load your paths/autos when code starts, then return the + // pre-loaded auto/path + return PathPlannerAuto("Example Auto").ToPtr(); +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/New Auto.auto b/src/main/deploy/pathplanner/autos/New Auto.auto new file mode 100644 index 0000000..8df2403 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/New Auto.auto @@ -0,0 +1,31 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "New Path" + } + }, + { + "type": "named", + "data": { + "name": "ligma" + } + }, + { + "type": "wait", + "data": { + "waitTime": 0.0 + } + } + ] + } + }, + "resetOdom": true, + "folder": null, + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Example Path.path b/src/main/deploy/pathplanner/paths/Example Path.path deleted file mode 100644 index 571fa14..0000000 --- a/src/main/deploy/pathplanner/paths/Example Path.path +++ /dev/null @@ -1,86 +0,0 @@ -{ - "version": "2025.0", - "waypoints": [ - { - "anchor": { - "x": 0.0, - "y": 0.0 - }, - "prevControl": null, - "nextControl": { - "x": 0.7520238641597734, - "y": -0.5643306746838164 - }, - "isLocked": false, - "linkedName": null - }, - { - "anchor": { - "x": 6.317520491803278, - "y": 4.2347848360655735 - }, - "prevControl": { - "x": 6.534843707438717, - "y": 5.469727217264525 - }, - "nextControl": { - "x": 5.9906370428923506, - "y": 2.377264811836934 - }, - "isLocked": false, - "linkedName": null - }, - { - "anchor": { - "x": 6.832991803278689, - "y": 2.3766905737704915 - }, - "prevControl": { - "x": 6.615195109089808, - "y": 2.253952641571862 - }, - "nextControl": { - "x": 7.648594354311229, - "y": 2.8363181681307927 - }, - "isLocked": false, - "linkedName": null - }, - { - "anchor": { - "x": 3.308606557377049, - "y": 4.019006147540983 - }, - "prevControl": { - "x": 3.951897655161904, - "y": 2.8044325998687913 - }, - "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": null, - "idealStartingState": { - "velocity": 0, - "rotation": 0.0 - }, - "useDefaultConstraints": true -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/New Path.path b/src/main/deploy/pathplanner/paths/New Path.path new file mode 100644 index 0000000..a38e8f4 --- /dev/null +++ b/src/main/deploy/pathplanner/paths/New Path.path @@ -0,0 +1,54 @@ +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 7.572286184210526, + "y": 3.7267269736842104 + }, + "prevControl": null, + "nextControl": { + "x": 7.01422697368421, + "y": 3.0628289473684207 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 5.5132401315789465, + "y": 3.7267269736842104 + }, + "prevControl": { + "x": 4.5132401315789465, + "y": 3.7267269736842104 + }, + "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": null, + "idealStartingState": { + "velocity": 0, + "rotation": -177.0643265535788 + }, + "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 5bf438c..9bc2344 100644 --- a/src/main/deploy/pathplanner/settings.json +++ b/src/main/deploy/pathplanner/settings.json @@ -28,5 +28,7 @@ "brModuleY": -0.273, "bumperOffsetX": 0.0, "bumperOffsetY": 0.0, - "robotFeatures": [] + "robotFeatures": [ + "{\"name\":\"Line\",\"type\":\"line\",\"data\":{\"start\":{\"x\":0.0,\"y\":0.0},\"end\":{\"x\":0.2,\"y\":0.0},\"strokeWidth\":0.02}}" + ] } \ No newline at end of file From ab039c0d0155c85ab32528af72549974cc019cdf Mon Sep 17 00:00:00 2001 From: Sh0nuf Date: Mon, 17 Mar 2025 16:40:46 -0400 Subject: [PATCH 2/3] micah and Angg auton --- src/main/cpp/RobotContainer.cpp | 7 ++ src/main/deploy/pathplanner/autos/Left B.auto | 115 ++++++++++++++++++ src/main/deploy/pathplanner/autos/Left T.auto | 73 +++++++++++ .../deploy/pathplanner/autos/Middle B.auto | 103 ++++++++++++++++ .../deploy/pathplanner/autos/Middle T.auto | 73 +++++++++++ .../deploy/pathplanner/autos/Right B.auto | 109 +++++++++++++++++ .../deploy/pathplanner/autos/Right T.auto | 73 +++++++++++ .../paths/ MidLeft Coral Rack to Pit4.path | 54 ++++++++ .../pathplanner/paths/Example Path.path | 86 ------------- .../paths/L Coral Rack To Pit 