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Created Mid Source Sweep auto routine.
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151 changes: 151 additions & 0 deletions
151
src/main/deploy/pathplanner/autos/Mid Source Sweep.auto
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,151 @@ | ||
| { | ||
| "version": 1.0, | ||
| "startingPose": { | ||
| "position": { | ||
| "x": 0.74, | ||
| "y": 4.37 | ||
| }, | ||
| "rotation": -58.70990544835478 | ||
| }, | ||
| "command": { | ||
| "type": "sequential", | ||
| "data": { | ||
| "commands": [ | ||
| { | ||
| "type": "named", | ||
| "data": { | ||
| "name": "ShootSubwooferShot" | ||
| } | ||
| }, | ||
| { | ||
| "type": "path", | ||
| "data": { | ||
| "pathName": "Subwoofer Side to Mid Source Note" | ||
| } | ||
| }, | ||
| { | ||
| "type": "race", | ||
| "data": { | ||
| "commands": [ | ||
| { | ||
| "type": "named", | ||
| "data": { | ||
| "name": "IntakeUntilNoteDetected" | ||
| } | ||
| }, | ||
| { | ||
| "type": "wait", | ||
| "data": { | ||
| "waitTime": 2.0 | ||
| } | ||
| } | ||
| ] | ||
| } | ||
| }, | ||
| { | ||
| "type": "path", | ||
| "data": { | ||
| "pathName": "Mid Source Note to Source Farshot" | ||
| } | ||
| }, | ||
| { | ||
| "type": "parallel", | ||
| "data": { | ||
| "commands": [ | ||
| { | ||
| "type": "named", | ||
| "data": { | ||
| "name": "AutoOrientToSpeaker" | ||
| } | ||
| }, | ||
| { | ||
| "type": "race", | ||
| "data": { | ||
| "commands": [ | ||
| { | ||
| "type": "named", | ||
| "data": { | ||
| "name": "SetShooterContinuous" | ||
| } | ||
| }, | ||
| { | ||
| "type": "wait", | ||
| "data": { | ||
| "waitTime": 2.0 | ||
| } | ||
| } | ||
| ] | ||
| } | ||
| }, | ||
| { | ||
| "type": "race", | ||
| "data": { | ||
| "commands": [ | ||
| { | ||
| "type": "wait", | ||
| "data": { | ||
| "waitTime": 1.5 | ||
| } | ||
| }, | ||
| { | ||
| "type": "named", | ||
| "data": { | ||
| "name": "ShootAtCurrentRPM" | ||
| } | ||
| } | ||
| ] | ||
| } | ||
| } | ||
| ] | ||
| } | ||
| }, | ||
| { | ||
| "type": "path", | ||
| "data": { | ||
| "pathName": "Source Farshot to Source Note" | ||
| } | ||
| }, | ||
| { | ||
| "type": "race", | ||
| "data": { | ||
| "commands": [ | ||
| { | ||
| "type": "wait", | ||
| "data": { | ||
| "waitTime": 2.0 | ||
| } | ||
| }, | ||
| { | ||
| "type": "named", | ||
| "data": { | ||
| "name": "IntakeUntilNoteDetectedNoAutoCentering" | ||
| } | ||
| } | ||
| ] | ||
| } | ||
| }, | ||
| { | ||
| "type": "path", | ||
| "data": { | ||
| "pathName": "Source Note to Source Farshot" | ||
| } | ||
| }, | ||
| { | ||
| "type": "parallel", | ||
| "data": { | ||
| "commands": [ | ||
| { | ||
| "type": "named", | ||
| "data": { | ||
| "name": "DisableAutoOrientationMode" | ||
| } | ||
| } | ||
| ] | ||
| } | ||
| } | ||
| ] | ||
| } | ||
| }, | ||
| "folder": null, | ||
| "choreoAuto": false | ||
| } |
92 changes: 92 additions & 0 deletions
92
src/main/deploy/pathplanner/paths/Subwoofer Side to Mid Source Note.path
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,92 @@ | ||
| { | ||
| "version": 1.0, | ||
| "waypoints": [ | ||
| { | ||
| "anchor": { | ||
| "x": 0.74, | ||
| "y": 4.37 | ||
| }, | ||
| "prevControl": null, | ||
| "nextControl": { | ||
| "x": 1.1367330622701963, | ||
| "y": 2.955764486592587 | ||
| }, | ||
| "isLocked": false, | ||
| "linkedName": null | ||
| }, | ||
| { | ||
| "anchor": { | ||
| "x": 5.147381694254483, | ||
| "y": 1.6293260067436164 | ||
| }, | ||
| "prevControl": { | ||
| "x": 3.5219561540185147, | ||
| "y": 1.6293260067436164 | ||
| }, | ||
| "nextControl": { | ||
| "x": 6.494708969061704, | ||
| "y": 1.6293260067436164 | ||
| }, | ||
| "isLocked": false, | ||
| "linkedName": null | ||
| }, | ||
| { | ||
| "anchor": { | ||
| "x": 8.21, | ||
| "y": 2.4 | ||
| }, | ||
| "prevControl": { | ||
| "x": 7.654037089244662, | ||
| "y": 2.0157687134712696 | ||
| }, | ||
| "nextControl": null, | ||
| "isLocked": false, | ||
| "linkedName": null | ||
| } | ||
| ], | ||
| "rotationTargets": [ | ||
| { | ||
| "waypointRelativePos": 1.1, | ||
| "rotationDegrees": 0.0, | ||
| "rotateFast": false | ||
| } | ||
| ], | ||
| "constraintZones": [], | ||
| "eventMarkers": [ | ||
| { | ||
| "name": "Intake", | ||
| "waypointRelativePos": 0, | ||
| "command": { | ||
| "type": "sequential", | ||
| "data": { | ||
| "commands": [ | ||
| { | ||
| "type": "named", | ||
| "data": { | ||
| "name": "IntakeUntilNoteDetectedNoAutoCentering" | ||
| } | ||
| } | ||
| ] | ||
| } | ||
| } | ||
| } | ||
| ], | ||
| "globalConstraints": { | ||
| "maxVelocity": 3.0, | ||
| "maxAcceleration": 3.0, | ||
| "maxAngularVelocity": 540.0, | ||
| "maxAngularAcceleration": 720.0 | ||
| }, | ||
| "goalEndState": { | ||
| "velocity": 0, | ||
| "rotation": 24.95645435977526, | ||
| "rotateFast": false | ||
| }, | ||
| "reversed": false, | ||
| "folder": "Mid Source Sweep", | ||
| "previewStartingState": { | ||
| "rotation": -62.747370745004204, | ||
| "velocity": 0 | ||
| }, | ||
| "useDefaultConstraints": true | ||
| } |