From 46bf85a904275febd3701604785a62d168519f45 Mon Sep 17 00:00:00 2001 From: tomer-hershman Date: Mon, 2 Mar 2026 23:00:40 +0200 Subject: [PATCH 01/23] tomer - sA --- .../deploy/pathplanner/paths/Depot-to-Outpost.path | 10 +++++----- src/main/deploy/pathplanner/paths/L mid - Depot.path | 10 +++++----- .../deploy/pathplanner/paths/Outpost-to-Depot.path | 10 +++++----- src/main/deploy/pathplanner/paths/R mid - Outpost.path | 10 +++++----- .../deploy/pathplanner/paths/R starting - R mid.path | 10 +++++----- 5 files changed, 25 insertions(+), 25 deletions(-) diff --git a/src/main/deploy/pathplanner/paths/Depot-to-Outpost.path b/src/main/deploy/pathplanner/paths/Depot-to-Outpost.path index a218af528d..e78ab642e1 100644 --- a/src/main/deploy/pathplanner/paths/Depot-to-Outpost.path +++ b/src/main/deploy/pathplanner/paths/Depot-to-Outpost.path @@ -16,12 +16,12 @@ }, { "anchor": { - "x": 1.1925534950071324, - "y": 0.9103138373751789 + "x": 1.8486467236467239, + "y": 2.148646723646724 }, "prevControl": { - "x": 1.076105563480742, - "y": 2.462952924393724 + "x": 1.7321987921203335, + "y": 3.701285810665269 }, "nextControl": null, "isLocked": false, @@ -42,7 +42,7 @@ }, "goalEndState": { "velocity": 0, - "rotation": -61.389540334034855 + "rotation": 45.0 }, "reversed": false, "folder": null, diff --git a/src/main/deploy/pathplanner/paths/L mid - Depot.path b/src/main/deploy/pathplanner/paths/L mid - Depot.path index 055de6b487..82fcad6575 100644 --- a/src/main/deploy/pathplanner/paths/L mid - Depot.path +++ b/src/main/deploy/pathplanner/paths/L mid - Depot.path @@ -16,12 +16,12 @@ }, { "anchor": { - "x": 0.7762678062678063, - "y": 5.947193732193732 + "x": 1.4125106990014262, + "y": 7.35376604850214 }, "prevControl": { - "x": 5.59551282051282, - "y": 5.869672364672365 + "x": 6.231755713246439, + "y": 7.276244680980773 }, "nextControl": null, "isLocked": false, @@ -65,7 +65,7 @@ }, "goalEndState": { "velocity": 0, - "rotation": 0.0 + "rotation": -128.65980825409014 }, "reversed": false, "folder": null, diff --git a/src/main/deploy/pathplanner/paths/Outpost-to-Depot.path b/src/main/deploy/pathplanner/paths/Outpost-to-Depot.path index 687eba6680..528bdf26bd 100644 --- a/src/main/deploy/pathplanner/paths/Outpost-to-Depot.path +++ b/src/main/deploy/pathplanner/paths/Outpost-to-Depot.path @@ -3,13 +3,13 @@ "waypoints": [ { "anchor": { - "x": 1.1925534950071324, - "y": 0.9103138373751789 + "x": 1.8486467236467239, + "y": 2.148646723646724 }, "prevControl": null, "nextControl": { - "x": 1.0372895863052778, - "y": 2.5017689015691866 + "x": 1.6933828149448695, + "y": 3.740101787840732 }, "isLocked": false, "linkedName": "Outpost" @@ -48,7 +48,7 @@ "folder": null, "idealStartingState": { "velocity": 0, - "rotation": -61.389540334034855 + "rotation": 45.0 }, "useDefaultConstraints": true } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/R mid - Outpost.path b/src/main/deploy/pathplanner/paths/R mid - Outpost.path index 6268399f54..396e5388c7 100644 --- a/src/main/deploy/pathplanner/paths/R mid - Outpost.path +++ b/src/main/deploy/pathplanner/paths/R mid - Outpost.path @@ -3,13 +3,13 @@ "waypoints": [ { "anchor": { - "x": 8.27, - "y": 3.3 + "x": 3.5, + "y": 2.6 }, "prevControl": null, "nextControl": { - "x": 6.565043390183243, - "y": 3.427328643431081 + "x": 1.7950433901832437, + "y": 2.7273286434310813 }, "isLocked": false, "linkedName": "R mid" @@ -69,7 +69,7 @@ "folder": null, "idealStartingState": { "velocity": 0, - "rotation": -90.0 + "rotation": 45.0 }, "useDefaultConstraints": true } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/R starting - R mid.path b/src/main/deploy/pathplanner/paths/R starting - R mid.path index 30c7f5474b..df379c3ab1 100644 --- a/src/main/deploy/pathplanner/paths/R starting - R mid.path +++ b/src/main/deploy/pathplanner/paths/R starting - R mid.path @@ -32,12 +32,12 @@ }, { "anchor": { - "x": 8.27, - "y": 3.3 + "x": 3.5, + "y": 2.6 }, "prevControl": { - "x": 8.760968660974365, - "y": 0.28958689458341613 + "x": 3.9909686609743673, + "y": -0.4104131054165836 }, "nextControl": null, "isLocked": false, @@ -63,7 +63,7 @@ }, "goalEndState": { "velocity": 0, - "rotation": -90.0 + "rotation": 45.0 }, "reversed": false, "folder": null, From 13f593a8fccfd17b0b37999167dd3c92b7c61758 Mon Sep 17 00:00:00 2001 From: tomer-hershman Date: Sat, 7 Mar 2026 14:42:34 +0200 Subject: [PATCH 02/23] to merge master --- .../R starting - R mid - R starting.path | 143 ++++++++++++++++++ 1 file changed, 143 insertions(+) create mode 100644 src/main/deploy/pathplanner/paths/R starting - R mid - R starting.path diff --git a/src/main/deploy/pathplanner/paths/R starting - R mid - R starting.path b/src/main/deploy/pathplanner/paths/R starting - R mid - R starting.path new file mode 100644 index 0000000000..f64376b3d8 --- /dev/null +++ b/src/main/deploy/pathplanner/paths/R starting - R mid - R starting.path @@ -0,0 +1,143 @@ +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 3.5, + "y": 2.5 + }, + "prevControl": null, + "nextControl": { + "x": 4.667576242101418, + "y": 2.5056553898343195 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 6.0, + "y": 2.5 + }, + "prevControl": { + "x": 5.75, + "y": 2.5 + }, + "nextControl": { + "x": 8.0, + "y": 2.5 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 8.3, + "y": 1.9150240963855412 + }, + "prevControl": { + "x": 6.805327182321852, + "y": 1.9150240963855412 + }, + "nextControl": { + "x": 8.8, + "y": 1.9150240963855412 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 8.3, + "y": 3.589 + }, + "prevControl": { + "x": 8.8, + "y": 3.589 + }, + "nextControl": { + "x": 7.362957813142524, + "y": 3.589 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 6.0, + "y": 2.5 + }, + "prevControl": { + "x": 7.996695930384744, + "y": 2.614914583865577 + }, + "nextControl": { + "x": 5.750413008701907, + "y": 2.485635677016803 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 3.5, + "y": 2.5 + }, + "prevControl": { + "x": 4.5, + "y": 2.5 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [ + { + "waypointRelativePos": 0.7261410788381721, + "rotationDegrees": 135.0 + }, + { + "waypointRelativePos": 1.2157676348547723, + "rotationDegrees": 135.0 + }, + { + "waypointRelativePos": 2.0, + "rotationDegrees": -135.633 + }, + { + "waypointRelativePos": 3.0, + "rotationDegrees": 0.0 + }, + { + "waypointRelativePos": 3.813278008298756, + "rotationDegrees": 45.0 + }, + { + "waypointRelativePos": 4.360995850622402, + "rotationDegrees": 45.0 + } + ], + "constraintZones": [], + "pointTowardsZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 4.2, + "maxAcceleration": 2.0, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0, + "nominalVoltage": 12.0, + "unlimited": false + }, + "goalEndState": { + "velocity": 0, + "rotation": 45.0 + }, + "reversed": false, + "folder": null, + "idealStartingState": { + "velocity": 0, + "rotation": 135.0 + }, + "useDefaultConstraints": true +} \ No newline at end of file From 8fcaab7990ba78c733fb0228a0e2ae5b0afc959e Mon Sep 17 00:00:00 2001 From: tomer-hershman Date: Sat, 7 Mar 2026 15:51:52 +0200 Subject: [PATCH 03/23] sA --- .../pathplanner/paths/Depot-to-Outpost.path | 10 +-- ...tral zone center - Left starting line.path | 79 ------------------- .../pathplanner/paths/Outpost-to-Depot.path | 10 +-- .../R starting - Neutral zone center.path | 75 ------------------ 4 files changed, 10 insertions(+), 164 deletions(-) delete mode 100644 src/main/deploy/pathplanner/paths/Neutral zone center - Left starting line.path delete mode 100644 src/main/deploy/pathplanner/paths/R starting - Neutral zone center.path diff --git a/src/main/deploy/pathplanner/paths/Depot-to-Outpost.path b/src/main/deploy/pathplanner/paths/Depot-to-Outpost.path index e78ab642e1..a218af528d 100644 --- a/src/main/deploy/pathplanner/paths/Depot-to-Outpost.path +++ b/src/main/deploy/pathplanner/paths/Depot-to-Outpost.path @@ -16,12 +16,12 @@ }, { "anchor": { - "x": 1.8486467236467239, - "y": 2.148646723646724 + "x": 1.1925534950071324, + "y": 0.9103138373751789 }, "prevControl": { - "x": 1.7321987921203335, - "y": 3.701285810665269 + "x": 1.076105563480742, + "y": 2.462952924393724 }, "nextControl": null, "isLocked": false, @@ -42,7 +42,7 @@ }, "goalEndState": { "velocity": 0, - "rotation": 45.0 + "rotation": -61.389540334034855 }, "reversed": false, "folder": null, diff --git a/src/main/deploy/pathplanner/paths/Neutral zone center - Left starting line.path b/src/main/deploy/pathplanner/paths/Neutral zone center - Left starting line.path deleted file mode 100644 index 19fbf59c40..0000000000 --- a/src/main/deploy/pathplanner/paths/Neutral zone center - Left starting line.path +++ /dev/null @@ -1,79 +0,0 @@ -{ - "version": "2025.0", - "waypoints": [ - { - "anchor": { - "x": 8.05, - "y": 4.0 - }, - "prevControl": null, - "nextControl": { - "x": 8.05, - "y": 5.566 - }, - "isLocked": false, - "linkedName": null - }, - { - "anchor": { - "x": 5.825, - "y": 5.568 - }, - "prevControl": { - "x": 