2.path | 54 ++++++++ .../paths/L Coral Rack To Pit 4.path | 54 ++++++++ .../paths/L Pit To Coral Rack 3.path | 54 ++++++++ .../paths/Left Coral Rack to Pit 2.path | 54 ++++++++ .../paths/Left Coral Rack to Pit 4.path | 54 ++++++++ .../paths/Left Pit to Coral Rack 3.path | 54 ++++++++ .../pathplanner/paths/Left to Coral 1.path | 54 ++++++++ .../paths/Left to Coral Rack 1.path | 54 ++++++++ .../paths/M Corral Rack To Pick 2.path | 54 ++++++++ .../paths/M Corral Rack To Pit 4.path | 54 ++++++++ .../paths/M Pit To Corral Rack 3.path | 54 ++++++++ .../paths/MidLeft to Coral Rack3.path | 54 ++++++++ .../paths/Middle to Coral Rack 1.path | 54 ++++++++ .../paths/Middle to Left (Set for Pit)2.path | 54 ++++++++ .../paths/Right Coral Rack to Pit 2.path | 54 ++++++++ .../paths/Right Coral Rack to Pit 4.path | 54 ++++++++ .../paths/Right Pit to Coral Rack 3.path | 54 ++++++++ .../paths/Right to Coral Rack 1.path | 54 ++++++++ .../Straight Drop Off Zone Middle 1.path | 54 ++++++++ .../paths/T Coral Rack To Pit 2.path | 54 ++++++++ .../paths/T Coral Rack To Pit 4.path | 54 ++++++++ .../paths/T Pit To Coral Rack 3.path | 54 ++++++++ .../paths/Top to Coral Rack 1.path | 54 ++++++++ src/main/deploy/pathplanner/settings.json | 32 +++-- src/main/include/RobotContainer.h | 4 +- 34 files changed, 1873 insertions(+), 98 deletions(-) create mode 100644 src/main/deploy/pathplanner/autos/Left B.auto create mode 100644 src/main/deploy/pathplanner/autos/Left T.auto create mode 100644 src/main/deploy/pathplanner/autos/Middle B.auto create mode 100644 src/main/deploy/pathplanner/autos/Middle T.auto create mode 100644 src/main/deploy/pathplanner/autos/Right B.auto create mode 100644 src/main/deploy/pathplanner/autos/Right T.auto create mode 100644 src/main/deploy/pathplanner/paths/ MidLeft Coral Rack to Pit4.path delete mode 100644 src/main/deploy/pathplanner/paths/Example Path.path create mode 100644 src/main/deploy/pathplanner/paths/L Coral Rack To Pit 2.path create mode 100644 src/main/deploy/pathplanner/paths/L Coral Rack To Pit 4.path create mode 100644 src/main/deploy/pathplanner/paths/L Pit To Coral Rack 3.path create mode 100644 src/main/deploy/pathplanner/paths/Left Coral Rack to Pit 2.path create mode 100644 src/main/deploy/pathplanner/paths/Left Coral Rack to Pit 4.path create mode 100644 src/main/deploy/pathplanner/paths/Left Pit to Coral Rack 3.path create mode 100644 src/main/deploy/pathplanner/paths/Left to Coral 1.path create mode 100644 src/main/deploy/pathplanner/paths/Left to Coral Rack 1.path create mode 100644 src/main/deploy/pathplanner/paths/M Corral Rack To Pick 2.path create mode 100644 src/main/deploy/pathplanner/paths/M Corral Rack To Pit 4.path create mode 100644 src/main/deploy/pathplanner/paths/M Pit To Corral Rack 3.path create mode 100644 src/main/deploy/pathplanner/paths/MidLeft to Coral Rack3.path create mode 100644 src/main/deploy/pathplanner/paths/Middle to Coral Rack 1.path create mode 100644 src/main/deploy/pathplanner/paths/Middle to Left (Set for Pit)2.path create mode 100644 src/main/deploy/pathplanner/paths/Right Coral Rack to Pit 2.path create mode 100644 src/main/deploy/pathplanner/paths/Right Coral Rack to Pit 4.path create mode 100644 src/main/deploy/pathplanner/paths/Right Pit to Coral Rack 3.path create mode 100644 src/main/deploy/pathplanner/paths/Right to Coral Rack 1.path create mode 100644 src/main/deploy/pathplanner/paths/Straight Drop Off Zone Middle 1.path create mode 100644 src/main/deploy/pathplanner/paths/T Coral Rack To Pit 2.path create mode 100644 src/main/deploy/pathplanner/paths/T Coral Rack To Pit 4.path create mode 100644 src/main/deploy/pathplanner/paths/T Pit To Coral Rack 3.path create mode 100644 src/main/deploy/pathplanner/paths/Top to Coral Rack 1.path diff --git a/src/main/cpp/RobotContainer.cpp b/src/main/cpp/RobotContainer.cpp index ae4e7be..d40db6f 100644 --- a/src/main/cpp/RobotContainer.cpp +++ b/src/main/cpp/RobotContainer.cpp @@ -212,3 +212,10 @@ void RobotContainer::EnableTagTracking() { void RobotContainer::SetSlew(bool state) { m_drive.SetLimiting(state); } + +frc2::CommandPtr RobotContainer::GetAutonomousCommand(){ + // This method loads the auto when it is called, however, it is recommended + // to first load your paths/autos when code starts, then return the + // pre-loaded auto/path + return PathPlannerAuto("Example Auto").ToPtr(); +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Left B.auto b/src/main/deploy/pathplanner/autos/Left B.auto new file mode 100644 index 0000000..b98bcd3 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/Left B.auto @@ -0,0 +1,115 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "Left to Coral 1" + } + }, + { + "type": "wait", + "data": { + "waitTime": 1.0 + } + }, + { + "type": "named", + "data": { + "name": "Score Coral" + } + }, + { + "type": "path", + "data": { + "pathName": "Left Coral Rack to Pit 2" + } + }, + { + "type": "wait", + "data": { + "waitTime": 1.0 + } + }, + { + "type": "named", + "data": { + "name": "Get New Coral" + } + }, + { + "type": "path", + "data": { + "pathName": "Left Pit to Coral Rack 3" + } + }, + { + "type": "wait", + "data": { + "waitTime": 1.0 + } + }, + { + "type": "named", + "data": { + "name": "Score Coral" + } + }, + { + "type": "path", + "data": { + "pathName": "Left Coral Rack to Pit 4" + } + }, + { + "type": "wait", + "data": { + "waitTime": 1.0 + } + }, + { + "type": "named", + "data": { + "name": "Get New Coral" + } + }, + { + "type": "path", + "data": { + "pathName": "Left Pit to Coral Rack 3" + } + }, + { + "type": "wait", + "data": { + "waitTime": 1.0 + } + }, + { + "type": "named", + "data": { + "name": "Score Coral" + } + }, + { + "type": "wait", + "data": { + "waitTime": 1.0 + } + }, + { + "type": "named", + "data": { + "name": "Get Algae" + } + } + ] + } + }, + "resetOdom": true, + "folder": "Bottom LeftRight Skibidi Pits", + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Left T.auto b/src/main/deploy/pathplanner/autos/Left T.auto new file mode 100644 index 0000000..c9b6f08 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/Left T.auto @@ -0,0 +1,73 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "Left to Coral Rack 1" + } + }, + { + "type": "wait", + "data": { + "waitTime": 1.5 + } + }, + { + "type": "named", + "data": { + "name": "Score Coral" + } + }, + { + "type": "path", + "data": { + "pathName": "L Coral Rack To Pit 2" + } + }, + { + "type": "wait", + "data": { + "waitTime": 3.0 + } + }, + { + "type": "named", + "data": { + "name": "Get New Coral" + } + }, + { + "type": "path", + "data": { + "pathName": "L Pit To Coral Rack 3" + } + }, + { + "type": "wait", + "data": { + "waitTime": 1.5 + } + }, + { + "type": "named", + "data": { + "name": "Get Algae" + } + }, + { + "type": "path", + "data": { + "pathName": "L Coral Rack To Pit 4" + } + } + ] + } + }, + "resetOdom": true, + "folder": "Top LeftRight Alpha Pits", + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Middle B.auto b/src/main/deploy/pathplanner/autos/Middle B.auto new file mode 100644 index 0000000..f88f56b --- /dev/null +++ b/src/main/deploy/pathplanner/autos/Middle B.auto @@ -0,0 +1,103 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "Straight Drop Off Zone Middle 1" + } + }, + { + "type": "named", + "data": { + "name": "Score Coral" + } + }, + { + "type": "wait", + "data": { + "waitTime": 1.0 + } + }, + { + "type": "path", + "data": { + "pathName": "Middle to Left (Set for Pit)2" + } + }, + { + "type": "named", + "data": { + "name": "Get New Coral" + } + }, + { + "type": "wait", + "data": { + "waitTime": 1.0 + } + }, + { + "type": "path", + "data": { + "pathName": "MidLeft to Coral Rack3" + } + }, + { + "type": "named", + "data": { + "name": "Score Coral" + } + }, + { + "type": "wait", + "data": { + "waitTime": 1.0 + } + }, + { + "type": "path", + "data": { + "pathName": " MidLeft Coral Rack to Pit4" + } + }, + { + "type": "named", + "data": { + "name": "Get