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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,9 +1,4 @@ | ||
| { | ||
| "Keyboard 0 Settings": { | ||
| "window": { | ||
| "visible": true | ||
| } | ||
| }, | ||
| "System Joysticks": { | ||
| "window": { | ||
| "visible": false | ||
|
|
||
170 changes: 170 additions & 0 deletions
170
src/main/deploy/pathplanner/paths/4AndPickupNoteAuto.path
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,170 @@ | ||
| { | ||
| "version": 1.0, | ||
| "waypoints": [ | ||
| { | ||
| "anchor": { | ||
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| } | ||
| ], | ||
| "constraintZones": [], | ||
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| "maxAngularVelocity": 270.0, | ||
| "maxAngularAcceleration": 600.0 | ||
| }, | ||
| "goalEndState": { | ||
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| } |
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81 changes: 81 additions & 0 deletions
81
src/main/kotlin/com/team4099/robot2023/auto/mode/FiveNoteCenterlineAutoPath.kt
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,81 @@ | ||
| package com.team4099.robot2023.auto.mode | ||
|
|
||
| import com.team4099.lib.trajectory.FieldWaypoint | ||
| import com.team4099.robot2023.commands.drivetrain.DrivePathCommand | ||
| import com.team4099.robot2023.commands.drivetrain.ResetPoseCommand | ||
| import com.team4099.robot2023.subsystems.drivetrain.drive.Drivetrain | ||
| import edu.wpi.first.wpilibj2.command.Command | ||
| import edu.wpi.first.wpilibj2.command.SequentialCommandGroup | ||
| import org.team4099.lib.geometry.Pose2d | ||
| import org.team4099.lib.geometry.Translation2d | ||
| import org.team4099.lib.units.base.meters | ||
| import org.team4099.lib.units.derived.degrees | ||
| import org.team4099.lib.units.derived.inRotation2ds | ||
|
|
||
| class FiveNoteCenterlineAutoPath(val drivetrain: Drivetrain): SequentialCommandGroup() { | ||
| init { | ||
| addRequirements(drivetrain) | ||
|
|
||
| addCommands( | ||
| ResetPoseCommand(drivetrain, Pose2d(Translation2d(1.51.meters, 5.49.meters), 180.degrees)), | ||
| DrivePathCommand.createPathInFieldFrame( | ||
| drivetrain, | ||
| { | ||
| listOf( | ||
| FieldWaypoint( | ||
| Translation2d(1.51.meters, 5.49.meters).translation2d, | ||
| null, | ||
| 180.degrees.inRotation2ds | ||
| ), // Subwoofer | ||
| FieldWaypoint( | ||
| Translation2d(2.39.meters, 5.49.meters).translation2d, | ||
| null, | ||
| 180.degrees.inRotation2ds | ||
| ), // Middle wing note | ||
| FieldWaypoint( | ||
| Translation2d(2.51.meters, 6.98.meters).translation2d, | ||
| null, | ||
| 235.degrees.inRotation2ds | ||
| ), // Leftmost wing note | ||
| FieldWaypoint( | ||
| Translation2d(3.meters, 6.98.meters).translation2d, | ||
| null, | ||
| 180.degrees.inRotation2ds | ||
| ), // Right in front of the leftmost wing note | ||
| FieldWaypoint( | ||
| Translation2d(7.79.meters, 7.42.meters).translation2d, | ||
| null, | ||
| 180.degrees.inRotation2ds | ||
| ), // Leftmost center line note | ||
| FieldWaypoint( | ||
| Translation2d(2.39.meters, 5.49.meters).translation2d, | ||
| null, | ||
| 180.degrees.inRotation2ds | ||
| ), // Subwoofer | ||
| FieldWaypoint( | ||
| Translation2d(5.82.meters, 6.5.meters).translation2d, | ||
| null, | ||
| 180.degrees.inRotation2ds | ||
| ), // In order to avoid stage | ||
| FieldWaypoint( | ||
| Translation2d(7.79.meters, 5.78.meters).translation2d, | ||
| null, | ||
| 180.degrees.inRotation2ds | ||
| ), // Second leftmost wing note | ||
| FieldWaypoint( | ||
| Translation2d(5.82.meters, 6.5.meters).translation2d, | ||
| null, | ||
| 180.degrees.inRotation2ds | ||
| ), // In order to avoid stage | ||
| FieldWaypoint( | ||
| Translation2d(2.39.meters, 5.49.meters).translation2d, | ||
| null, | ||
| 180.degrees.inRotation2ds | ||
| ), // Subwoofer | ||
| ) | ||
| }, | ||
| resetPose = true | ||
| ) | ||
| ) | ||
| } | ||
| } |
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