7.727185321174701, - "y": 5.671518133230382 - }, - "nextControl": { - "x": 5.575369380423268, - "y": 5.554414943145619 - }, - "isLocked": false, - "linkedName": null - }, - { - "anchor": { - "x": 3.34, - "y": 5.568 - }, - "prevControl": { - "x": 3.581559203912855, - "y": 5.632413903817325 - }, - "nextControl": null, - "isLocked": false, - "linkedName": null - } - ], - "rotationTargets": [ - { - "waypointRelativePos": 0.77, - "rotationDegrees": 0.0 - }, - { - "waypointRelativePos": 1.0, - "rotationDegrees": -45.0 - } - ], - "constraintZones": [], - "pointTowardsZones": [], - "eventMarkers": [], - "globalConstraints": { - "maxVelocity": 4.2, - "maxAcceleration": 2.0, - "maxAngularVelocity": 540.0, - "maxAngularAcceleration": 720.0, - "nominalVoltage": 12.0, - "unlimited": false - }, - "goalEndState": { - "velocity": 3.0, - "rotation": -45.0 - }, - "reversed": false, - "folder": null, - "idealStartingState": { - "velocity": 5.0, - "rotation": -90.0 - }, - "useDefaultConstraints": true -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Outpost-to-Depot.path b/src/main/deploy/pathplanner/paths/Outpost-to-Depot.path index 528bdf26bd..687eba6680 100644 --- a/src/main/deploy/pathplanner/paths/Outpost-to-Depot.path +++ b/src/main/deploy/pathplanner/paths/Outpost-to-Depot.path @@ -3,13 +3,13 @@ "waypoints": [ { "anchor": { - "x": 1.8486467236467239, - "y": 2.148646723646724 + "x": 1.1925534950071324, + "y": 0.9103138373751789 }, "prevControl": null, "nextControl": { - "x": 1.6933828149448695, - "y": 3.740101787840732 + "x": 1.0372895863052778, + "y": 2.5017689015691866 }, "isLocked": false, "linkedName": "Outpost" @@ -48,7 +48,7 @@ "folder": null, "idealStartingState": { "velocity": 0, - "rotation": 45.0 + "rotation": -61.389540334034855 }, "useDefaultConstraints": true } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/R starting - Neutral zone center.path b/src/main/deploy/pathplanner/paths/R starting - Neutral zone center.path deleted file mode 100644 index 5c6f9a3d2f..0000000000 --- a/src/main/deploy/pathplanner/paths/R starting - Neutral zone center.path +++ /dev/null @@ -1,75 +0,0 @@ -{ - "version": "2025.0", - "waypoints": [ - { - "anchor": { - "x": 3.27, - "y": 2.45 - }, - "prevControl": null, - "nextControl": { - "x": 5.172, - "y": 2.45 - }, - "isLocked": false, - "linkedName": null - }, - { - "anchor": { - "x": 5.954, - "y": 2.45 - }, - "prevControl": { - "x": 5.384322276784869, - "y": 2.4111632690301437 - }, - "nextControl": { - "x": 7.456512523926421, - "y": 2.552431027741864 - }, - "isLocked": false, - "linkedName": null - }, - { - "anchor": { - "x": 8.05, - "y": 4.0 - }, - "prevControl": { - "x": 8.166467876590128, - "y": 2.395220814653123 - }, - "nextControl": null, - "isLocked": false, - "linkedName": null - } - ], - "rotationTargets": [ - { - "waypointRelativePos": 0.8, - "rotationDegrees": 135.0 - } - ], - "constraintZones": [], - "pointTowardsZones": [], - "eventMarkers": [], - "globalConstraints": { - "maxVelocity": 4.2, - "maxAcceleration": 2.0, - "maxAngularVelocity": 540.0, - "maxAngularAcceleration": 720.0, - "nominalVoltage": 12.0, - "unlimited": false - }, - "goalEndState": { - "velocity": 5.0, - "rotation": -90 - }, - "reversed": false, - "folder": null, - "idealStartingState": { - "velocity": 0, - "rotation": 135.0 - }, - "useDefaultConstraints": true -} \ No newline at end of file From 07833d482632e8598af0d8450d6c5977c3a04251 Mon Sep 17 00:00:00 2001 From: tomer-hershman Date: Sat, 7 Mar 2026 15:57:52 +0200 Subject: [PATCH 04/23] did some goofy shit --- src/main/deploy/pathplanner/paths/L mid - Depot.path | 10 +++++----- src/main/deploy/pathplanner/paths/R mid - Outpost.path | 10 +++++----- .../deploy/pathplanner/paths/R starting - R mid.path | 10 +++++----- 3 files changed, 15 insertions(+), 15 deletions(-) diff --git a/src/main/deploy/pathplanner/paths/L mid - Depot.path b/src/main/deploy/pathplanner/paths/L mid - Depot.path index 82fcad6575..055de6b487 100644 --- a/src/main/deploy/pathplanner/paths/L mid - Depot.path +++ b/src/main/deploy/pathplanner/paths/L mid - Depot.path @@ -16,12 +16,12 @@ }, { "anchor": { - "x": 1.4125106990014262, - "y": 7.35376604850214 + "x": 0.7762678062678063, + "y": 5.947193732193732 }, "prevControl": { - "x": 6.231755713246439, - "y": 7.276244680980773 + "x": 5.59551282051282, + "y": 5.869672364672365 }, "nextControl": null, "isLocked": false, @@ -65,7 +65,7 @@ }, "goalEndState": { "velocity": 0, - "rotation": -128.65980825409014 + "rotation": 0.0 }, "reversed": false, "folder": null, diff --git a/src/main/deploy/pathplanner/paths/R mid - Outpost.path b/src/main/deploy/pathplanner/paths/R mid - Outpost.path index 396e5388c7..6268399f54 100644 --- a/src/main/deploy/pathplanner/paths/R mid - Outpost.path +++ b/src/main/deploy/pathplanner/paths/R mid - Outpost.path @@ -3,13 +3,13 @@ "waypoints": [ { "anchor": { - "x": 3.5, - "y": 2.6 + "x": 8.27, + "y": 3.3 }, "prevControl": null, "nextControl": { - "x": 1.7950433901832437, - "y": 2.7273286434310813 + "x": 6.565043390183243, + "y": 3.427328643431081 }, "isLocked": false, "linkedName": "R mid" @@ -69,7 +69,7 @@ "folder": null, "idealStartingState": { "velocity": 0, - "rotation": 45.0 + "rotation": -90.0 }, "useDefaultConstraints": true } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/R starting - R mid.path b/src/main/deploy/pathplanner/paths/R starting - R mid.path index df379c3ab1..30c7f5474b 100644 --- a/src/main/deploy/pathplanner/paths/R starting - R mid.path +++ b/src/main/deploy/pathplanner/paths/R starting - R mid.path @@ -32,12 +32,12 @@ }, { "anchor": { - "x": 3.5, - "y": 2.6 + "x": 8.27, + "y": 3.3 }, "prevControl": { - "x": 3.9909686609743673, - "y": -0.4104131054165836 + "x": 8.760968660974365, + "y": 0.28958689458341613 }, "nextControl": null, "isLocked": false, @@ -63,7 +63,7 @@ }, "goalEndState": { "velocity": 0, - "rotation": 45.0 + "rotation": -90.0 }, "reversed": false, "folder": null, From 17d555a92e3645bd50a9c201db2298c5922c3f03 Mon Sep 17 00:00:00 2001 From: tomer-hershman Date: Sat, 7 Mar 2026 16:01:47 +0200 Subject: [PATCH 05/23] self CR --- src/main/java/frc/robot/Robot.java | 11 ----------- 1 file changed, 11 deletions(-) diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 7f1b9b581c..f60032edd5 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -214,17 +214,6 @@ public Robot() { swerve.getStateHandler().setRobotPoseSupplier(() -> poseEstimator.getEstimatedPose()); swerve.getStateHandler().setTurretAngleSupplier(() -> turret.getPosition()); - this.autonomousChooser = new AutonomousChooser( - "Autonomous Chooser", - AutosBuilder.getAutoList( - this, - () -> robotCommander.setState(RobotState.RESET_SUBSYSTEMS), - () -> robotCommander.getIntakeStateHandler().setState(IntakeState.INTAKE), - () -> robotCommander.scoreSequence(), - AutonomousConstants.DEFAULT_PATHFINDING_CONSTRAINTS, - AutonomousConstants.DEFAULT_IS_NEAR_END_OF_PATH_TOLERANCE - ) - ); simulationManager = new SimulationManager("SimulationManager", this); new Trigger(DriverStation::isTeleopEnabled) From d3b2f0313b6b3efb087f1f7129de28265f76bac3 Mon Sep 17 00:00:00 2001 From: greenblitz4590 <94316058+greenblitz4590@users.noreply.github.com> Date: Sat, 7 Mar 2026 19:14:30 +0200 Subject: [PATCH 06/23] fixed the hole code --- .../pathplanner/paths/Depot-to-Outpost.path | 10 +-- .../pathplanner/paths/L mid - Depot.path | 10 +-- .../pathplanner/paths/Outpost-to-Depot.path | 10 +-- .../paths/R starting - Outpost.path | 8 +-- .../frc/robot/autonomous/AutosBuilder.java | 72 +++++-------------- 5 files changed, 35 insertions(+), 75 deletions(-) diff --git a/src/main/deploy/pathplanner/paths/Depot-to-Outpost.path b/src/main/deploy/pathplanner/paths/Depot-to-Outpost.path index a218af528d..e78ab642e1 100644 --- a/src/main/deploy/pathplanner/paths/Depot-to-Outpost.path +++ b/src/main/deploy/pathplanner/paths/Depot-to-Outpost.path @@ -16,12 +16,12 @@ }, { "anchor": { - "x": 1.1925534950071324, - "y": 0.9103138373751789 + "x": 1.8486467236467239, + "y": 2.148646723646724 }, "prevControl": { - "x": 1.076105563480742, - "y": 2.462952924393724 + "x": 1.7321987921203335, + "y": 3.701285810665269 }, "nextControl": null, "isLocked": false, @@ -42,7 +42,7 @@ }, "goalEndState": { "velocity": 0, - "rotation": -61.389540334034855 + "rotation": 45.0 }, "reversed": false, "folder": null, diff --git a/src/main/deploy/pathplanner/paths/L mid - Depot.path b/src/main/deploy/pathplanner/paths/L mid - Depot.path index 055de6b487..82fcad6575 100644 --- a/src/main/deploy/pathplanner/paths/L mid - Depot.path +++ b/src/main/deploy/pathplanner/paths/L mid - Depot.path @@ -16,12 +16,12 @@ }, { "anchor": { - "x": 0.7762678062678063, - "y": 5.947193732193732 + "x": 1.4125106990014262, + "y": 7.35376604850214 }, "prevControl": { - "x": 5.59551282051282, - "y": 5.869672364672365 + "x": 6.231755713246439, + "y": 7.276244680980773 }, "nextControl": null, "isLocked": false, @@ -65,7 +65,7 @@ }, "goalEndState": { "velocity": 0, - "rotation": 