auto v2

Author: Yaypixel

src/main/deploy/pathplanner/autos/center to back depot side.auto

@@ -4,12 +4,6 @@
     "type": "sequential",
     "data": {
       "commands": [
-        {
-          "type": "named",
-          "data": {
-            "name": "hopper deploy"
-          }
-        },
         {
           "type": "named",
           "data": {
@@ -26,6 +20,12 @@
                   "pathName": "1 Depot side center"
                 }
               },
+              {
+                "type": "named",
+                "data": {
+                  "name": "hopper deploy"
+                }
+              },
               {
                 "type": "named",
                 "data": {
@@ -65,6 +65,18 @@
               }
             ]
           }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "idle"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "3 to middle depot"
+          }
         }
       ]
     }

src/main/deploy/pathplanner/autos/center to back outpost side.auto

@@ -65,6 +65,18 @@
               }
             ]
           }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "idle"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "3 to middle outpost"
+          }
         }
       ]
     }

src/main/deploy/pathplanner/paths/1 Depot side center.path

@@ -40,8 +40,8 @@
       "minWaypointRelativePos": 0.6399186643835615,
       "maxWaypointRelativePos": 1.0,
       "constraints": {
-        "maxVelocity": 2.5,
-        "maxAcceleration": 2.5,
+        "maxVelocity": 1.5,
+        "maxAcceleration": 1.5,
         "maxAngularVelocity": 540.0,
         "maxAngularAcceleration": 720.0,
         "nominalVoltage": 12.0,

src/main/deploy/pathplanner/paths/1 Outpost side center.path

@@ -34,7 +34,21 @@
       "rotationDegrees": 70.317408216088
     }
   ],
-  "constraintZones": [],
+  "constraintZones": [
+    {
+      "name": "Constraints Zone",
+      "minWaypointRelativePos": 0.6583004568106311,
+      "maxWaypointRelativePos": 1.0,
+      "constraints": {
+        "maxVelocity": 1.5,
+        "maxAcceleration": 1.5,
+        "maxAngularVelocity": 540.0,
+        "maxAngularAcceleration": 720.0,
+        "nominalVoltage": 12.0,
+        "unlimited": false
+      }
+    }
+  ],
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {

src/main/deploy/pathplanner/paths/3 to middle depot.path

@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 4.027098090277778,
+        "y": 7.411908492476852
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 7.8697757523148155,
+        "y": 7.872494429976852
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 7.4424543547453705,
+        "y": 5.424040581597223
+      },
+      "prevControl": {
+        "x": 7.478799149635494,
+        "y": 5.17669657846718
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": -61.20160855081938
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": -69.91006596725617
+  },
+  "useDefaultConstraints": true
+}

src/main/deploy/pathplanner/paths/3 to middle outpost.path

@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 3.759713300540123,
+        "y": 0.6556748529128082
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 5.039977678571429,
+        "y": 0.4219223167782741
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 7.005366734095982,
+        "y": 1.5359129696800595
+      },
+      "prevControl": {
+        "x": 7.00031982421875,
+        "y": 0.8473921130952384
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 53.61062511732242
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 69.24485856743387
+  },
+  "useDefaultConstraints": true
+}