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robototes · Mar 16, 2024 · 2692875 · 2692875
1 parent 0b28bfa
commit 2692875
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Showing 7 changed files with 105 additions and 83 deletions.
diff --git a/src/main/deploy/pathplanner/autos/New Auto.auto b/src/main/deploy/pathplanner/autos/New Auto.auto
@@ -0,0 +1,43 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 1.33,
+      "y": 5.55
+    },
+    "rotation": 180.0
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "SpeakerToMidNote"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "MidNoteToCenterMidNodeLaunch"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "launchPosFirstNoteCenterLineLaunch"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "launchSecondNoteCenterLineLaunch"
+          }
+        }
+      ]
+    }
+  },
+  "folder": "Vision Autos",
+  "choreoAuto": false
+}
diff --git a/src/main/deploy/pathplanner/paths/BottomNoteLaunch.path b/src/main/deploy/pathplanner/paths/BottomNoteLaunch.path
@@ -45,7 +45,7 @@
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     "rotateFast": false
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diff --git a/src/main/deploy/pathplanner/paths/HighNoteLaunch2ToFarHighNoteToLaunch.path b/src/main/deploy/pathplanner/paths/HighNoteLaunch2ToFarHighNoteToLaunch.path
@@ -32,12 +32,12 @@
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@@ -47,7 +47,7 @@
   "rotationTargets": [
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-      "rotationDegrees": 180.0,
+      "rotationDegrees": -172.5750748946377,
       "rotateFast": false
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@@ -79,7 +79,7 @@
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+    "rotation": -165.92,
     "rotateFast": false
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diff --git a/src/main/deploy/pathplanner/paths/MidSpeakerToCenterNotetoLaunch.path b/src/main/deploy/pathplanner/paths/MidSpeakerToCenterNotetoLaunch.path
@@ -32,16 +32,16 @@
     },
     {
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@@ -56,8 +56,8 @@
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       "linkedName": null
@@ -81,6 +81,11 @@
       "waypointRelativePos": 1.8,
       "rotationDegrees": 180.0,
       "rotateFast": false
+    },
+    {
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+      "rotationDegrees": -156.94,
+      "rotateFast": false
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   "constraintZones": [],

diff --git a/src/main/deploy/pathplanner/paths/launchPosFirstNoteCenterLineLaunch.path b/src/main/deploy/pathplanner/paths/launchPosFirstNoteCenterLineLaunch.path
@@ -8,24 +8,8 @@
       },
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-      "nextControl": {
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+        "x": 4.957219057295258,
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@@ -36,24 +20,24 @@
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+        "x": 8.602702708501509,
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+        "x": 7.947748466925505,
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       "isLocked": false,
       "linkedName": null
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       "anchor": {
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       "nextControl": null,
       "isLocked": false,
@@ -62,16 +46,16 @@
   ],
   "rotationTargets": [
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-      "waypointRelativePos": 1.6,
-      "rotationDegrees": 145.0,
+      "waypointRelativePos": 0.8,
+      "rotationDegrees": -128.61667081319877,
       "rotateFast": false
     }
   ],
   "constraintZones": [],
   "eventMarkers": [
     {
       "name": "New Event Marker",
-      "waypointRelativePos": 1.0999999999999999,
+      "waypointRelativePos": 0.55,
       "command": {
         "type": "parallel",
         "data": {
@@ -95,7 +79,7 @@
   },
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-    "rotation": -156.19405648154228,
+    "rotation": -165.92,
     "rotateFast": false
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   "reversed": false,

diff --git a/src/main/deploy/pathplanner/paths/launchSecondNoteCenterLineLaunch.path b/src/main/deploy/pathplanner/paths/launchSecondNoteCenterLineLaunch.path
@@ -3,13 +3,13 @@
   "waypoints": [
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+        "y": 6.79
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       "nextControl": {
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+        "x": 7.391052103040704,
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@@ -20,31 +20,37 @@
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+        "x": 8.211618708951704,
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       "isLocked": false,
       "linkedName": null
     },
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       "anchor": {
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+        "y": 6.347545266519105
       },
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+        "x": 7.097499909285533,
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       },
       "nextControl": null,
       "isLocked": false,
       "linkedName": null
     }
   ],
-  "rotationTargets": [],
+  "rotationTargets": [
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+      "waypointRelativePos": 0.75,
+      "rotationDegrees": -148.64916364014846,
+      "rotateFast": false
+    }
+  ],
   "constraintZones": [],
   "eventMarkers": [
     {
@@ -73,13 +79,13 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": -163.097682967436,
+    "rotation": -170.61848983925177,
     "rotateFast": false
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   "reversed": false,
   "folder": null,
   "previewStartingState": {
-    "rotation": -168.16,
+    "rotation": -165.92,
     "velocity": 0
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   "useDefaultConstraints": true

diff --git a/src/main/deploy/pathplanner/paths/launchSecondNoteLaunch.path b/src/main/deploy/pathplanner/paths/launchSecondNoteLaunch.path
@@ -3,29 +3,13 @@
   "waypoints": [
     {
       "anchor": {
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+        "x": 5.41,
+        "y": 6.91
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@@ -36,8 +20,8 @@
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@@ -49,7 +33,7 @@
   "eventMarkers": [
     {
       "name": "New Event Marker",
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+      "waypointRelativePos": 0.5,
       "command": {
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@@ -79,7 +63,7 @@
   "reversed": false,
   "folder": null,
   "previewStartingState": {
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+    "rotation": -165.92,
     "velocity": 0
   },
   "useDefaultConstraints": true