From 2b399bdc7112982053bf88f2e3ac055669712ac5 Mon Sep 17 00:00:00 2001 From: Kaleb Ballmann <26BallmannKaleb@bprep.org> Date: Sun, 18 Feb 2024 18:29:29 -0800 Subject: [PATCH 1/2] made death sweep paths and started compiling it into a auto --- .../deploy/pathplanner/autos/death sweep.auto | 21 ++++++-- .../pathplanner/paths/death sweep 1.path | 20 +++---- .../pathplanner/paths/death sweep 2.path | 52 +++++++++++++++++++ .../pathplanner/paths/death sweep 3.path | 52 +++++++++++++++++++ .../pathplanner/paths/death sweep 4.path | 52 +++++++++++++++++++ .../pathplanner/paths/death sweep 5.path | 52 +++++++++++++++++++ 6 files changed, 235 insertions(+), 14 deletions(-) create mode 100644 src/main/deploy/pathplanner/paths/death sweep 2.path create mode 100644 src/main/deploy/pathplanner/paths/death sweep 3.path create mode 100644 src/main/deploy/pathplanner/paths/death sweep 4.path create mode 100644 src/main/deploy/pathplanner/paths/death sweep 5.path diff --git a/src/main/deploy/pathplanner/autos/death sweep.auto b/src/main/deploy/pathplanner/autos/death sweep.auto index 1dd3d355..de96dca8 100644 --- a/src/main/deploy/pathplanner/autos/death sweep.auto +++ b/src/main/deploy/pathplanner/autos/death sweep.auto @@ -2,15 +2,28 @@ "version": 1.0, "startingPose": { "position": { - "x": 2, - "y": 2 + "x": 15.1, + "y": 1.41 }, - "rotation": 0 + "rotation": 180.0 }, "command": { "type": "sequential", "data": { - "commands": [] + "commands": [ + { + "type": "path", + "data": { + "pathName": "death sweep 1" + } + }, + { + "type": "path", + "data": { + "pathName": "death sweep 2" + } + } + ] } }, "folder": "1 note", diff --git a/src/main/deploy/pathplanner/paths/death sweep 1.path b/src/main/deploy/pathplanner/paths/death sweep 1.path index 0574b1b7..93ea5e3a 100644 --- a/src/main/deploy/pathplanner/paths/death sweep 1.path +++ b/src/main/deploy/pathplanner/paths/death sweep 1.path @@ -3,25 +3,25 @@ "waypoints": [ { "anchor": { - "x": 10.750148166963003, - "y": 6.299494821211866 + "x": 15.1, + "y": 1.41 }, "prevControl": null, "nextControl": { - "x": 11.750148166963003, - "y": 6.299494821211866 + "x": 15.130882833194237, + "y": 1.3926484995827144 }, "isLocked": false, "linkedName": null }, { "anchor": { - "x": 13.871391076115486, - "y": 4.3469364716507215 + "x": 8.52, + "y": 0.7622918102979067 }, "prevControl": { - "x": 12.871391076115486, - "y": 4.3469364716507215 + "x": 8.695913494684131, + "y": 0.029318915780688237 }, "nextControl": null, "isLocked": false, @@ -39,13 +39,13 @@ }, "goalEndState": { "velocity": 0, - "rotation": 0, + "rotation": 180.0, "rotateFast": false }, "reversed": false, "folder": "death sweep", "previewStartingState": { - "rotation": 0, + "rotation": 180.0, "velocity": 0 }, "useDefaultConstraints": true diff --git a/src/main/deploy/pathplanner/paths/death sweep 2.path b/src/main/deploy/pathplanner/paths/death sweep 2.path new file mode 100644 index 00000000..ed059951 --- /dev/null +++ b/src/main/deploy/pathplanner/paths/death sweep 2.path @@ -0,0 +1,52 @@ +{ + "version": 1.0, + "waypoints": [ + { + "anchor": { + "x": 8.52, + "y": 0.76 + }, + "prevControl": null, + "nextControl": { + "x": 9.223121303385463, + "y": 1.8324322362930443 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 8.52, + "y": 2.506767299248885 + }, + "prevControl": { + "x": 8.490148408868246, + "y": 2.5360862150295738 + }, + "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": 180.0, + "rotateFast": false + }, + "reversed": false, + "folder": "death sweep", + "previewStartingState": { + "rotation": 180.0, + "velocity": 0 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/death sweep 3.path b/src/main/deploy/pathplanner/paths/death sweep 3.path new file mode 100644 index 00000000..f07f7415 --- /dev/null +++ b/src/main/deploy/pathplanner/paths/death sweep 3.path @@ -0,0 +1,52 @@ +{ + "version": 1.0, + "waypoints": [ + { + "anchor": { + "x": 8.52, + "y": 2.51 + }, + "prevControl": null, + "nextControl": { + "x": 9.501651003302007, + "y": 3.4596320621212673 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 