diff --git a/src/main/deploy/pathplanner/autos/BL Path.auto b/src/main/deploy/pathplanner/autos/BL Path.auto index 804102a..00d23e6 100644 --- a/src/main/deploy/pathplanner/autos/BL Path.auto +++ b/src/main/deploy/pathplanner/autos/BL Path.auto @@ -1,6 +1,12 @@ { "version": 1.0, - "startingPose": null, + "startingPose": { + "position": { + "x": 0.71583277069688, + "y": 7.110045901003483 + }, + "rotation": 0 + }, "command": { "type": "sequential", "data": { diff --git a/src/main/deploy/pathplanner/autos/BR Path.auto b/src/main/deploy/pathplanner/autos/BR Path.auto index 3f024f4..f70a47e 100644 --- a/src/main/deploy/pathplanner/autos/BR Path.auto +++ b/src/main/deploy/pathplanner/autos/BR Path.auto @@ -1,6 +1,12 @@ { "version": 1.0, - "startingPose": null, + "startingPose": { + "position": { + "x": 1.107671952684762, + "y": 2.4888707299839377 + }, + "rotation": 0 + }, "command": { "type": "sequential", "data": { diff --git a/src/main/deploy/pathplanner/autos/BS Auto.auto b/src/main/deploy/pathplanner/autos/BS Auto.auto new file mode 100644 index 0000000..4dd5075 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/BS Auto.auto @@ -0,0 +1,43 @@ +{ + "version": 1.0, + "startingPose": { + "position": { + "x": 16.29244648802688, + "y": 5.557362183607978 + }, + "rotation": 0 + }, + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "BS Path" + } + }, + { + "type": "named", + "data": { + "name": "shootConveyor" + } + }, + { + "type": "named", + "data": { + "name": "shootFlyWheel" + } + }, + { + "type": "wait", + "data": { + "waitTime": 2.0 + } + } + ] + } + }, + "folder": null, + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/RL Path.auto b/src/main/deploy/pathplanner/autos/RL Path.auto index e70b182..60d48cd 100644 --- a/src/main/deploy/pathplanner/autos/RL Path.auto +++ b/src/main/deploy/pathplanner/autos/RL Path.auto @@ -1,6 +1,12 @@ { "version": 1.0, - "startingPose": null, + "startingPose": { + "position": { + "x": 15.541771563143822, + "y": 2.430613727257548 + }, + "rotation": -179.1864566650106 + }, "command": { "type": "sequential", "data": { diff --git a/src/main/deploy/pathplanner/autos/RR Path.auto b/src/main/deploy/pathplanner/autos/RR Path.auto index 825fbfa..17d59b9 100644 --- a/src/main/deploy/pathplanner/autos/RR Path.auto +++ b/src/main/deploy/pathplanner/autos/RR Path.auto @@ -1,6 +1,12 @@ { "version": 1.0, - "startingPose": null, + "startingPose": { + "position": { + "x": 16.01178678140832, + "y": 7.028186819906402 + }, + "rotation": 180.0 + }, "command": { "type": "sequential", "data": { diff --git a/src/main/deploy/pathplanner/autos/RS Auto.auto b/src/main/deploy/pathplanner/autos/RS Auto.auto new file mode 100644 index 0000000..720e4f6 --- /dev/null +++ b/src/main/deploy/pathplanner/autos/RS Auto.auto @@ -0,0 +1,43 @@ +{ + "version": 1.0, + "startingPose": { + "position": { + "x": 15.146419352667763, + "y": 5.578111669043852 + }, + "rotation": 0 + }, + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "RS Path" + } + }, + { + "type": "named", + "data": { + "name": "shootConveyor" + } + }, + { + "type": "named", + "data": { + "name": "shootFlyWheel" + } + }, + { + "type": "wait", + "data": { + "waitTime": 2.0 + } + } + ] + } + }, + "folder": null, + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/bl Auto.auto b/src/main/deploy/pathplanner/autos/bl Auto.auto new file mode 100644 index 0000000..e161d3a --- /dev/null +++ b/src/main/deploy/pathplanner/autos/bl Auto.auto @@ -0,0 +1,55 @@ +{ + "version": 1.0, + "startingPose": { + "position": { + "x": 0.4217011759439209, + "y": 7.400066486593781 + }, + "rotation": 0 + }, + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "bl Path" + } + }, + { + "type": "named", + "data": { + "name": "shootConveyor" + } + }, + { + "type": "named", + "data": { + "name": "shootFlyWheel" + } + }, + { + "type": "named", + "data": { + "name": "dumpBed" + } + }, + { + "type": "wait", + "data": { + "waitTime": 2.0 + } + }, + { + "type": "path", + "data": { + "pathName": "bl2 Path" + } + } + ] + } + }, + "folder": null, + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/autos/rr Auto.auto b/src/main/deploy/pathplanner/autos/rr Auto.auto new file mode 100644 index 0000000..37da37c --- /dev/null +++ b/src/main/deploy/pathplanner/autos/rr Auto.auto @@ -0,0 +1,55 @@ +{ + "version": 1.0, + "startingPose": { + "position": { + "x": 16.1521166347176, + "y": 7.390705607622041 + }, + "rotation": 0 + }, + "command": { + "type": "sequential", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "rr Path" + } + }, + { + "type": "named", + "data": { + "name": "shootConveyor" + } + }, + { + "type": "named", + "data": { + "name": "shootFlyWheel" + } + }, + { + "type": "named", + "data": { + "name": "dumpBed" + } + }, + { + "type": "wait", + "data": { + "waitTime": 2.0 + } + }, + { + "type": "path", + "data": { + "pathName": "rr2 Path" + } + } + ] + } + }, + "folder": null, + "choreoAuto": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/BL Path.path b/src/main/deploy/pathplanner/paths/BL Path.path deleted file mode 100644 index b6b1ee2..0000000 --- a/src/main/deploy/pathplanner/paths/BL