New Coral" + } + }, + { + "type": "wait", + "data": { + "waitTime": 1.0 + } + }, + { + "type": "path", + "data": { + "pathName": "MidLeft to Coral Rack3" + } + }, + { + "type": "named", + "data": { + "name": "Score Coral" + } + }, + { + "type": "named", + "data": { + "name": "Get Algae" + } + } + ] + } + }, + "resetOdom": false, + "folder": "Bottom LeftRight Skibidi Pits", + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Middle T.auto b/src/main/deploy/pathplanner/autos/Middle T.auto new file mode 100644 index 0000000..71be3d4 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/Middle T.auto @@ -0,0 +1,73 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "Middle to Coral Rack 1" + } + }, + { + "type": "wait", + "data": { + "waitTime": 1.5 + } + }, + { + "type": "named", + "data": { + "name": "Score Coral" + } + }, + { + "type": "path", + "data": { + "pathName": "M Corral Rack To Pick 2" + } + }, + { + "type": "wait", + "data": { + "waitTime": 3.0 + } + }, + { + "type": "named", + "data": { + "name": "Get New Coral" + } + }, + { + "type": "path", + "data": { + "pathName": "M Pit To Corral Rack 3" + } + }, + { + "type": "wait", + "data": { + "waitTime": 1.5 + } + }, + { + "type": "named", + "data": { + "name": "Get Algae" + } + }, + { + "type": "path", + "data": { + "pathName": "M Corral Rack To Pit 4" + } + } + ] + } + }, + "resetOdom": true, + "folder": "Top LeftRight Alpha Pits", + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Right B.auto b/src/main/deploy/pathplanner/autos/Right B.auto new file mode 100644 index 0000000..832f663 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/Right B.auto @@ -0,0 +1,109 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "Right to Coral Rack 1" + } + }, + { + "type": "wait", + "data": { + "waitTime": 1.0 + } + }, + { + "type": "named", + "data": { + "name": "Score Coral" + } + }, + { + "type": "path", + "data": { + "pathName": "Right Coral Rack to Pit 2" + } + }, + { + "type": "wait", + "data": { + "waitTime": 1.0 + } + }, + { + "type": "named", + "data": { + "name": "Get New Coral" + } + }, + { + "type": "path", + "data": { + "pathName": "Right Pit to Coral Rack 3" + } + }, + { + "type": "wait", + "data": { + "waitTime": 1.0 + } + }, + { + "type": "named", + "data": { + "name": "Score Coral" + } + }, + { + "type": "path", + "data": { + "pathName": "Right Coral Rack to Pit 4" + } + }, + { + "type": "wait", + "data": { + "waitTime": 1.0 + } + }, + { + "type": "named", + "data": { + "name": "Get New Coral" + } + }, + { + "type": "path", + "data": { + "pathName": "Right Pit to Coral Rack 3" + } + }, + { + "type": "wait", + "data": { + "waitTime": 1.0 + } + }, + { + "type": "named", + "data": { + "name": "Score Coral" + } + }, + { + "type": "named", + "data": { + "name": "Get Algae" + } + } + ] + } + }, + "resetOdom": true, + "folder": "Bottom LeftRight Skibidi Pits", + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/Right T.auto b/src/main/deploy/pathplanner/autos/Right T.auto new file mode 100644 index 0000000..51912ec --- /dev/null +++ b/src/main/deploy/pathplanner/autos/Right T.auto @@ -0,0 +1,73 @@ +{ + "version": "2025.0", + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "Top to Coral Rack 1" + } + }, + { + "type": "wait", + "data": { + "waitTime": 1.5 + } + }, + { + "type": "named", + "data": { + "name": "Score Coral" + } + }, + { + "type": "path", + "data": { + "pathName": "T Coral Rack To Pit 2" + } + }, + { + "type": "wait", + "data": { + "waitTime": 3.0 + } + }, + { + "type": "named", + "data": { + "name": "Get New Coral" + } + }, + { + "type": "path", + "data": { + "pathName": "T Pit To Coral Rack 3" + } + }, + { + "type": "wait", + "data": { + "waitTime": 1.5 + } + }, + { + "type": "named", + "data": { + "name": "Get Algae" + } + }, + { + "type": "path", + "data": { + "pathName": "T Coral Rack To Pit 4" + } + } + ] + } + }, + "resetOdom": true, + "folder": "Top LeftRight Alpha Pits", + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/ MidLeft Coral Rack to Pit4.path b/src/main/deploy/pathplanner/paths/ MidLeft Coral Rack to Pit4.path new file mode 100644 index 0000000..ffea6c5 --- /dev/null +++ b/src/main/deploy/pathplanner/paths/ MidLeft Coral Rack to Pit4.path @@ -0,0 +1,54 @@ +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 3.7236019736842105, + "y": 2.8896381578947365 + }, + "prevControl": null, + "nextControl": { + "x": 2.3669407894736847, + "y": 2.3796875 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 1.4432565789473681, + "y": 0.8305921052631584 + }, + "prevControl": { + "x": 1.7992598684210526, + "y": 1.494490131578948 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [], + "constraintZones": [], + "pointTowardsZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 5.0, + "maxAcceleration": 1.5, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0, + "nominalVoltage": 12.0, + "unlimited": false + }, + "goalEndState": { + "velocity": 0, + "rotation": 57.33908727832617 + }, + "reversed": false, + "folder": "middle paths lol B", + "idealStartingState": { + "velocity": 0, + "rotation": 54.46232220802567 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Example Path.path b/src/main/deploy/pathplanner/paths/Example Path.path deleted file mode 100644 index 571fa14..0000000 --- a/src/main/deploy/pathplanner/paths/Example Path.path +++ /dev/null @@ -1,86 +0,0 @@ -{ - "version": "2025.0", - "waypoints": [ - { - "anchor": { - "x": 0.0, - "y": 0.0 - }, - "prevControl": null, - "nextControl": { - "x": 0.7520238641597734, - "y": -0.5643306746838164 - }, - "isLocked": false, - "linkedName": null - }, - { - "anchor": { - "x": 6.317520491803278, - 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b/src/main/deploy/pathplanner/paths/Right Coral Rack to Pit 2.path new file mode 100644 index 0000000..0c61d54 --- /dev/null +++ b/src/main/deploy/pathplanner/paths/Right Coral Rack to Pit 2.path @@ -0,0 +1,54 @@ +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 5.032154605263157, + "y": 5.314309210526315 + }, + "prevControl": null, + "nextControl": { + "x": 1.9339638157894732, + "y": 7.180921052631579 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 1.4913651315789471, + "y": 0.8690789473684208 + }, + "prevControl": { + "x": 2.3092105263157885, + "y": 1.542598684210526 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [], + "constraintZones": [], + "pointTowardsZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 5.0, + "maxAcceleration": 1.5, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0, + "nominalVoltage": 12.0, + "unlimited": false + }, + 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"isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [], + "constraintZones": [], + "pointTowardsZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 5.0, + "maxAcceleration": 1.5, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0, + "nominalVoltage": 12.0, + "unlimited": false + }, + "goalEndState": { + "velocity": 0, + "rotation": 54.21102654081659 + }, + "reversed": false, + "folder": "Sigma Right paths B", + "idealStartingState": { + "velocity": 0, + "rotation": 61.69924423399367 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Right Pit to Coral Rack 3.path b/src/main/deploy/pathplanner/paths/Right Pit to Coral Rack 3.path new file mode 100644 index 0000000..3db0f2f --- /dev/null +++ b/src/main/deploy/pathplanner/paths/Right Pit to Coral Rack 3.path @@ -0,0 +1,54 @@ +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 1.4913651315789471, + "y": 0.8690789473684208 + }, + "prevControl": null, + "nextControl": { + "x": 2.1937499999999996, + "y": 1.7927631578947365 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 3.964144736842105, + "y": 2.7837993421052634 + }, + "prevControl": { + "x": 3.2713815789473686, + "y": 2.321957236842105 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [], + "constraintZones": [], + "pointTowardsZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 