8.52, + "y": 4.075329293515731 + }, + "prevControl": { + "x": 8.52, + "y": 4.075329293515731 + }, + "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": 180.0, + "rotateFast": false + }, + "reversed": false, + "folder": "death sweep", + "previewStartingState": { + "rotation": 180.0, + "velocity": 0 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/death sweep 4.path b/src/main/deploy/pathplanner/paths/death sweep 4.path new file mode 100644 index 00000000..c2c1366d --- /dev/null +++ b/src/main/deploy/pathplanner/paths/death sweep 4.path @@ -0,0 +1,52 @@ +{ + "version": 1.0, + "waypoints": [ + { + "anchor": { + "x": 8.52, + "y": 4.08 + }, + "prevControl": null, + "nextControl": { + "x": 9.501651003302007, + "y": 5.029632062121265 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 8.52, + "y": 5.775826408795675 + }, + "prevControl": { + "x": 8.52, + "y": 5.775826408795675 + }, + "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": 180.0, + "rotateFast": false + }, + "reversed": false, + "folder": "death sweep", + "previewStartingState": { + "rotation": 180.0, + "velocity": 0 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/death sweep 5.path b/src/main/deploy/pathplanner/paths/death sweep 5.path new file mode 100644 index 00000000..d1bc320d --- /dev/null +++ b/src/main/deploy/pathplanner/paths/death sweep 5.path @@ -0,0 +1,52 @@ +{ + "version": 1.0, + "waypoints": [ + { + "anchor": { + "x": 8.52, + "y": 5.78 + }, + "prevControl": null, + "nextControl": { + "x": 10.278602271490257, + "y": 7.153815450488045 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 12.360245291919155, + "y": 6.12765339816394 + }, + "prevControl": { + "x": 12.360245291919155, + "y": 6.12765339816394 + }, + "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": 175.48601154199872, + "rotateFast": false + }, + "reversed": false, + "folder": "death sweep", + "previewStartingState": { + "rotation": 180.0, + "velocity": 0 + }, + "useDefaultConstraints": true +} \ No newline at end of file From e81a6077cd15069841093a5a6e548fb0dc1f2541 Mon Sep 17 00:00:00 2001 From: Kaleb Ballmann <26BallmannKaleb@bprep.org> Date: Mon, 19 Feb 2024 14:36:28 -0800 Subject: [PATCH 2/2] death sweep auto finalized and made --- .../deploy/pathplanner/autos/death sweep.auto | 35 ++++++++++++- .../pathplanner/paths/death sweep 1.path | 16 +++--- .../pathplanner/paths/death sweep 2.path | 18 +++---- .../pathplanner/paths/death sweep 3.path | 18 +++---- .../pathplanner/paths/death sweep 4.path | 18 +++---- .../pathplanner/paths/death sweep 5.path | 52 ------------------- 6 files changed, 68 insertions(+), 89 deletions(-) delete mode 100644 src/main/deploy/pathplanner/paths/death sweep 5.path diff --git a/src/main/deploy/pathplanner/autos/death sweep.auto b/src/main/deploy/pathplanner/autos/death sweep.auto index de96dca8..15d6cdca 100644 --- a/src/main/deploy/pathplanner/autos/death sweep.auto +++ b/src/main/deploy/pathplanner/autos/death sweep.auto @@ -2,8 +2,8 @@ "version": 1.0, "startingPose": { "position": { - "x": 15.1, - "y": 1.41 + "x": 15.23, + "y": 5.57 }, "rotation": 180.0 }, @@ -22,6 +22,37 @@ "data": { "pathName": "death sweep 2" } + }, + { + "type": "path", + "data": { + "pathName": "death sweep 3" + } + }, + { + "type": "race", + "data": { + "commands": [ + { + "type": "path", + "data": { + "pathName": "death sweep 4" + } + }, + { + "type": "named", + "data": { + "name": "Spinny" + } + } + ] + } + }, + { + "type": "named", + "data": { + "name": "Shoot without drivetrain" + } } ] } diff --git a/src/main/deploy/pathplanner/paths/death sweep 1.path b/src/main/deploy/pathplanner/paths/death sweep 1.path index 93ea5e3a..cc5ac50f 100644 --- a/src/main/deploy/pathplanner/paths/death sweep 1.path +++ b/src/main/deploy/pathplanner/paths/death sweep 1.path @@ -3,25 +3,25 @@ "waypoints": [ { "anchor": { - "x": 15.1, - "y": 1.41 + "x": 15.23, + "y": 5.57 }, "prevControl": null, "nextControl": { - "x": 15.130882833194237, - "y": 1.3926484995827144 + "x": 15.260882833194238, + "y": 5.552648499582714 }, "isLocked": false, "linkedName": null }, { "anchor": { - "x": 8.52, - "y": 0.7622918102979067 + "x": 8.37, + "y": 7.637577560869407 }, "prevControl": { - "x": 8.695913494684131, - "y": 0.029318915780688237 + "x": 8.355340542109653, + "y": 7.608258645088718 }, "nextControl": null, "isLocked": false, diff --git a/src/main/deploy/pathplanner/paths/death sweep 2.path b/src/main/deploy/pathplanner/paths/death sweep 2.path index ed059951..58601aa7 100644 --- a/src/main/deploy/pathplanner/paths/death sweep 2.path +++ b/src/main/deploy/pathplanner/paths/death sweep 2.path @@ -3,25 +3,25 @@ "waypoints": [ { "anchor": { - "x": 8.52, - "y": 0.76 + "x": 8.37, + "y": 7.64 }, "prevControl": null, "nextControl": { - "x": 9.223121303385463, - "y": 1.8324322362930443 + "x": 7.639899851228273, + "y": 5.8051453245763645 }, "isLocked": false, "linkedName": null }, { "anchor": { - "x": 8.52, - "y": 2.506767299248885 + "x": 8.48, + "y": 4.104648209296419 }, "prevControl": { - "x": 8.490148408868246, - "y": 2.5360862150295738 + "x": 8.450148408868246, + "y": 4.133967125077108 }, "nextControl": null, "isLocked": false, @@ -39,7 +39,7 @@ }, "goalEndState": { "velocity": 0, - "rotation": 180.0, + "rotation": 0.0, "rotateFast": false }, "reversed": false, diff --git a/src/main/deploy/pathplanner/paths/death sweep 3.path b/src/main/deploy/pathplanner/paths/death sweep 3.path index f07f7415..705e42d9 100644 --- a/src/main/deploy/pathplanner/paths/death sweep 3.path +++ b/src/main/deploy/pathplanner/paths/death sweep 3.path @@ -3,25 +3,25 @@ "waypoints": [ { "anchor": { - "x": 8.52, - "y": 2.51 + "x": 8.48, + "y": 4.1 }, "prevControl": null, "nextControl": { - "x": 9.501651003302007, - "y": 3.4596320621212673 + "x": 7.771834972241374, + "y": 2.4481294676875076 }, "isLocked": false, "linkedName": null }, { "anchor": { - "x": 8.52, - "y": 4.075329293515731 + "x": 8.37, + "y": 0.7769512681882514 }, "prevControl": { - "x": 8.52, - "y": 4.075329293515731 + "x": 8.37, + "y": 0.7769512681882514 }, "nextControl": null, "isLocked": false, @@ -45,7 +45,7 @@ "reversed": false, "folder": "death sweep", "previewStartingState": { - "rotation": 180.0, + "rotation": 0.0, "velocity": 0 }, "useDefaultConstraints": true diff --git a/src/main/deploy/pathplanner/paths/death sweep 4.path b/src/main/deploy/pathplanner/paths/death sweep 4.path index c2c1366d..b6638f32 100644 --- a/src/main/deploy/pathplanner/paths/death sweep 4.path +++ b/src/main/deploy/pathplanner/paths/death sweep 4.path @@ -3,25 +3,25 @@ "waypoints": [ { "anchor": { - "x": 8.52, - "y": 4.08 + "x": 8.37, + "y": 0.78 }, "prevControl": null, "nextControl": { - "x": 9.501651003302007, - "y": 5.029632062121265 + "x": 8.563445698319969, + "y": 3.547588809463334 }, "isLocked": false, "linkedName": null }, { "anchor": { - "x": 8.52, - "y": 5.775826408795675 + "x": 12.389564207699843, + "y": 4.998875140607424 }, "prevControl": { - "x": 8.52, - "y": 5.775826408795675 + "x": 12.389564207699843, + "y": 4.998875140607424 }, "nextControl": null, "isLocked": false, @@ -39,7 +39,7 @@ }, "goalEndState": { "velocity": 0, - "rotation": 180.0, + "rotation": -170.8376529542783, "rotateFast": false }, "reversed": false, diff --git a/src/main/deploy/pathplanner/paths/death sweep 5.path b/src/main/deploy/pathplanner/paths/death sweep 5.path deleted file mode 100644 index d1bc320d..00000000 --- a/src/main/deploy/pathplanner/paths/death sweep 5.path +++ /dev/null @@ -1,52 +0,0 @@ -{ - "version": 1.0, - "waypoints": [ - { - "anchor": { - "x": 8.52, - "y": 5.78 - }, - "prevControl": null, - "nextControl": { - "x": 10.278602271490257, - "y": 7.153815450488045 - }, - "isLocked": false, - "linkedName": null - }, - { - "anchor": { - "x": 12.360245291919155, - "y": 6.12765339816394 - }, - "prevControl": { - "x": 12.360245291919155, - "y": 6.12765339816394 - }, - "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": 175.48601154199872, - "rotateFast": false - }, - "reversed": false, - "folder": "death sweep", - "previewStartingState": { - "rotation": 180.0, - "velocity": 0 - }, - "useDefaultConstraints": true -} \ No newline at end of file