0.0 + "rotation": -128.65980825409014 }, "reversed": false, "folder": null, diff --git a/src/main/deploy/pathplanner/paths/Outpost-to-Depot.path b/src/main/deploy/pathplanner/paths/Outpost-to-Depot.path index 687eba6680..528bdf26bd 100644 --- a/src/main/deploy/pathplanner/paths/Outpost-to-Depot.path +++ b/src/main/deploy/pathplanner/paths/Outpost-to-Depot.path @@ -3,13 +3,13 @@ "waypoints": [ { "anchor": { - "x": 1.1925534950071324, - "y": 0.9103138373751789 + "x": 1.8486467236467239, + "y": 2.148646723646724 }, "prevControl": null, "nextControl": { - "x": 1.0372895863052778, - "y": 2.5017689015691866 + "x": 1.6933828149448695, + "y": 3.740101787840732 }, "isLocked": false, "linkedName": "Outpost" @@ -48,7 +48,7 @@ "folder": null, "idealStartingState": { "velocity": 0, - "rotation": -61.389540334034855 + "rotation": 45.0 }, "useDefaultConstraints": true } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/R starting - Outpost.path b/src/main/deploy/pathplanner/paths/R starting - Outpost.path index fb90370db2..bde906b0a6 100644 --- a/src/main/deploy/pathplanner/paths/R starting - Outpost.path +++ b/src/main/deploy/pathplanner/paths/R starting - Outpost.path @@ -16,12 +16,12 @@ }, { "anchor": { - "x": 0.56, - "y": 0.716 + "x": 0.42, + "y": 0.65 }, "prevControl": { - "x": 3.0137710843373493, - "y": 0.691120481927711 + "x": 2.873771084337349, + "y": 0.6251204819277111 }, "nextControl": null, "isLocked": false, diff --git a/src/main/java/frc/robot/autonomous/AutosBuilder.java b/src/main/java/frc/robot/autonomous/AutosBuilder.java index 29adc6d4b2..aea1efd2d2 100644 --- a/src/main/java/frc/robot/autonomous/AutosBuilder.java +++ b/src/main/java/frc/robot/autonomous/AutosBuilder.java @@ -30,7 +30,7 @@ public static List> getAutoList( Pose2d isNearEndOfPathTolerance ) { return List.of( - getLeftStartingToOutpostTroughNeutralZoneAuto( + getLeftStartingToNeutralZoneToDepotAuto( robot, intake, scoreSequence, @@ -38,7 +38,7 @@ public static List> getAutoList( pathfindingConstraints, isNearEndOfPathTolerance ), - getRightStartingToDepotTroughNeutralZoneAuto( + getRightStartingToNeutralZoneToOutpostAuto( robot, intake, scoreSequence, @@ -67,7 +67,7 @@ public static List> getAutoList( ); } - private static Supplier getRightStartingToDepotTroughNeutralZoneAuto( + private static Supplier getRightStartingToNeutralZoneToOutpostAuto( Robot robot, Supplier intake, Supplier scoreSequence, @@ -77,24 +77,15 @@ private static Supplier getRightStartingToDepotTroughNeu ) { return () -> new PathPlannerAutoWrapper( new SequentialCommandGroup( - startingLineToNeutralZoneCenter(robot, intake, resetSubsystems, pathfindingConstraints, isNearEndOfPathTolerance, false), - neutralZoneMiddleToStartingLine( - robot, - intake, - resetSubsystems, - scoreSequence, - pathfindingConstraints, - isNearEndOfPathTolerance, - true - ), - leftStartingLineToDepot(robot, intake, resetSubsystems, scoreSequence, pathfindingConstraints, isNearEndOfPathTolerance) + startingLineToNeutralToStartingLineZoneCenter(robot, intake, resetSubsystems, pathfindingConstraints, isNearEndOfPathTolerance, false), + rightStartingLineToOutpost(robot, resetSubsystems, scoreSequence, pathfindingConstraints, isNearEndOfPathTolerance) ), new Pose2d(), - "R starting - Neutral Zone - Depot finish" + "R starting - Neutral zone - Outpost" ); } - private static Supplier getLeftStartingToOutpostTroughNeutralZoneAuto( + private static Supplier getLeftStartingToNeutralZoneToDepotAuto( Robot robot, Supplier intake, Supplier scoreSequence, @@ -104,24 +95,15 @@ private static Supplier getLeftStartingToOutpostTroughNe ) { return () -> new PathPlannerAutoWrapper( new SequentialCommandGroup( - startingLineToNeutralZoneCenter(robot, intake, resetSubsystems, pathfindingConstraints, isNearEndOfPathTolerance, true), - neutralZoneMiddleToStartingLine( - robot, - intake, - resetSubsystems, - scoreSequence, - pathfindingConstraints, - isNearEndOfPathTolerance, - false - ), - rightStartingLineToOutpost(robot, intake, resetSubsystems, scoreSequence, pathfindingConstraints, isNearEndOfPathTolerance) + startingLineToNeutralToStartingLineZoneCenter(robot, intake, resetSubsystems, pathfindingConstraints, isNearEndOfPathTolerance, true), + leftStartingLineToDepot(robot, intake, resetSubsystems, scoreSequence, pathfindingConstraints, isNearEndOfPathTolerance) ), new Pose2d(), - "L starting - Neutral Zone - Outpost finish" + "L starting - Neutral zone - Depot" ); } - private static Command startingLineToNeutralZoneCenter( + private static Command startingLineToNeutralToStartingLineZoneCenter( Robot robot, Supplier intake, Supplier resetSubsystems, @@ -133,8 +115,8 @@ private static Command startingLineToNeutralZoneCenter( robot.getSwerve(), () -> robot.getPoseEstimator().getEstimatedPose(), isLeft - ? PathHelper.PATH_PLANNER_PATHS.get("R starting - Neutral zone center").mirrorPath() - : PathHelper.PATH_PLANNER_PATHS.get("R starting - Neutral zone center"), + ? PathHelper.PATH_PLANNER_PATHS.get("R starting - R mid - R starting").mirrorPath() + : PathHelper.PATH_PLANNER_PATHS.get("R starting - R mid - R starting"), pathfindingConstraints, () -> resetSubsystems.get().andThen(intake.get()), isNearEndOfPathTolerance @@ -143,7 +125,7 @@ private static Command startingLineToNeutralZoneCenter( private static Command leftStartingLineToDepot( Robot robot, - Supplier intake, + Supplier Intake, Supplier resetSubsystems, Supplier scoreSequence, PathConstraints pathfindingConstraints, @@ -154,14 +136,13 @@ private static Command leftStartingLineToDepot( () -> robot.getPoseEstimator().getEstimatedPose(), PathHelper.PATH_PLANNER_PATHS.get("L starting - Depot"), pathfindingConstraints, - () -> resetSubsystems.get().andThen(new ParallelCommandGroup(intake.get(), scoreSequence.get())), + () -> resetSubsystems.get().andThen(scoreSequence.get()), isNearEndOfPathTolerance ); } private static Command rightStartingLineToOutpost( Robot robot, - Supplier intake, Supplier resetSubsystems, Supplier scoreSequence, PathConstraints pathfindingConstraints, @@ -172,28 +153,7 @@ private static Command rightStartingLineToOutpost( () -> robot.getPoseEstimator().getEstimatedPose(), PathHelper.PATH_PLANNER_PATHS.get("R starting - Outpost"), pathfindingConstraints, - () -> resetSubsystems.get().andThen(new ParallelCommandGroup(intake.get(), scoreSequence.get())), - isNearEndOfPathTolerance - ); - } - - private static Command neutralZoneMiddleToStartingLine( - Robot robot, - Supplier intake, - Supplier resetSubsystems, - Supplier scoreSequence, - PathConstraints pathfindingConstraints, - Pose2d isNearEndOfPathTolerance, - boolean isLeft - ) { - return PathFollowingCommandsBuilder.deadlineCommandWithPath( - robot.getSwerve(), - () -> robot.getPoseEstimator().getEstimatedPose(), - isLeft - ? PathHelper.PATH_PLANNER_PATHS.get("Neutral zone center - Left starting line") - : PathHelper.PATH_PLANNER_PATHS.get("Neutral zone center - Left starting line").mirrorPath(), - pathfindingConstraints, - () -> resetSubsystems.get().andThen(new ParallelCommandGroup(intake.get(), scoreSequence.get())), + () -> resetSubsystems.get().andThen(scoreSequence.get()), isNearEndOfPathTolerance ); } From a9c34a3d6b9c53f1d80d6665081f3fd137a09ef8 Mon Sep 17 00:00:00 2001 From: greenblitz4590 <94316058+greenblitz4590@users.noreply.github.com> Date: Sat, 7 Mar 2026 19:45:01 +0200 Subject: [PATCH 07/23] sA --- .../frc/robot/autonomous/AutosBuilder.java | 18 ++++++++++++++++-- 1 file changed, 16 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc/robot/autonomous/AutosBuilder.java b/src/main/java/frc/robot/autonomous/AutosBuilder.java index b3b9b6cbee..91e9fcbb66 100644 --- a/src/main/java/frc/robot/autonomous/AutosBuilder.java +++ b/src/main/java/frc/robot/autonomous/AutosBuilder.java @@ -77,7 +77,14 @@ private static Supplier getRightStartingToNeutralZoneToO ) { return () -> new PathPlannerAutoWrapper( new SequentialCommandGroup( - startingLineToNeutralToStartingLineZoneCenter(robot, intake, resetSubsystems, pathfindingConstraints, isNearEndOfPathTolerance, false), + startingLineToNeutralToStartingLineZoneCenter( + robot, + intake, + resetSubsystems, + pathfindingConstraints, + isNearEndOfPathTolerance, + false + ), rightStartingLineToOutpost(robot, resetSubsystems, scoreSequence, pathfindingConstraints, isNearEndOfPathTolerance) ), new Pose2d(), @@ -95,7 +102,14 @@ private static Supplier getLeftStartingToNeutralZoneToDe ) { return () -> new PathPlannerAutoWrapper( new SequentialCommandGroup( - startingLineToNeutralToStartingLineZoneCenter(robot, intake, resetSubsystems, pathfindingConstraints, isNearEndOfPathTolerance, true), + startingLineToNeutralToStartingLineZoneCenter( + robot, + intake, + resetSubsystems, + pathfindingConstraints, + isNearEndOfPathTolerance, + true + ), leftStartingLineToDepot(robot, intake, resetSubsystems, scoreSequence, pathfindingConstraints, isNearEndOfPathTolerance) ), new Pose2d(), From 2e2df885dda433134147d163387af894c8171bc7 Mon