Path.path +++ /dev/null @@ -1,84 +0,0 @@ -{ - "version": 1.0, - "waypoints": [ - { - "anchor": { - "x": 1.1057381983470564, - "y": 6.994425860528696 - }, - "prevControl": null, - "nextControl": { - "x": 2.1057381983470567, - "y": 6.994425860528696 - }, - "isLocked": false, - "linkedName": null - }, - { - "anchor": { - "x": 2.86891037330523, - "y": 6.318561490543663 - }, - "prevControl": { - "x": 1.86891037330523, - "y": 6.318561490543663 - }, - "nextControl": { - 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--git a/src/main/deploy/pathplanner/paths/RR Path.path b/src/main/deploy/pathplanner/paths/RR Path.path index bc02da2..b566cec 100644 --- a/src/main/deploy/pathplanner/paths/RR Path.path +++ b/src/main/deploy/pathplanner/paths/RR Path.path @@ -3,144 +3,34 @@ "waypoints": [ { "anchor": { - "x": 15.66262990699729, - "y": 7.053879628082199 + "x": 16.128728325832714, + "y": 7.414093916506922 }, "prevControl": null, "nextControl": { - "x": 15.67793066314857, - "y": 7.0257277213732925 + "x": 16.128728325832714, + "y": 7.414093916506922 }, "isLocked": false, "linkedName": null }, { "anchor": { - "x": 14.078577603766352, - "y": 6.953538586837812 + "x": 15.052866117128234, + "y": 7.414093916506922 }, "prevControl": { - "x": 14.101505128134388, - "y": 6.942041679898264 - }, - "nextControl": { - "x": 14.06381501854095, - "y": 6.9609412207113674 - }, - "isLocked": false, - "linkedName": null - }, - { - "anchor": { - "x": 14.078577603766352, - "y": 7.053879628082199 - }, - "prevControl": { - "x": 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null + } + ], + "rotationTargets": [], + "constraintZones": [], + "eventMarkers": [ + { + "name": "shootConveyor", + "waypointRelativePos": 0, + "command": { + "type": "parallel", + "data": { + "commands": [] + } + } + }, + { + "name": "shootFlyWheel", + "waypointRelativePos": 0, + "command": { + "type": "parallel", + "data": { + "commands": [] + } + } + } + ], + "globalConstraints": { + "maxVelocity": 3.0, + "maxAcceleration": 3.0, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0 + }, + "goalEndState": { + "velocity": 0, + "rotation": 0.0, + "rotateFast": false + }, + "reversed": false, + "folder": null, + "previewStartingState": null, + "useDefaultConstraints": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/bl2 Path.path b/src/main/deploy/pathplanner/paths/bl2 Path.path new file mode 100644 index 0000000..ee7d98b --- /dev/null +++ b/src/main/deploy/pathplanner/paths/bl2 Path.path @@ -0,0 +1,71 @@ +{ + "version": 1.0, + "waypoints": 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540.0, + "maxAngularAcceleration": 720.0 + }, + "goalEndState": { + "velocity": 0, + "rotation": 0, + "rotateFast": false + }, + "reversed": false, + "folder": null, + "previewStartingState": null, + "useDefaultConstraints": false +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/rr2 Path.path b/src/main/deploy/pathplanner/paths/rr2 Path.path new file mode 100644 index 0000000..fcfdd2b --- /dev/null +++ b/src/main/deploy/pathplanner/paths/rr2 Path.path @@ -0,0 +1,65 @@ +{ + "version": 1.0, + "waypoints": [ + { + "anchor": { + "x": 15.052866117129224, + "y": 7.414093916500834 + }, + "prevControl": null, + "nextControl": { + "x": 15.041171962687761, + "y": 7.4374822253796244 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 14.175804533946229, + "y": 6.303149244469041 + }, + "prevControl": { + "x": 14.175804533947208, + "y": 6.291455090020513 + }, + "nextControl": { + "x": 14.17580453394525, + "y": 6.314843398917569 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 12.176104124289, + "y": 6.303149244469041 + }, + "prevControl": { + "x": 13.076554016356384, + "y": 6.273913858365985 + }, + "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": 0.0, + "rotateFast": false + }, + "reversed": false, + "folder": null, + "previewStartingState": null, + "useDefaultConstraints": false +} \ No newline at end of file diff --git a/src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java b/src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java index 567b6a2..2b7f711 100644 --- a/src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java +++ b/src/main/java/frc/robot/subsystems/swervedrive/SwerveSubsystem.java @@ -7,7 +7,6 @@ import com.pathplanner.lib.auto.AutoBuilder; import com.pathplanner.lib.commands.PathPlannerAuto; import com.pathplanner.lib.path.PathConstraints; -import com.pathplanner.lib.path.PathPlannerPath; import com.pathplanner.lib.util.HolonomicPathFollowerConfig; import com.pathplanner.lib.util.PIDConstants; import com.pathplanner.lib.util.ReplanningConfig; @@ -131,9 +130,8 @@ public void setupPathPlanner() { /** * Get the path follower with events. * - * @param pathName PathPlanner path name. - * @param setOdomToStart Set the odometry position to the start of the path. - * @return {@link AutoBuilder#followPath(PathPlannerPath)} path command. + * @param pathName Name of the path to follow. + * @return PathPlannerPath with events. */ public Command getAutonomousCommand(String pathName) { // Load the path you want to follow using its name in the GUI