5.0, + "maxAcceleration": 1.5, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0, + "nominalVoltage": 12.0, + "unlimited": false + }, + "goalEndState": { + "velocity": 0, + "rotation": 59.03624346792647 + }, + "reversed": false, + "folder": "Sigma Right paths B", + "idealStartingState": { + "velocity": 0, + "rotation": 52.95752522691716 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Right to Coral Rack 1.path b/src/main/deploy/pathplanner/paths/Right to Coral Rack 1.path new file mode 100644 index 0000000..31f1dd9 --- /dev/null +++ b/src/main/deploy/pathplanner/paths/Right to Coral Rack 1.path @@ -0,0 +1,54 @@ +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 7.572286184210526, + "y": 6.651726973684211 + }, + "prevControl": null, + "nextControl": { + "x": 6.581250000001807, + "y": 6.112911184209645 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 5.032154605263157, + "y": 5.3046875 + }, + "prevControl": { + "x": 5.214967105264964, + "y": 5.612582236841224 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [], + "constraintZones": [], + "pointTowardsZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 5.0, + "maxAcceleration": 1.5, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0, + 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3.7267269736842104 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [], + "constraintZones": [], + "pointTowardsZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 5.0, + "maxAcceleration": 1.5, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0, + "nominalVoltage": 12.0, + "unlimited": false + }, + "goalEndState": { + "velocity": 0, + "rotation": -179.67991517621834 + }, + "reversed": false, + "folder": "middle paths lol B", + "idealStartingState": { + "velocity": 0, + "rotation": 180.0 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/T Coral Rack To Pit 2.path b/src/main/deploy/pathplanner/paths/T Coral Rack To Pit 2.path new file mode 100644 index 0000000..b92f002 --- /dev/null +++ b/src/main/deploy/pathplanner/paths/T Coral Rack To Pit 2.path @@ -0,0 +1,54 @@ +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 5.291940789473683, + "y": 5.054523026315789 + }, + "prevControl": null, + "nextControl": { + "x": 3.665871710526316, + "y": 5.997450657894737 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 1.2989309210526314, + "y": 7.113569078947368 + }, + "prevControl": { + "x": 3.9160361842105265, + "y": 5.285444078947369 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [], + "constraintZones": [], + "pointTowardsZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 5.0, + "maxAcceleration": 1.5, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0, + "nominalVoltage": 12.0, + "unlimited": false + }, + "goalEndState": { + "velocity": 0, + "rotation": -54.162347045721624 + }, + "reversed": false, + "folder": "left R paths", + "idealStartingState": { + "velocity": 0, + "rotation": -121.21840276434631 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/T Coral Rack To Pit 4.path b/src/main/deploy/pathplanner/paths/T Coral Rack To Pit 4.path new file mode 100644 index 0000000..81f6c51 --- /dev/null +++ b/src/main/deploy/pathplanner/paths/T Coral Rack To Pit 4.path @@ -0,0 +1,54 @@ +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 3.8294407894736837, + "y": 5.131496710526315 + }, + "prevControl": null, + "nextControl": { + "x": 2.597861842105263, + "y": 6.122532894736842 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 1.2027138157894735, + "y": 7.036595394736842 + }, + "prevControl": { + "x": 2.2899671052631576, + "y": 5.60296052631579 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [], + "constraintZones": [], + "pointTowardsZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 5.0, + "maxAcceleration": 1.5, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0, + 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6.228371710526315 