Sep 17 00:00:00 2001 From: tomer-hershman Date: Sun, 8 Mar 2026 14:56:19 +0200 Subject: [PATCH 08/23] Changed name --- .../frc/robot/autonomous/AutosBuilder.java | 55 ++++++------------- 1 file changed, 18 insertions(+), 37 deletions(-) diff --git a/src/main/java/frc/robot/autonomous/AutosBuilder.java b/src/main/java/frc/robot/autonomous/AutosBuilder.java index 91e9fcbb66..94d2ae82d6 100644 --- a/src/main/java/frc/robot/autonomous/AutosBuilder.java +++ b/src/main/java/frc/robot/autonomous/AutosBuilder.java @@ -30,21 +30,23 @@ public static List> getAutoList( Pose2d isNearEndOfPathTolerance ) { return List.of( - getLeftStartingToNeutralZoneToDepotAuto( + startingLineToRightNeutralZoneWithLoopToAllianceZoneAuto( robot, intake, scoreSequence, resetSubsystems, pathfindingConstraints, - isNearEndOfPathTolerance + isNearEndOfPathTolerance, + AllianceSide.DEPOT ), - getRightStartingToNeutralZoneToOutpostAuto( + startingLineToRightNeutralZoneWithLoopToAllianceZoneAuto( robot, intake, scoreSequence, resetSubsystems, pathfindingConstraints, - isNearEndOfPathTolerance + isNearEndOfPathTolerance, + AllianceSide.OUTPOST ), getStartingLineToMiddleToAllianceSideAuto( robot, @@ -67,68 +69,47 @@ public static List> getAutoList( ); } - private static Supplier getRightStartingToNeutralZoneToOutpostAuto( + private static Supplier startingLineToRightNeutralZoneWithLoopToAllianceZoneAuto( Robot robot, Supplier intake, Supplier scoreSequence, Supplier resetSubsystems, PathConstraints pathfindingConstraints, - Pose2d isNearEndOfPathTolerance + Pose2d isNearEndOfPathTolerance, + AllianceSide allianceSide ) { return () -> new PathPlannerAutoWrapper( new SequentialCommandGroup( - startingLineToNeutralToStartingLineZoneCenter( + startingLineToNeutralToStartingLineZoneCenterWithLoop( robot, intake, resetSubsystems, pathfindingConstraints, isNearEndOfPathTolerance, - false + allianceSide ), - rightStartingLineToOutpost(robot, resetSubsystems, scoreSequence, pathfindingConstraints, isNearEndOfPathTolerance) + allianceSide == AllianceSide.OUTPOST + ? rightStartingLineToOutpost(robot, resetSubsystems, scoreSequence, pathfindingConstraints, isNearEndOfPathTolerance) + : leftStartingLineToDepot(robot, intake, resetSubsystems, scoreSequence, pathfindingConstraints, isNearEndOfPathTolerance) ), new Pose2d(), - "R starting - Neutral zone - Outpost" + allianceSide == AllianceSide.OUTPOST ? "R starting - Right mid Loop - Outpost" : "L starting - L mid loop - Depot" ); } - private static Supplier getLeftStartingToNeutralZoneToDepotAuto( - Robot robot, - Supplier intake, - Supplier scoreSequence, - Supplier resetSubsystems, - PathConstraints pathfindingConstraints, - Pose2d isNearEndOfPathTolerance - ) { - return () -> new PathPlannerAutoWrapper( - new SequentialCommandGroup( - startingLineToNeutralToStartingLineZoneCenter( - robot, - intake, - resetSubsystems, - pathfindingConstraints, - isNearEndOfPathTolerance, - true - ), - leftStartingLineToDepot(robot, intake, resetSubsystems, scoreSequence, pathfindingConstraints, isNearEndOfPathTolerance) - ), - new Pose2d(), - "L starting - Neutral zone - Depot" - ); - } - private static Command startingLineToNeutralToStartingLineZoneCenter( + private static Command startingLineToNeutralToStartingLineZoneCenterWithLoop( Robot robot, Supplier intake, Supplier resetSubsystems, PathConstraints pathfindingConstraints, Pose2d isNearEndOfPathTolerance, - boolean isLeft + AllianceSide allianceSide ) { return PathFollowingCommandsBuilder.deadlineCommandWithPath( robot.getSwerve(), () -> robot.getPoseEstimator().getEstimatedPose(), - isLeft + allianceSide == AllianceSide.DEPOT ? PathHelper.PATH_PLANNER_PATHS.get("R starting - R mid - R starting").mirrorPath() : PathHelper.PATH_PLANNER_PATHS.get("R starting - R mid - R starting"), pathfindingConstraints, From 8ca6052d9b5740bdc575c30a0b6c0717994c991a Mon Sep 17 00:00:00 2001 From: tomer-hershman Date: Sun, 8 Mar 2026 15:53:41 +0200 Subject: [PATCH 09/23] tomer - Added command --- src/main/java/frc/robot/autonomous/AutosBuilder.java | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/src/main/java/frc/robot/autonomous/AutosBuilder.java b/src/main/java/frc/robot/autonomous/AutosBuilder.java index a2f88fc83f..d151f1ac51 100644 --- a/src/main/java/frc/robot/autonomous/AutosBuilder.java +++ b/src/main/java/frc/robot/autonomous/AutosBuilder.java @@ -72,7 +72,7 @@ private static Supplier startingLineToRightNeutralZoneWi ) { return () -> new PathPlannerAutoWrapper( new SequentialCommandGroup( - startingLineToNeutralToStartingLineZoneCenterWithLoop( + startingLineToNeutralToStartingLineZoneCenterWithLoopCommand( robot, intake, resetSubsystems, @@ -81,8 +81,8 @@ private static Supplier startingLineToRightNeutralZoneWi allianceSide ), allianceSide == AllianceSide.OUTPOST - ? rightStartingLineToOutpost(robot, resetSubsystems, scoreSequence, pathfindingConstraints, isNearEndOfPathTolerance) - : leftStartingLineToDepot(robot, intake, resetSubsystems, scoreSequence, pathfindingConstraints, isNearEndOfPathTolerance) + ? rightStartingLineToOutpostCommand(robot, resetSubsystems, scoreSequence, pathfindingConstraints, isNearEndOfPathTolerance) + : leftStartingLineToDepotCommand(robot, intake, resetSubsystems, scoreSequence, pathfindingConstraints, isNearEndOfPathTolerance) ), new Pose2d(), allianceSide == AllianceSide.OUTPOST ? "R starting - Right mid Loop - Outpost" : "L starting - L mid loop - Depot" @@ -90,7 +90,7 @@ private static Supplier startingLineToRightNeutralZoneWi } - private static Command startingLineToNeutralToStartingLineZoneCenterWithLoop( + private static Command startingLineToNeutralToStartingLineZoneCenterWithLoopCommand( Robot robot, Supplier intake, Supplier resetSubsystems, @@ -111,7 +111,7 @@ private static Command startingLineToNeutralToStartingLineZoneCenterWithLoop( ); } - private static Command leftStartingLineToDepot( + private static Command leftStartingLineToDepotCommand( Robot robot, Supplier Intake, Supplier resetSubsystems, @@ -130,7 +130,7 @@ private static Command leftStartingLineToDepot( ); } - private static Command rightStartingLineToOutpost( + private static Command rightStartingLineToOutpostCommand( Robot robot, Supplier resetSubsystems, Supplier scoreSequence, From 986942942b1ba2b32ec402de1d927d95ddb328ad Mon Sep 17 00:00:00 2001 From: tomer-hershman Date: Sun, 8 Mar 2026 17:43:50 +0200 Subject: [PATCH 10/23] sA --- .../frc/robot/autonomous/AutosBuilder.java | 15 ++++++++---- .../java/frc/utils/auto/PathPlannerUtil.java | 24 +++++++++---------- 2 files changed, 23 insertions(+), 16 deletions(-) diff --git a/src/main/java/frc/robot/autonomous/AutosBuilder.java b/src/main/java/frc/robot/autonomous/AutosBuilder.java index d151f1ac51..3f93b8c3ac 100644 --- a/src/main/java/frc/robot/autonomous/AutosBuilder.java +++ b/src/main/java/frc/robot/autonomous/AutosBuilder.java @@ -82,7 +82,14 @@ private static Supplier startingLineToRightNeutralZoneWi ), allianceSide == AllianceSide.OUTPOST ? rightStartingLineToOutpostCommand(robot, resetSubsystems, scoreSequence, pathfindingConstraints, isNearEndOfPathTolerance) - : leftStartingLineToDepotCommand(robot, intake, resetSubsystems, scoreSequence, pathfindingConstraints, isNearEndOfPathTolerance) + : leftStartingLineToDepotCommand( + robot, + intake, + resetSubsystems, + scoreSequence, + pathfindingConstraints, + isNearEndOfPathTolerance + ) ), new Pose2d(), allianceSide == AllianceSide.OUTPOST ? "R starting - Right mid Loop - Outpost" : "L starting - L mid loop - Depot" @@ -106,9 +113,9 @@ private static Command startingLineToNeutralToStartingLineZoneCenterWithLoopComm : PathHelper.PATH_PLANNER_PATHS.get("R starting - R mid - R starting"), pathfindingConstraints, () -> resetSubsystems.get().andThen(intake.get()), - isNearEndOfPathTolerance, - robot.getSwerve().getLogPath() - ); + isNearEndOfPathTolerance, + robot.getSwerve().getLogPath() + ); } private static Command leftStartingLineToDepotCommand( diff --git a/src/main/java/frc/utils/auto/PathPlannerUtil.java b/src/main/java/frc/utils/auto/PathPlannerUtil.java index 9566cf67a6..c648248b85 100644 --- a/src/main/java/frc/utils/auto/PathPlannerUtil.java +++ b/src/main/java/frc/utils/auto/PathPlannerUtil.java @@ -109,18 +109,18 @@ public static Pose2d getLastPathPose(PathPlannerPath path) { return new Pose2d(path.getPathPoses().get(path.getPathPoses().size() - 1).getTranslation(), path.getGoalEndState().rotation()); } - public static Rotation2d getEndPointHeading(PathPlannerPath path) { - Translation2d prevControl = path.getWaypoints().get(path.getWaypoints().size() - 1).prevControl(); - return FieldMath.getRelativeTranslation(getLastPathPose(path), prevControl).getAngle(); - } - - public static ChassisSpeeds getAllianceRelativeGoalEndSpeeds(PathPlannerPath path) { - Translation2d speeds = new Translation2d( - path.getGoalEndState().velocityMPS(), - FieldMath.transformAngle(getEndPointHeading(path), AngleTransform.INVERT) - ); - return new