Bonney lake

.pathplanner/settings.json

@@ -4,8 +4,8 @@
   "holonomicMode": true,
   "pathFolders": [],
   "autoFolders": [],
-  "defaultMaxVel": 3.0,
-  "defaultMaxAccel": 3.0,
+  "defaultMaxVel": 4.5,
+  "defaultMaxAccel": 4.0,
   "defaultMaxAngVel": 540.0,
   "defaultMaxAngAccel": 720.0,
   "maxModuleSpeed": 4.5

src/main/deploy/pathplanner/autos/FINALSAndIDidntStudy.auto

@@ -0,0 +1,55 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 0.3915358166286795,
+      "y": 1.990341161890377
+    },
+    "rotation": 178.0585136090857
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "EnglishExam"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "QUICK_SHOOT"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "MathExam"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "SpanishFinal"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "QUICK_SHOOT"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Yoink Note 2"
+          }
+        }
+      ]
+    }
+  },
+  "folder": null,
+  "choreoAuto": false
+}

src/main/deploy/pathplanner/autos/HopesAndDreams.auto → src/main/deploy/pathplanner/autos/HOPES_AND_DREAMS.auto

@@ -23,6 +23,12 @@
             "pathName": "ScoreSpeakerPositionFront"
           }
         },
+        {
+          "type": "named",
+          "data": {
+            "name": "SHOOT_SUB"
+          }
+        },
         {
           "type": "path",
           "data": {
@@ -35,6 +41,12 @@
             "pathName": "ScoreSpeakerPositionFront"
           }
         },
+        {
+          "type": "named",
+          "data": {
+            "name": "SHOOT_SUB"
+          }
+        },
         {
           "type": "path",
           "data": {
@@ -47,6 +59,12 @@
             "pathName": "ScoreSpeakerPositionFront"
           }
         },
+        {
+          "type": "named",
+          "data": {
+            "name": "SHOOT_SUB"
+          }
+        },
         {
           "type": "path",
           "data": {

src/main/deploy/pathplanner/autos/Lol.auto

@@ -0,0 +1,31 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 2,
+      "y": 2
+    },
+    "rotation": 0
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Lol-Ready"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Lol-Go"
+          }
+        }
+      ]
+    }
+  },
+  "folder": null,
+  "choreoAuto": false
+}

src/main/deploy/pathplanner/autos/SHOOT_AND_LEAVE_SOURCE.auto

@@ -2,10 +2,10 @@
   "version": 1.0,
   "startingPose": {
     "position": {
-      "x": 0.65,
-      "y": 4.5
+      "x": 0.63,
+      "y": 6.63
     },
-    "rotation": 120.0
+    "rotation": 100.0
   },
   "command": {
     "type": "sequential",
@@ -17,12 +17,6 @@
             "name": "SHOOT_SUB"
           }
         },
-        {
-          "type": "wait",
-          "data": {
-            "waitTime": 2.0
-          }
-        },
         {
           "type": "path",
           "data": {

src/main/deploy/pathplanner/autos/SHOOT_AND_LEAVE_SOURCE_COLLECT.auto

@@ -18,15 +18,39 @@
           }
         },
         {
-          "type": "wait",
+          "type": "path",
           "data": {
-            "waitTime": 2.0
+            "pathName": "LeaveSubRightCollectCenterLineBottom"
           }
         },
         {
           "type": "path",
           "data": {
-            "pathName": "LeaveSubRightCollectCenterLineBottom"
+            "pathName": "Score Source Side"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "QUICK_SHOOT"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Yoink Note 2"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Score Source Side"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "QUICK_SHOOT"
           }
         }
       ]

src/main/deploy/pathplanner/autos/SHOOT_WAIT_AND_LEAVE_AMP.auto

@@ -0,0 +1,37 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 1.2799579961576024,
+      "y": 5.61289981640366
+    },
+    "rotation": -179.18154453831133
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "SHOOT_SUB"
+          }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 10.0
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "LeaveSubLeft"
+          }
+        }
+      ]
+    }
+  },
+  "folder": null,
+  "choreoAuto": false
+}

src/main/deploy/pathplanner/paths/CollectCenterLineBottom.path

@@ -43,8 +43,8 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
+    "maxVelocity": 4.5,
+    "maxAcceleration": 4.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0
   },

src/main/deploy/pathplanner/paths/CollectCenterLineSecond.path

@@ -32,8 +32,8 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
+    "maxVelocity": 4.5,
+    "maxAcceleration": 4.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0
   },

src/main/deploy/pathplanner/paths/CollectCenterLineTop.path

@@ -3,25 +3,25 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 3.42181301812268,
-        "y": 6.687270824206078
+        "x": 5.405267186373299,
+        "y": 7.196908353548251
       },
       "prevControl": null,
       "nextControl": {
-        "x": 5.0471435171058205,
-        "y": 6.825010697001261
+        "x": 6.142175505827522,
+        "y": 7.313987245424156
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 7.822601953928739,
-        "y": 7.417292150020542
+        "x": 7.8845848966865715,
+        "y": 7.403518162741023
       },
       "prevControl": {
-        "x": 6.810213888884153,
-        "y": 7.375970188181988
+        "x": 6.872196831641985,
+        "y": 7.362196200902469
       },
       "nextControl": null,
       "isLocked": false,
@@ -30,10 +30,28 @@
   ],
   "rotationTargets": [],
   "constraintZones": [],
-  "eventMarkers": [],
+  "eventMarkers": [
+    {
+      "name": "COLLECT",
+      "waypointRelativePos": 0.45,
+      "command": {
+        "type": "sequential",
+        "data": {
+          "commands": [
+            {
+              "type": "named",
+              "data": {
+                "name": "COLLECT"
+              }
+            }
+          ]
+        }
+      }
+    }
+  ],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
+    "maxVelocity": 4.5,
+    "maxAcceleration": 4.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0
   },

src/main/deploy/pathplanner/paths/CollectLeft.path

@@ -3,13 +3,13 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 2.2647980866431525,
-        "y": 6.1845202885036645
+        "x": 1.9617703664937525,
+        "y": 5.895266555633783
       },
       "prevControl": null,
       "nextControl": {
-        "x": 2.567825806792553,
-        "y": 6.4531130404542685
+        "x": 2.264798086643152,
+        "y": 6.163859307584387
       },
       "isLocked": false,
       "linkedName": null
@@ -30,10 +30,28 @@
   ],
   "rotationTargets": [],
   "constraintZones": [],
-  "eventMarkers": [],
+  "eventMarkers": [
+    {
+      "name": "COLLECT",
+      "waypointRelativePos": 0,
+      "command": {
+        "type": "sequential",
+        "data": {
+          "commands": [
+            {
+              "type": "named",
+              "data": {
+                "name": "COLLECT"
+              }
+            }
+          ]
+        }
+      }
+    }
+  ],
   "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
+    "maxVelocity": 4.5,
+    "maxAcceleration": 4.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0
   },