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [], + "constraintZones": [], + "pointTowardsZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 5.0, + "maxAcceleration": 1.5, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0, + "nominalVoltage": 12.0, + "unlimited": false + }, + "goalEndState": { + "velocity": 0, + "rotation": -58.815025341261574 + }, + "reversed": false, + "folder": "left R paths", + "idealStartingState": { + "velocity": 0, + "rotation": -52.85331330197819 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Top to Coral Rack 1.path b/src/main/deploy/pathplanner/paths/Top to Coral Rack 1.path new file mode 100644 index 0000000..cf744fb --- /dev/null +++ b/src/main/deploy/pathplanner/paths/Top to Coral Rack 1.path @@ -0,0 +1,54 @@ +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 7.447203947368421, + "y": 6.0 + }, + "prevControl": null, + "nextControl": { + "x": 7.0046052631578934, + "y": 5.891611842105262 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 5.291940789473683, + "y": 5.054523026315789 + }, + "prevControl": { + "x": 5.676809210526314, + "y": 5.516365131578947 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [], + "constraintZones": [], + "pointTowardsZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 5.0, + "maxAcceleration": 1.5, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0, + "nominalVoltage": 12.0, + "unlimited": false + }, + "goalEndState": { + "velocity": 0, + "rotation": -121.13897243697893 + }, + "reversed": false, + "folder": "left R paths", + "idealStartingState": { + "velocity": 0, + "rotation": -178.68247386538295 + }, + "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 5bf438c..70aa762 100644 --- a/src/main/deploy/pathplanner/settings.json +++ b/src/main/deploy/pathplanner/settings.json @@ -1,22 +1,32 @@ { - "robotWidth": 0.9, - "robotLength": 0.9, + "robotWidth": 0.7747, + "robotLength": 0.7747, "holonomicMode": true, - "pathFolders": [], - "autoFolders": [], - "defaultMaxVel": 3.0, - "defaultMaxAccel": 3.0, + "pathFolders": [ + "Sus Left Paths B", + "Sigma Right paths B", + "left L paths", + "left M paths", + "left R paths", + "middle paths lol B" + ], + "autoFolders": [ + "Bottom LeftRight Skibidi Pits", + "Top LeftRight Alpha Pits" + ], + "defaultMaxVel": 5.0, + "defaultMaxAccel": 1.5, "defaultMaxAngVel": 540.0, "defaultMaxAngAccel": 720.0, "defaultNominalVoltage": 12.0, - "robotMass": 74.088, - "robotMOI": 6.883, + "robotMass": 38.555, + "robotMOI": 23.157, "robotTrackwidth": 0.546, - "driveWheelRadius": 0.048, - "driveGearing": 5.143, + "driveWheelRadius": 0.038, + "driveGearing": 11.314, "maxDriveSpeed": 5.45, "driveMotorType": "krakenX60", - "driveCurrentLimit": 60.0, + "driveCurrentLimit": 70.0, "wheelCOF": 1.2, "flModuleX": 0.273, "flModuleY": 0.273, diff --git a/src/main/include/RobotContainer.h b/src/main/include/RobotContainer.h index 3090c38..8f7675f 100644 --- a/src/main/include/RobotContainer.h +++ b/src/main/include/RobotContainer.h @@ -34,7 +34,7 @@ #include #include "iostream" #include "frc/motorcontrol/Spark.h" -// #include +#include // #include // #include @@ -48,6 +48,8 @@ * commands, and button mappings) should be declared here. */ +using namespace pathplanner; + class RobotContainer { public: RobotContainer(); From 0e900d4762490950579eb1c8e4e6e56e3196ce5b Mon Sep 17 00:00:00 2001 From: Sh0nuf Date: Mon, 17 Mar 2025 16:45:02 -0400 Subject: [PATCH 3/3] ang stuff w micah --- ...t Coral Rack to Pit4.path => _MidLeft Coral Rack to Pit4.path} | 0 1 file changed, 0 insertions(+), 0 deletions(-) rename src/main/deploy/pathplanner/paths/{ MidLeft Coral Rack to Pit4.path => _MidLeft Coral Rack to Pit4.path} (100%) diff --git a/src/main/deploy/pathplanner/paths/ MidLeft Coral Rack to Pit4.path b/src/main/deploy/pathplanner/paths/_MidLeft Coral Rack to Pit4.path similarity index 100% rename from src/main/deploy/pathplanner/paths/ MidLeft Coral Rack to Pit4.path rename to src/main/deploy/pathplanner/paths/_MidLeft Coral Rack to Pit4.path