ChassisSpeeds(speeds.getX(), speeds.getY(), 0); - } + public static Rotation2d getEndPointHeading(PathPlannerPath path) { + Translation2d prevControl = path.getWaypoints().get(path.getWaypoints().size() - 1).prevControl(); + return FieldMath.getRelativeTranslation(getLastPathPose(path), prevControl).getAngle(); + } + + public static ChassisSpeeds getAllianceRelativeGoalEndSpeeds(PathPlannerPath path) { + Translation2d speeds = new Translation2d( + path.getGoalEndState().velocityMPS(), + FieldMath.transformAngle(getEndPointHeading(path), AngleTransform.INVERT) + ); + return new ChassisSpeeds(speeds.getX(), speeds.getY(), 0); + } public static Command createPathDuringRuntime(Pose2d currentPose, Pose2d targetPose, PathConstraints constraints, String logPath) { List bezierPoints = PathPlannerPath.waypointsFromPoses(currentPose, targetPose); From 0134a68eb5be70f3edbe69127c98fdac9e029bca Mon Sep 17 00:00:00 2001 From: tomer-hershman Date: Sun, 8 Mar 2026 18:05:34 +0200 Subject: [PATCH 11/23] dror CR --- .../frc/robot/autonomous/AutosBuilder.java | 50 ++++++------------- 1 file changed, 14 insertions(+), 36 deletions(-) diff --git a/src/main/java/frc/robot/autonomous/AutosBuilder.java b/src/main/java/frc/robot/autonomous/AutosBuilder.java index 3f93b8c3ac..a3fde65cf6 100644 --- a/src/main/java/frc/robot/autonomous/AutosBuilder.java +++ b/src/main/java/frc/robot/autonomous/AutosBuilder.java @@ -30,7 +30,7 @@ public static List> getAutoList( Pose2d isNearEndOfPathTolerance ) { return List.of( - startingLineToRightNeutralZoneWithLoopToAllianceZoneAuto( + halfAuto( robot, intake, scoreSequence, @@ -39,7 +39,7 @@ public static List> getAutoList( isNearEndOfPathTolerance, AllianceSide.DEPOT ), - startingLineToRightNeutralZoneWithLoopToAllianceZoneAuto( + halfAuto( robot, intake, scoreSequence, @@ -61,7 +61,7 @@ public static List> getAutoList( ); } - private static Supplier startingLineToRightNeutralZoneWithLoopToAllianceZoneAuto( + private static Supplier halfAuto( Robot robot, Supplier intake, Supplier scoreSequence, @@ -80,16 +80,7 @@ private static Supplier startingLineToRightNeutralZoneWi isNearEndOfPathTolerance, allianceSide ), - allianceSide == AllianceSide.OUTPOST - ? rightStartingLineToOutpostCommand(robot, resetSubsystems, scoreSequence, pathfindingConstraints, isNearEndOfPathTolerance) - : leftStartingLineToDepotCommand( - robot, - intake, - resetSubsystems, - scoreSequence, - pathfindingConstraints, - isNearEndOfPathTolerance - ) + StartingLineToDepotOrOutpostCommand(robot, intake, resetSubsystems, scoreSequence, pathfindingConstraints, isNearEndOfPathTolerance, allianceSide) ), new Pose2d(), allianceSide == AllianceSide.OUTPOST ? "R starting - Right mid Loop - Outpost" : "L starting - L mid loop - Depot" @@ -118,38 +109,25 @@ private static Command startingLineToNeutralToStartingLineZoneCenterWithLoopComm ); } - private static Command leftStartingLineToDepotCommand( - Robot robot, - Supplier Intake, - Supplier resetSubsystems, - Supplier scoreSequence, - PathConstraints pathfindingConstraints, - Pose2d isNearEndOfPathTolerance - ) { - return PathFollowingCommandsBuilder.deadlineCommandWithPath( - robot.getSwerve(), - () -> robot.getPoseEstimator().getEstimatedPose(), - PathHelper.PATH_PLANNER_PATHS.get("L starting - Depot"), - pathfindingConstraints, - () -> resetSubsystems.get().andThen(scoreSequence.get()), - isNearEndOfPathTolerance, - robot.getSwerve().getLogPath() - ); - } - - private static Command rightStartingLineToOutpostCommand( + private static Command StartingLineToDepotOrOutpostCommand( Robot robot, + Supplier intake, Supplier resetSubsystems, Supplier scoreSequence, PathConstraints pathfindingConstraints, - Pose2d isNearEndOfPathTolerance + Pose2d isNearEndOfPathTolerance, + AllianceSide allianceSide ) { return PathFollowingCommandsBuilder.deadlineCommandWithPath( robot.getSwerve(), () -> robot.getPoseEstimator().getEstimatedPose(), - PathHelper.PATH_PLANNER_PATHS.get("R starting - Outpost"), + allianceSide == AllianceSide.OUTPOST + ?PathHelper.PATH_PLANNER_PATHS.get("R starting - Outpost") + :PathHelper.PATH_PLANNER_PATHS.get("L starting - Depot"), pathfindingConstraints, - () -> resetSubsystems.get().andThen(scoreSequence.get()), + allianceSide == AllianceSide.OUTPOST + ?() -> resetSubsystems.get().andThen(scoreSequence.get()) + :() -> resetSubsystems.get().andThen(new ParallelCommandGroup(scoreSequence.get(),intake.get())), isNearEndOfPathTolerance, robot.getSwerve().getLogPath() ); From 221c7ab3551030c067b64b41668d02dfbf281269 Mon Sep 17 00:00:00 2001 From: tomer-hershman Date: Sun, 8 Mar 2026 19:59:20 +0200 Subject: [PATCH 12/23] did some stuff --- .../paths/R starting - R mid - R starting.path | 14 +++++++------- .../java/frc/robot/autonomous/AutosBuilder.java | 2 +- .../autonomous/PathFollowingCommandsBuilder.java | 8 ++++---- 3 files changed, 12 insertions(+), 12 deletions(-) diff --git a/src/main/deploy/pathplanner/paths/R starting - R mid - R starting.path b/src/main/deploy/pathplanner/paths/R starting - R mid - R starting.path index f64376b3d8..ac0615e619 100644 --- a/src/main/deploy/pathplanner/paths/R starting - R mid - R starting.path +++ b/src/main/deploy/pathplanner/paths/R starting - R mid - R starting.path @@ -3,12 +3,12 @@ "waypoints": [ { "anchor": { - "x": 3.5, + "x": 3.34, "y": 2.5 }, "prevControl": null, "nextControl": { - "x": 4.667576242101418, + "x": 4.507576242101418, "y": 2.5056553898343195 }, "isLocked": false, @@ -37,7 +37,7 @@ }, "prevControl": { "x": 6.805327182321852, - "y": 1.9150240963855412 + "y": 1.9150240963855414 }, "nextControl": { "x": 8.8, @@ -80,11 +80,11 @@ }, { "anchor": { - "x": 3.5, + "x": 3.34, "y": 2.5 }, "prevControl": { - "x": 4.5, + "x": 4.34, "y": 2.5 }, "nextControl": null, @@ -130,13 +130,13 @@ "unlimited": false }, "goalEndState": { - "velocity": 0, + "velocity": 2.0, "rotation": 45.0 }, "reversed": false, "folder": null, "idealStartingState": { - "velocity": 0, + "velocity": 0.0, "rotation": 135.0 }, "useDefaultConstraints": true diff --git a/src/main/java/frc/robot/autonomous/AutosBuilder.java b/src/main/java/frc/robot/autonomous/AutosBuilder.java index a3fde65cf6..1279c8e363 100644 --- a/src/main/java/frc/robot/autonomous/AutosBuilder.java +++ b/src/main/java/frc/robot/autonomous/AutosBuilder.java @@ -125,7 +125,7 @@ private static Command StartingLineToDepotOrOutpostCommand( ?PathHelper.PATH_PLANNER_PATHS.get("R starting - Outpost") :PathHelper.PATH_PLANNER_PATHS.get("L starting - Depot"), pathfindingConstraints, - allianceSide == AllianceSide.OUTPOST + allianceSide == AllianceSide.OUTPOST ?() -> resetSubsystems.get().andThen(scoreSequence.get()) :() -> resetSubsystems.get().andThen(new ParallelCommandGroup(scoreSequence.get(),intake.get())), isNearEndOfPathTolerance, diff --git a/src/main/java/frc/robot/autonomous/PathFollowingCommandsBuilder.java b/src/main/java/frc/robot/autonomous/PathFollowingCommandsBuilder.java index e11955342e..6efc63b2a4 100644 --- a/src/main/java/frc/robot/autonomous/PathFollowingCommandsBuilder.java +++ b/src/main/java/frc/robot/autonomous/PathFollowingCommandsBuilder.java @@ -27,7 +27,7 @@ public static Command commandDuringPath( ) { return new ParallelCommandGroup( commandSupplier.get(), - followAdjustedPathThenStop(swerve, currentPose, path, pathfindingConstraints, isNearEndOfPathTolerance, logPath) + followAdjustedPathWithTargetEndState(swerve, currentPose, path, pathfindingConstraints, isNearEndOfPathTolerance, logPath) ); } @@ -52,7 +52,7 @@ public static Command deadlineCommandWithPath( String logPath ) { return new ParallelDeadlineGroup( - followAdjustedPathThenStop(swerve, currentPose, path, pathfindingConstraints, isNearEndOfPathTolerance, logPath), + followAdjustedPathWithTargetEndState(swerve, currentPose, path, pathfindingConstraints, isNearEndOfPathTolerance, logPath), commandSupplier.get() ); } @@ -67,7 +67,7 @@ public static Command commandAfterPath( String logPath ) { return new SequentialCommandGroup( - followAdjustedPathThenStop(swerve, currentPose, path, pathfindingConstraints, isNearEndOfPathTolerance, logPath), + followAdjustedPathWithTargetEndState(swerve, currentPose, path, pathfindingConstraints, isNearEndOfPathTolerance, logPath), commandSupplier.get() ); } @@ -134,7 +134,7 @@ public static Command followAdjustedPath( ); } - public static Command followAdjustedPathThenStop( + public static Command followAdjustedPathWithTargetEndState( Swerve swerve, Supplier currentPose, PathPlannerPath path, From a7627ff9d30c1752738019704e3f24ab78dcac25 Mon Sep 17 00:00:00 2001 From: itamaroryan Date: Mon, 9 Mar 2026 12:18:23 +0200 Subject: [PATCH 13/23] tomer- changed name --- src/main/java/frc/robot/autonomous/AutosBuilder.java | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc/robot/autonomous/AutosBuilder.java b/src/main/java/frc/robot/autonomous/AutosBuilder.java index 1279c8e363..72c9a2a4a9 100644 --- a/src/main/java/frc/robot/autonomous/AutosBuilder.java +++ b/src/main/java/frc/robot/autonomous/AutosBuilder.java @@ -80,7 +80,7 @@ private static Supplier halfAuto( isNearEndOfPathTolerance, allianceSide ), - StartingLineToDepotOrOutpostCommand(robot, intake, resetSubsystems, scoreSequence, pathfindingConstraints, isNearEndOfPathTolerance, allianceSide) + startingLineToDepotOrOutpostCommand(robot, intake, resetSubsystems, scoreSequence, pathfindingConstraints, isNearEndOfPathTolerance, allianceSide) ), new Pose2d(), allianceSide == AllianceSide.OUTPOST ? "R starting - Right mid Loop - Outpost" : "L starting - L mid loop - Depot" @@ -109,7 +109,7 @@ private static Command startingLineToNeutralToStartingLineZoneCenterWithLoopComm ); } - private static Command StartingLineToDepotOrOutpostCommand( + private static Command startingLineToDepotOrOutpostCommand( Robot robot, Supplier intake, Supplier resetSubsystems, From 9fd48483e96f85d09cf675b7ab202cfb80b8c1c0 Mon Sep 17 00:00:00 2001 From: tomer-hershman Date: Mon, 9 Mar 2026 14:59:04 +0200 Subject: [PATCH 14/23] did some stuff --- .../frc/robot/autonomous/AutosBuilder.java | 40 ++++++++----------- .../PathFollowingCommandsBuilder.java | 6 +-- 2 files changed, 19 insertions(+), 27 deletions(-) diff --git a/src/main/java/frc/robot/autonomous/AutosBuilder.java b/src/main/java/frc/robot/autonomous/AutosBuilder.java index 72c9a2a4a9..039edc5c8e 100644 --- a/src/main/java/frc/robot/autonomous/AutosBuilder.java +++ b/src/main/java/frc/robot/autonomous/AutosBuilder.java @@ -30,24 +30,8 @@ public static List> getAutoList( Pose2d isNearEndOfPathTolerance ) { return List.of( - halfAuto( - robot, - intake, - scoreSequence, - resetSubsystems, - pathfindingConstraints, - isNearEndOfPathTolerance, - AllianceSide.DEPOT - ), - halfAuto( - robot, - intake, - scoreSequence, - resetSubsystems, - pathfindingConstraints, - isNearEndOfPathTolerance, - AllianceSide.OUTPOST - ), + halfAuto(robot, intake, scoreSequence, resetSubsystems, pathfindingConstraints, isNearEndOfPathTolerance, AllianceSide.DEPOT), + halfAuto(robot, intake, scoreSequence, resetSubsystems, pathfindingConstraints, isNearEndOfPathTolerance, AllianceSide.OUTPOST), getQuarterAuto( robot, resetSubsystems, @@ -80,7 +64,15 @@ private static Supplier halfAuto( isNearEndOfPathTolerance, allianceSide ), - startingLineToDepotOrOutpostCommand(robot, intake, resetSubsystems, scoreSequence, pathfindingConstraints, isNearEndOfPathTolerance, allianceSide) + startingLineToDepotOrOutpostCommand( + robot, + intake, + resetSubsystems, + scoreSequence, + pathfindingConstraints, + isNearEndOfPathTolerance, + allianceSide + ) ), new Pose2d(), allianceSide == AllianceSide.OUTPOST ? "R starting - Right mid Loop - Outpost" : "L starting - L mid loop - Depot" @@ -122,12 +114,12 @@ private static Command startingLineToDepotOrOutpostCommand( robot.getSwerve(), () -> robot.getPoseEstimator().getEstimatedPose(), allianceSide == AllianceSide.OUTPOST - ?PathHelper.PATH_PLANNER_PATHS.get("R starting - Outpost") - :PathHelper.PATH_PLANNER_PATHS.get("L starting - Depot"), + ? PathHelper.PATH_PLANNER_PATHS.get("R starting - Outpost") + : PathHelper.PATH_PLANNER_PATHS.get("L starting - Depot"), pathfindingConstraints, - allianceSide == AllianceSide.OUTPOST - ?() -> resetSubsystems.get().andThen(scoreSequence.get()) - :() -> resetSubsystems.get().andThen(new ParallelCommandGroup(scoreSequence.get(),intake.get())), + allianceSide == AllianceSide.OUTPOST + ? () -> resetSubsystems.get().andThen(scoreSequence.get()) + : () -> resetSubsystems.get().andThen(new ParallelCommandGroup(scoreSequence.get(), intake.get())), isNearEndOfPathTolerance, robot.getSwerve().getLogPath() ); diff --git a/src/main/java/frc/robot/autonomous/PathFollowingCommandsBuilder.java b/src/main/java/frc/robot/autonomous/PathFollowingCommandsBuilder.java index 6efc63b2a4..b44f167cf4 100644 --- a/src/main/java/frc/robot/autonomous/PathFollowingCommandsBuilder.java +++ b/src/main/java/frc/robot/autonomous/PathFollowingCommandsBuilder.java @@ -27,7 +27,7 @@ public static Command commandDuringPath( ) { return new ParallelCommandGroup( commandSupplier.get(), - followAdjustedPathWithTargetEndState(swerve, currentPose, path, pathfindingConstraints, isNearEndOfPathTolerance, logPath) + followAdjustedPathWithTargetEndState(swerve, currentPose, path, pathfindingConstraints, isNearEndOfPathTolerance, logPath) ); } @@ -52,7 +52,7 @@ public static Command deadlineCommandWithPath( String logPath ) { return new ParallelDeadlineGroup( - followAdjustedPathWithTargetEndState(swerve, currentPose, path, pathfindingConstraints, isNearEndOfPathTolerance, logPath), + followAdjustedPathWithTargetEndState(swerve, currentPose, path, pathfindingConstraints, isNearEndOfPathTolerance, logPath), commandSupplier.get() ); } @@ -67,7 +67,7 @@ public static Command commandAfterPath( String logPath ) { return new SequentialCommandGroup( - followAdjustedPathWithTargetEndState(swerve, currentPose, path, pathfindingConstraints, isNearEndOfPathTolerance, logPath), + followAdjustedPathWithTargetEndState(swerve, currentPose, path, pathfindingConstraints, isNearEndOfPathTolerance, logPath), commandSupplier.get() ); } From 89eb0de34442740f65df543c92f77e04e8ae1c4a Mon Sep 17 00:00:00 2001 From: tomer-hershman Date: Tue, 10 Mar 2026 15:40:15 +0200 Subject: [PATCH 15/23] changed names --- src/main/java/frc/robot/autonomous/AutosBuilder.java | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/src/main/java/frc/robot/autonomous/AutosBuilder.java b/src/main/java/frc/robot/autonomous/AutosBuilder.java index 039edc5c8e..be57c01804 100644 --- a/src/main/java/frc/robot/autonomous/AutosBuilder.java +++ b/src/main/java/frc/robot/autonomous/AutosBuilder.java @@ -56,7 +56,7 @@ private static Supplier halfAuto( ) { return () -> new PathPlannerAutoWrapper( new SequentialCommandGroup( - startingLineToNeutralToStartingLineZoneCenterWithLoopCommand( + startingLineToNeutralZoneToStartingLineWithLoopCommand( robot, intake, resetSubsystems, @@ -64,7 +64,7 @@ private static Supplier halfAuto( isNearEndOfPathTolerance, allianceSide ), - startingLineToDepotOrOutpostCommand( + startingLineToAllianceSideCommand( robot, intake, resetSubsystems, @@ -80,7 +80,7 @@ private static Supplier halfAuto( } - private static Command startingLineToNeutralToStartingLineZoneCenterWithLoopCommand( + private static Command startingLineToNeutralZoneToStartingLineWithLoopCommand( Robot robot, Supplier intake, Supplier resetSubsystems, @@ -101,7 +101,7 @@ private static Command startingLineToNeutralToStartingLineZoneCenterWithLoopComm ); } - private static Command startingLineToDepotOrOutpostCommand( + private static Command startingLineToAllianceSideCommand( Robot robot, Supplier intake, Supplier resetSubsystems, From e23e15ae63eda38c3aa303d51cf3866c2b3f617c Mon Sep 17 00:00:00 2001 From: tomer-hershman Date: Sun, 15 Mar 2026 12:05:39 +0200 Subject: [PATCH 16/23] recriated lost auto --- .../pathplanner/paths/Depot-to-Outpost.path | 54 ------------------- .../pathplanner/paths/Outpost-to-Depot.path | 54 ------------------- ...- R mid - R starting.path => R half.path} | 50 +++++++++++------ 3 files changed, 35 insertions(+), 123 deletions(-) delete mode 100644 src/main/deploy/pathplanner/paths/Depot-to-Outpost.path delete mode 100644 src/main/deploy/pathplanner/paths/Outpost-to-Depot.path rename src/main/deploy/pathplanner/paths/{R starting - R mid - R starting.path => R half.path} (75%) diff --git a/src/main/deploy/pathplanner/paths/Depot-to-Outpost.path b/src/main/deploy/pathplanner/paths/Depot-to-Outpost.path deleted file mode 100644 index 1f9d069b7c..0000000000 --- a/src/main/deploy/pathplanner/paths/Depot-to-Outpost.path +++ /dev/null @@ -1,54 +0,0 @@ -{ - "version": "2025.0", - "waypoints": [ - { - "anchor": { - "x": 6.490904803240741, - "y": 5.359282986111111 - }, - "prevControl": null, - "nextControl": { - "x": 6.01217441807669, - "y": 3.6901959675661757 - }, - "isLocked": false, - "linkedName": "Depot" - }, - { - "anchor": { - "x": 3.532515946137491, - "y": 2.206215450035436 - }, - "prevControl": { - "x": 3.416068014611101, - "y": 3.7588545370539803 - }, - "nextControl": null, - "isLocked": false, - "linkedName": "Outpost" - } - ], - "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": 0.0 - }, - "reversed": false, - "folder": null, - "idealStartingState": { - "velocity": 0, - "rotation": 180.0 - }, - "useDefaultConstraints": true -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Outpost-to-Depot.path b/src/main/deploy/pathplanner/paths/Outpost-to-Depot.path deleted file mode 100644 index fdfa3fbcd2..0000000000 --- a/src/main/deploy/pathplanner/paths/Outpost-to-Depot.path +++ /dev/null @@ -1,54 +0,0 @@ -{ - "version": "2025.0", - "waypoints": [ - { - "anchor": { - "x": 3.532515946137491, - "y": 2.206215450035436 - }, - "prevControl": null, - "nextControl": { - "x": 3.3772520374356367, - "y": 3.797670514229443 - }, - "isLocked": false, - "linkedName": "Outpost" - }, - { - "anchor": { - "x": 6.490904803240741, - "y": 