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Death sweep #29

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2b399bd
made death sweep paths and started compiling it into a auto
Kaleb-Robotics Feb 19, 2024
e81a607
death sweep auto finalized and made
Kaleb-Robotics Feb 19, 2024
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52 changes: 48 additions & 4 deletions src/main/deploy/pathplanner/autos/death sweep.auto
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Original file line number Diff line number Diff line change
Expand Up @@ -2,15 +2,59 @@
"version": 1.0,
"startingPose": {
"position": {
"x": 2,
"y": 2
"x": 15.23,
"y": 5.57
},
"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"
}
},
{
"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"
}
}
]
}
},
"folder": "1 note",
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20 changes: 10 additions & 10 deletions src/main/deploy/pathplanner/paths/death sweep 1.path
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Original file line number Diff line number Diff line change
Expand Up @@ -3,25 +3,25 @@
"waypoints": [
{
"anchor": {
"x": 10.750148166963003,
"y": 6.299494821211866
"x": 15.23,
"y": 5.57
},
"prevControl": null,
"nextControl": {
"x": 11.750148166963003,
"y": 6.299494821211866
"x": 15.260882833194238,
"y": 5.552648499582714
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 13.871391076115486,
"y": 4.3469364716507215
"x": 8.37,
"y": 7.637577560869407
},
"prevControl": {
"x": 12.871391076115486,
"y": 4.3469364716507215
"x": 8.355340542109653,
"y": 7.608258645088718
},
"nextControl": null,
"isLocked": false,
Expand All @@ -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
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52 changes: 52 additions & 0 deletions src/main/deploy/pathplanner/paths/death sweep 2.path
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Original file line number Diff line number Diff line change
@@ -0,0 +1,52 @@
{
"version": 1.0,
"waypoints": [
{
"anchor": {
"x": 8.37,
"y": 7.64
},
"prevControl": null,
"nextControl": {
"x": 7.639899851228273,
"y": 5.8051453245763645
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 8.48,
"y": 4.104648209296419
},
"prevControl": {
"x": 8.450148408868246,
"y": 4.133967125077108
},
"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": "death sweep",
"previewStartingState": {
"rotation": 180.0,
"velocity": 0
},
"useDefaultConstraints": true
}
52 changes: 52 additions & 0 deletions src/main/deploy/pathplanner/paths/death sweep 3.path
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Original file line number Diff line number Diff line change
@@ -0,0 +1,52 @@
{
"version": 1.0,
"waypoints": [
{
"anchor": {
"x": 8.48,
"y": 4.1
},
"prevControl": null,
"nextControl": {
"x": 7.771834972241374,
"y": 2.4481294676875076
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 8.37,
"y": 0.7769512681882514
},
"prevControl": {
"x": 8.37,
"y": 0.7769512681882514
},
"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": 0.0,
"velocity": 0
},
"useDefaultConstraints": true
}
52 changes: 52 additions & 0 deletions src/main/deploy/pathplanner/paths/death sweep 4.path
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Original file line number Diff line number Diff line change
@@ -0,0 +1,52 @@
{
"version": 1.0,
"waypoints": [
{
"anchor": {
"x": 8.37,
"y": 0.78
},
"prevControl": null,
"nextControl": {
"x": 8.563445698319969,
"y": 3.547588809463334
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 12.389564207699843,
"y": 4.998875140607424
},
"prevControl": {
"x": 12.389564207699843,
"y": 4.998875140607424
},
"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": -170.8376529542783,
"rotateFast": false
},
"reversed": false,
"folder": "death sweep",
"previewStartingState": {
"rotation": 180.0,
"velocity": 0
},
"useDefaultConstraints": true
}