Merge pull request #26 from 2491-NoMythic/Amp-Path-Code

Amp path code
2491-NoMythic · Jan 27, 2024 · 45d281d · 45d281d
2 parents c8b7e90 + 6aa0f06
commit 45d281d
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Showing 22 changed files with 1,047 additions and 13 deletions.
diff --git a/.pathplanner/settings.json b/.pathplanner/settings.json
@@ -5,6 +5,7 @@
   "pathFolders": [
     "Collect Notes",
     "Initial Shots",
+    "lineup",
     "to shooting pos"
   ],
   "autoFolders": [],

diff --git a/src/main/deploy/pathplanner/autos/StartAmpScore3Close.auto b/src/main/deploy/pathplanner/autos/StartAmpScore3Close.auto
@@ -0,0 +1,43 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 1.087122174244349,
+      "y": 7.036539787365289
+    },
+    "rotation": 0
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "intakeOn"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "CloseLeftPickup"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "CloseMiddlePickupFromLeft"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "CloseRightPickupFromMiddle"
+          }
+        }
+      ]
+    }
+  },
+  "folder": null,
+  "choreoAuto": false
+}
diff --git a/src/main/deploy/pathplanner/paths/BlueSourceShoot4.path b/src/main/deploy/pathplanner/paths/BlueSourceShoot4.path
@@ -23,6 +23,22 @@
         "x": 4.572111136500266,
         "y": 1.4350420669953317
       },
+      "nextControl": {
+        "x": 5.802874109263657,
+        "y": -1.4482422802850352
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 14.783900564952129,
+        "y": 7.87016593976208
+      },
+      "prevControl": {
+        "x": 10.293387337107893,
+        "y": 3.2109618297385225
+      },
       "nextControl": null,
       "isLocked": false,
       "linkedName": "SourceSideBlueShoot"

diff --git a/src/main/deploy/pathplanner/paths/CloseLeftPickup.path b/src/main/deploy/pathplanner/paths/CloseLeftPickup.path
@@ -0,0 +1,70 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 2.1132842265655905,
+        "y": 6.611415508541712
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 2.186581516017312,
+        "y": 6.6993722558837785
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 2.6117057948372984,
+        "y": 6.7433506295548105
+      },
+      "prevControl": {
+        "x": 2.391813926482133,
+        "y": 6.684712797993434
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "eventMarkers": [
+    {
+      "name": "New Event Marker",
+      "waypointRelativePos": 0.65,
+      "command": {
+        "type": "parallel",
+        "data": {
+          "commands": [
+            {
+              "type": "named",
+              "data": {
+                "name": "feedShooter"
+              }
+            }
+          ]
+        }
+      }
+    }
+  ],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": -146.67371031288477,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": "Collect Notes",
+  "previewStartingState": {
+    "rotation": -169.0,
+    "velocity": 0.0
+  },
+  "useDefaultConstraints": false
+}
diff --git a/src/main/deploy/pathplanner/paths/CloseMiddlePickupFromLeft.path b/src/main/deploy/pathplanner/paths/CloseMiddlePickupFromLeft.path
@@ -0,0 +1,70 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 2.904894952647049,
+        "y": 6.714031713777714
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 3.2127435683442798,
+        "y": 5.4826372509887875
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 2.377154468594652,
+        "y": 5.541275082550166
+      },
+      "prevControl": {
+        "x": 2.157262600239487,
+        "y": 5.48263725098879
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "eventMarkers": [
+    {
+      "name": "New Event Marker",
+      "waypointRelativePos": 0.6,
+      "command": {
+        "type": "parallel",
+        "data": {
+          "commands": [
+            {
+              "type": "named",
+              "data": {
+                "name": "feedShooter"
+              }
+            }
+          ]
+        }
+      }
+    }
+  ],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 180.0,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": "Collect Notes",
+  "previewStartingState": {
+    "rotation": -169.0,
+    "velocity": 0.0
+  },
+  "useDefaultConstraints": false
+}
diff --git a/src/main/deploy/pathplanner/paths/CloseRightPickupFromMiddle.path b/src/main/deploy/pathplanner/paths/CloseRightPickupFromMiddle.path
@@ -0,0 +1,92 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 2.421132842265685,
+        "y": 5.599912914111543
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 1.556224826735368,
+        "y": 5.3800210457563775
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 2.53840850538844,
+        "y": 4.133967125077108
+      },
+      "prevControl": {
+        "x": 2.318516637033275,
+        "y": 4.075329293515732
+      },
+      "nextControl": {
+        "x": 2.758300373743605,
+        "y": 4.192604956638484
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 2.333176094923619,
+        "y": 4.119307667186764
+      },
+      "prevControl": {
+        "x": 2.2782031278348276,
+        "y": 4.104648209296419
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 1,
+      "rotationDegrees": 180.0,
+      "rotateFast": false
+    }
+  ],
+  "constraintZones": [],
+  "eventMarkers": [
+    {
+      "name": "New Event Marker",
+      "waypointRelativePos": 1.75,
+      "command": {
+        "type": "parallel",
+        "data": {
+          "commands": [
+            {
+              "type": "named",
+              "data": {
+                "name": "feedShooter"
+              }
+            }
+          ]
+        }
+      }
+    }
+  ],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 152.65012421993018,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": "Collect Notes",
+  "previewStartingState": {
+    "rotation": -178.1523897340052,
+    "velocity": 0.0
+  },
+  "useDefaultConstraints": false
+}
diff --git a/src/main/deploy/pathplanner/paths/climbAmpSideL.path b/src/main/deploy/pathplanner/paths/climbAmpSideL.path
@@ -0,0 +1,52 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 4.634710983707682,
+        "y": 5.2774048405239675
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 4.693348815269059,
+        "y": 5.204107551072246
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 4.6786893573787145,
+        "y": 5.160129177401212
+      },
+      "prevControl": {
+        "x": 4.649370441598026,
+        "y": 5.204107551072245
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": -57.380756928807095,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": "lineup",
+  "previewStartingState": {
+    "rotation": -55.30484646876604,
+    "velocity": 0
+  },
+  "useDefaultConstraints": false
+}