5.359282986111111 - }, - "prevControl": { - "x": 6.06392905431064, - "y": 2.9397537421738784 - }, - "nextControl": null, - "isLocked": false, - "linkedName": "Depot" - } - ], - "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": 180.0 - }, - "reversed": false, - "folder": null, - "idealStartingState": { - "velocity": 0, - "rotation": 0.0 - }, - "useDefaultConstraints": true -} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/R starting - R mid - R starting.path b/src/main/deploy/pathplanner/paths/R half.path similarity index 75% rename from src/main/deploy/pathplanner/paths/R starting - R mid - R starting.path rename to src/main/deploy/pathplanner/paths/R half.path index ac0615e619..77ee4778dd 100644 --- a/src/main/deploy/pathplanner/paths/R starting - R mid - R starting.path +++ b/src/main/deploy/pathplanner/paths/R half.path @@ -8,8 +8,8 @@ }, "prevControl": null, "nextControl": { - "x": 4.507576242101418, - "y": 2.5056553898343195 + "x": 4.507589938528869, + "y": 2.5 }, "isLocked": false, "linkedName": null @@ -33,15 +33,15 @@ { "anchor": { "x": 8.3, - "y": 1.9150240963855412 + "y": 1.915024096385541 }, "prevControl": { "x": 6.805327182321852, - "y": 1.9150240963855414 + "y": 1.9150240963855412 }, "nextControl": { "x": 8.8, - "y": 1.9150240963855412 + "y": 1.915024096385541 }, "isLocked": false, "linkedName": null @@ -68,12 +68,12 @@ "y": 2.5 }, "prevControl": { - "x": 7.996695930384744, - "y": 2.614914583865577 + "x": 7.999999999999999, + "y": 2.5 }, "nextControl": { - "x": 5.750413008701907, - "y": 2.485635677016803 + "x": 5.75, + "y": 2.5 }, "isLocked": false, "linkedName": null @@ -84,9 +84,25 @@ "y": 2.5 }, "prevControl": { - "x": 4.34, + "x": 4.339999999999998, "y": 2.5 }, + "nextControl": { + "x": 1.3399999999999999, + "y": 2.5000000000000004 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 0.6, + "y": 0.67 + }, + "prevControl": { + "x": 2.6, + "y": 0.67 + }, "nextControl": null, "isLocked": false, "linkedName": null @@ -94,7 +110,7 @@ ], "rotationTargets": [ { - "waypointRelativePos": 0.7261410788381721, + "waypointRelativePos": 0.8, "rotationDegrees": 135.0 }, { @@ -103,11 +119,11 @@ }, { "waypointRelativePos": 2.0, - "rotationDegrees": -135.633 + "rotationDegrees": -135.0 }, { "waypointRelativePos": 3.0, - "rotationDegrees": 0.0 + "rotationDegrees": -0.0 }, { "waypointRelativePos": 3.813278008298756, @@ -116,6 +132,10 @@ { "waypointRelativePos": 4.360995850622402, "rotationDegrees": 45.0 + }, + { + "waypointRelativePos": 5.0, + "rotationDegrees": 45.0 } ], "constraintZones": [], @@ -130,8 +150,8 @@ "unlimited": false }, "goalEndState": { - "velocity": 2.0, - "rotation": 45.0 + "velocity": 0.0, + "rotation": 0.0 }, "reversed": false, "folder": null, From a761b48b5eb0df4b4b5e03d1ea45acbb0f8ac5f7 Mon Sep 17 00:00:00 2001 From: tomer-hershman Date: Sun, 15 Mar 2026 12:25:10 +0200 Subject: [PATCH 17/23] i hate my life --- .../subsystems/swerve/SwerveCommandsBuilder.java | 7 ------- .../java/frc/utils/auto/PathPlannerUtil.java | 16 ---------------- 2 files changed, 23 deletions(-) diff --git a/src/main/java/frc/robot/subsystems/swerve/SwerveCommandsBuilder.java b/src/main/java/frc/robot/subsystems/swerve/SwerveCommandsBuilder.java index 33e084eb54..86004f17bc 100644 --- a/src/main/java/frc/robot/subsystems/swerve/SwerveCommandsBuilder.java +++ b/src/main/java/frc/robot/subsystems/swerve/SwerveCommandsBuilder.java @@ -149,13 +149,6 @@ public Command driveByState(Supplier chassisPowersSupplier, Swerv ); } - public Command setChassisSpeeds(ChassisSpeeds chassisSpeeds, SwerveState state) { - return swerve.asSubsystemCommand(new InstantCommand(() -> { - swerve.resetPIDControllers(); - swerve.driveByState(chassisSpeeds, state); - }), "Drive with state"); - } - public Command driveByDriversInputs(Supplier state) { return new DeferredCommand(() -> driveByDriversInputs(state.get()), Set.of(swerve)); } diff --git a/src/main/java/frc/utils/auto/PathPlannerUtil.java b/src/main/java/frc/utils/auto/PathPlannerUtil.java index c648248b85..7ca5fcfefd 100644 --- a/src/main/java/frc/utils/auto/PathPlannerUtil.java +++ b/src/main/java/frc/utils/auto/PathPlannerUtil.java @@ -15,7 +15,6 @@ import com.pathplanner.lib.util.PathPlannerLogging; import edu.wpi.first.math.Pair; import edu.wpi.first.math.geometry.Pose2d; -import edu.wpi.first.math.geometry.Rotation2d; import edu.wpi.first.math.geometry.Translation2d; import edu.wpi.first.math.kinematics.ChassisSpeeds; import edu.wpi.first.wpilibj2.command.Command; @@ -24,8 +23,6 @@ import frc.robot.autonomous.PathFollowingCommandsBuilder; import frc.robot.subsystems.GBSubsystem; import frc.utils.alerts.Alert; -import frc.utils.math.AngleTransform; -import frc.utils.math.FieldMath; import frc.utils.math.ToleranceMath; import org.json.simple.parser.ParseException; import org.littletonrobotics.junction.Logger; @@ -109,19 +106,6 @@ public static Pose2d getLastPathPose(PathPlannerPath path) { return new Pose2d(path.getPathPoses().get(path.getPathPoses().size() - 1).getTranslation(), path.getGoalEndState().rotation()); } - public static Rotation2d getEndPointHeading(PathPlannerPath path) { - Translation2d prevControl = path.getWaypoints().get(path.getWaypoints().size() - 1).prevControl(); - return FieldMath.getRelativeTranslation(getLastPathPose(path), prevControl).getAngle(); - } - - public static ChassisSpeeds getAllianceRelativeGoalEndSpeeds(PathPlannerPath path) { - Translation2d speeds = new Translation2d( - path.getGoalEndState().velocityMPS(), - FieldMath.transformAngle(getEndPointHeading(path), AngleTransform.INVERT) - ); - return new ChassisSpeeds(speeds.getX(), speeds.getY(), 0); - } - public static Command createPathDuringRuntime(Pose2d currentPose, Pose2d targetPose, PathConstraints constraints, String logPath) { List bezierPoints = PathPlannerPath.waypointsFromPoses(currentPose, targetPose); PathPlannerPath path = new PathPlannerPath(bezierPoints, constraints, null, new GoalEndState(0, targetPose.getRotation())); From 00226bd07dd1a435b237ed0320b6450b87b0625b Mon Sep 17 00:00:00 2001 From: tomer-hershman Date: Sun, 15 Mar 2026 13:33:51 +0200 Subject: [PATCH 18/23] i hate my life --- src/main/deploy/pathplanner/paths/L half.path | 18 +++++++++--------- src/main/deploy/pathplanner/paths/R half.path | 14 +++++++------- 2 files changed, 16 insertions(+), 16 deletions(-) diff --git a/src/main/deploy/pathplanner/paths/L half.path b/src/main/deploy/pathplanner/paths/L half.path index 1cd8fa9357..5b8119dbee 100644 --- a/src/main/deploy/pathplanner/paths/L half.path +++ b/src/main/deploy/pathplanner/paths/L half.path @@ -33,15 +33,15 @@ { "anchor": { "x": 8.3, - "y": 6.294975903614459 + "y": 6.370427960057061 }, "prevControl": { - "x": 6.805327182321852, - "y": 6.294975903614459 + "x": 6.800000000000001, + "y": 6.370427960057061 }, "nextControl": { - "x": 8.8, - "y": 6.294975903614459 + "x": 9.0, + "y": 6.370427960057061 }, "isLocked": false, "linkedName": null @@ -52,11 +52,11 @@ "y": 4.621 }, "prevControl": { - "x": 8.8, + "x": 9.0, "y": 4.621 }, "nextControl": { - "x": 7.362957813142524, + "x": 7.300000000000001, "y": 4.621 }, "isLocked": false, @@ -119,14 +119,14 @@ }, { "waypointRelativePos": 2.0, - "rotationDegrees": 135.633 + "rotationDegrees": 135.0 }, { "waypointRelativePos": 3.0, "rotationDegrees": -0.0 }, { - "waypointRelativePos": 3.813278008298756, + "waypointRelativePos": 3.54371002132197, "rotationDegrees": -45.0 }, { diff --git a/src/main/deploy/pathplanner/paths/R half.path b/src/main/deploy/pathplanner/paths/R half.path index 77ee4778dd..029af859fd 100644 --- a/src/main/deploy/pathplanner/paths/R half.path +++ b/src/main/deploy/pathplanner/paths/R half.path @@ -40,7 +40,7 @@ "y": 1.9150240963855412 }, "nextControl": { - "x": 8.8, + "x": 9.0, "y": 1.915024096385541 }, "isLocked": false, @@ -49,15 +49,15 @@ { "anchor": { "x": 8.3, - "y": 3.589 + "y": 3.627432239657632 }, "prevControl": { - "x": 8.8, - "y": 3.589 + "x": 9.3, + "y": 3.627432239657632 }, "nextControl": { - "x": 7.362957813142524, - "y": 3.589 + "x": 7.6000000000000005, + "y": 3.627432239657632 }, "isLocked": false, "linkedName": null @@ -126,7 +126,7 @@ "rotationDegrees": -0.0 }, { - "waypointRelativePos": 3.813278008298756, + "waypointRelativePos": 3.6076759061833608, "rotationDegrees": 45.0 }, { From ea947b841f52e527b514aeb9810a9f6d93e0c2a9 Mon Sep 17 00:00:00 2001 From: tomer-hershman Date: Sun, 15 Mar 2026 14:08:28 +0200 Subject: [PATCH 19/23] made auto shorter --- src/main/deploy/pathplanner/paths/L half.path | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/main/deploy/pathplanner/paths/L half.path b/src/main/deploy/pathplanner/paths/L half.path index 5b8119dbee..1863600341 100644 --- a/src/main/deploy/pathplanner/paths/L half.path +++ b/src/main/deploy/pathplanner/paths/L half.path @@ -40,7 +40,7 @@ "y": 6.370427960057061 }, "nextControl": { - "x": 9.0, + "x": 8.9, "y": 6.370427960057061 }, "isLocked": false, @@ -52,7 +52,7 @@ "y": 4.621 }, "prevControl": { - "x": 9.0, + "x": 8.9, "y": 4.621 }, "nextControl": { From fc56b5952fcab171e15272c7c2eaa2423b5e3e7a Mon Sep 17 00:00:00 2001 From: tomer-hershman Date: Sun, 15 Mar 2026 15:17:13 +0200 Subject: [PATCH 20/23] updated path --- src/main/deploy/pathplanner/paths/R half.path | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/src/main/deploy/pathplanner/paths/R half.path b/src/main/deploy/pathplanner/paths/R half.path index 029af859fd..f5184ef94f 100644 --- a/src/main/deploy/pathplanner/paths/R half.path +++ b/src/main/deploy/pathplanner/paths/R half.path @@ -36,11 +36,11 @@ "y": 1.915024096385541 }, "prevControl": { - "x": 6.805327182321852, + "x": 6.800000000000001, "y": 1.9150240963855412 }, "nextControl": { - "x": 9.0, + "x": 8.9, "y": 1.915024096385541 }, "isLocked": false, @@ -52,11 +52,11 @@ "y": 3.627432239657632 }, "prevControl": { - "x": 9.3, + "x": 8.9, "y": 3.627432239657632 }, "nextControl": { - "x": 7.6000000000000005, + "x": 7.300000000000001, "y": 3.627432239657632 }, "isLocked": false, From c9b6c2e6b0e2f1a768337f7d119db90dcf4d0826 Mon Sep 17 00:00:00 2001 From: tomer-hershman Date: Sun, 15 Mar 2026 15:20:03 +0200 Subject: [PATCH 21/23] readded autos --- .../pathplanner/paths/Depot-to-Outpost.path | 54 +++++++++++++++++++ .../deploy/pathplanner/paths/Outpost-to-depot | 54 +++++++++++++++++++ 2 files changed, 108 insertions(+) create mode 100644 src/main/deploy/pathplanner/paths/Depot-to-Outpost.path create mode 100644 src/main/deploy/pathplanner/paths/Outpost-to-depot diff --git a/src/main/deploy/pathplanner/paths/Depot-to-Outpost.path b/src/main/deploy/pathplanner/paths/Depot-to-Outpost.path new file mode 100644 index 0000000000..1f9d069b7c --- /dev/null +++ b/src/main/deploy/pathplanner/paths/Depot-to-Outpost.path @@ -0,0 +1,54 @@ +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 6.490904803240741, + "y": 5.359282986111111 + }, + "prevControl": null, + "nextControl": { + "x": 6.01217441807669, + "y": 3.6901959675661757 + }, + "isLocked": false, + "linkedName": "Depot" + }, + { + "anchor": { + "x": 3.532515946137491, + "y": 2.206215450035436 + }, + "prevControl": { + "x": 3.416068014611101, + "y": 3.7588545370539803 + }, + "nextControl": null, + "isLocked": false, + "linkedName": "Outpost" + } + ], + "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": 0.0 + }, + "reversed": false, + "folder": null, + "idealStartingState": { + "velocity": 0, + "rotation": 180.0 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Outpost-to-depot b/src/main/deploy/pathplanner/paths/Outpost-to-depot new file mode 100644 index 0000000000..fdfa3fbcd2 --- /dev/null +++ b/src/main/deploy/pathplanner/paths/Outpost-to-depot @@ -0,0 +1,54 @@ +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 3.532515946137491, + "y": 2.206215450035436 + }, + "prevControl": null, + "nextControl": { + "x": 3.3772520374356367, + "y": 3.797670514229443 + }, + "isLocked": false, + "linkedName": "Outpost" + }, + { + "anchor": { + "x": 6.490904803240741, + "y": 5.359282986111111 + }, + "prevControl": { + "x": 6.06392905431064, + "y": 2.9397537421738784 + }, + "nextControl": null, + "isLocked": false, + "linkedName": "Depot" + } + ], + "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": 180.0 + }, + "reversed": false, + "folder": null, + "idealStartingState": { + "velocity": 0, + "rotation": 0.0 + }, + "useDefaultConstraints": true +} \ No newline at end of file From d8191303af5fd6ad4e4b2025951003538712d6fd Mon Sep 17 00:00:00 2001 From: tomer-hershman Date: Sun, 15 Mar 2026 15:42:38 +0200 Subject: [PATCH 22/23] readded autos --- src/main/deploy/pathplanner/paths/L half.path | 46 ++++++++++++++++++- src/main/deploy/pathplanner/paths/R half.path | 29 +++++++++++- 2 files changed, 71 insertions(+), 4 deletions(-) diff --git a/src/main/deploy/pathplanner/paths/L half.path b/src/main/deploy/pathplanner/paths/L half.path index 1863600341..658767e640 100644 --- a/src/main/deploy/pathplanner/paths/L half.path +++ b/src/main/deploy/pathplanner/paths/L half.path @@ -136,10 +136,52 @@ { "waypointRelativePos": 5.0, "rotationDegrees": -45.0 + }, + { + "waypointRelativePos": 5.782515991471213, + "rotationDegrees": 0.0 + } + ], + "constraintZones": [ + { + "name": "Constraints Zone", + "minWaypointRelativePos": 4.7643484132343055, + "maxWaypointRelativePos": 5.8, + "constraints": { + "maxVelocity": 1.5, + "maxAcceleration": 2.0, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0, + "nominalVoltage": 12.0, + "unlimited": false + } + }, + { + "name": "Constraints Zone", + "minWaypointRelativePos": 5.801485482781905, + "maxWaypointRelativePos": 6.0, + "constraints": { + "maxVelocity": 0.5, + "maxAcceleration": 2.0, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0, + "nominalVoltage": 12.0, + "unlimited": false + } + } + ], + "pointTowardsZones": [ + { + "fieldPosition": { + "x": 8.1, + "y": 5.5 + }, + "rotationOffset": -90.0, + "minWaypointRelativePos": 1.5232950708980328, + "maxWaypointRelativePos": 3.61377447670493, + "name": "Point Towards Zone" } ], - "constraintZones": [], - "pointTowardsZones": [], "eventMarkers": [], "globalConstraints": { "maxVelocity": 4.2, diff --git a/src/main/deploy/pathplanner/paths/R half.path b/src/main/deploy/pathplanner/paths/R half.path index f5184ef94f..cf676dd797 100644 --- a/src/main/deploy/pathplanner/paths/R half.path +++ b/src/main/deploy/pathplanner/paths/R half.path @@ -138,8 +138,33 @@ "rotationDegrees": 45.0 } ], - "constraintZones": [], - "pointTowardsZones": [], + "constraintZones": [ + { + "name": "Constraints Zone", + "minWaypointRelativePos": 4.780553679946003, + "maxWaypointRelativePos": 6.0, + "constraints": { + "maxVelocity": 1.5, + "maxAcceleration": 2.0, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0, + "nominalVoltage": 12.0, + "unlimited": false + } + } + ], + "pointTowardsZones": [ + { + "fieldPosition": { + "x": 8.1, + "y": 2.7 + }, + "rotationOffset": 90.0, + "minWaypointRelativePos": 1.4584740040513338, + "maxWaypointRelativePos": 3.61377447670494, + "name": "Point Towards Zone" + } + ], "eventMarkers": [], "globalConstraints": { "maxVelocity": 4.2, From d5825d663221ced880ccb0c6e9aa74471240163b Mon Sep 17 00:00:00 2001 From: tomer-hershman Date: Sun, 15 Mar 2026 17:25:15 +0200 Subject: [PATCH 23/23] did some shit --- src/main/deploy/pathplanner/paths/L half.path | 26 +++++-------------- ...Outpost-to-depot => Outpost-to-Depot.path} | 0 src/main/deploy/pathplanner/paths/R half.path | 16 ++++++------ 3 files changed, 15 insertions(+), 27 deletions(-) rename src/main/deploy/pathplanner/paths/{Outpost-to-depot => Outpost-to-Depot.path} (100%) diff --git a/src/main/deploy/pathplanner/paths/L half.path b/src/main/deploy/pathplanner/paths/L half.path index 658767e640..430b26f138 100644 --- a/src/main/deploy/pathplanner/paths/L half.path +++ b/src/main/deploy/pathplanner/paths/L half.path @@ -24,7 +24,7 @@ "y": 5.71 }, "nextControl": { - "x": 8.0, + "x": 7.0, "y": 5.71 }, "isLocked": false, @@ -32,15 +32,15 @@ }, { "anchor": { - "x": 8.3, + "x": 8.1, "y": 6.370427960057061 }, "prevControl": { - "x": 6.800000000000001, + "x": 7.85, "y": 6.370427960057061 }, "nextControl": { - "x": 8.9, + "x": 8.95, "y": 6.370427960057061 }, "isLocked": false, @@ -48,15 +48,15 @@ }, { "anchor": { - "x": 8.3, + "x": 8.1, "y": 4.621 }, "prevControl": { - "x": 8.9, + "x": 8.95, "y": 4.621 }, "nextControl": { - "x": 7.300000000000001, + "x": 7.1, "y": 4.621 }, "isLocked": false, @@ -117,18 +117,6 @@ "waypointRelativePos": 1.2157676348547723, "rotationDegrees": -135.0 }, - { - "waypointRelativePos": 2.0, - "rotationDegrees": 135.0 - }, - { - "waypointRelativePos": 3.0, - "rotationDegrees": -0.0 - }, - { - "waypointRelativePos": 3.54371002132197, - "rotationDegrees": -45.0 - }, { "waypointRelativePos": 4.360995850622402, "rotationDegrees": -45.0 diff --git a/src/main/deploy/pathplanner/paths/Outpost-to-depot b/src/main/deploy/pathplanner/paths/Outpost-to-Depot.path similarity index 100% rename from src/main/deploy/pathplanner/paths/Outpost-to-depot rename to src/main/deploy/pathplanner/paths/Outpost-to-Depot.path diff --git a/src/main/deploy/pathplanner/paths/R half.path b/src/main/deploy/pathplanner/paths/R half.path index cf676dd797..3abadb0b79 100644 --- a/src/main/deploy/pathplanner/paths/R half.path +++ b/src/main/deploy/pathplanner/paths/R half.path @@ -24,7 +24,7 @@ "y": 2.5 }, "nextControl": { - "x": 8.0, + "x": 7.0, "y": 2.5 }, "isLocked": false, @@ -32,15 +32,15 @@ }, { "anchor": { - "x": 8.3, + "x": 8.1, "y": 1.915024096385541 }, "prevControl": { - "x": 6.800000000000001, - "y": 1.9150240963855412 + "x": 7.85, + "y": 1.915024096385541 }, "nextControl": { - "x": 8.9, + "x": 8.950000000000001, "y": 1.915024096385541 }, "isLocked": false, @@ -48,15 +48,15 @@ }, { "anchor": { - "x": 8.3, + "x": 8.1, "y": 3.627432239657632 }, "prevControl": { - "x": 8.9, + "x": 8.95, "y": 3.627432239657632 }, "nextControl": { - "x": 7.300000000000001, + "x": 7.1, "y": 3.627432239657632 }, "isLocked": false,