Skip to content

double swipe #200

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
tomer-hershman wants to merge 4 commits into
base: master
Choose a base branch
from
Open

double swipe #200

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
4 commits
Select commit Hold shift + click to select a range
1b4fcd2
did the job
tomer-hershman Mar 16, 2026
613b5b9
did the job
tomer-hershman Mar 22, 2026
64d2712
merged master
tomer-hershman Mar 22, 2026
1866eb8
sA
tomer-hershman Mar 22, 2026
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
177 changes: 177 additions & 0 deletions src/main/deploy/pathplanner/paths/L double swipe.path
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,177 @@
{
"version": "2025.0",
"waypoints": [
{
"anchor": {
"x": 0.698,
"y": 5.973061658398299
},
"prevControl": null,
"nextControl": {
"x": 1.8654972376756007,
"y": 5.958348923312778
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 5.569672364672364,
"y": 5.71
},
"prevControl": {
"x": 5.319684140380445,
"y": 5.707573538507863
},
"nextControl": {
"x": 6.673958188657408,
"y": 5.720718532986112
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 8.27038794626047,
"y": 4.664813513445185
},
"prevControl": {
"x": 8.701588101689149,
"y": 7.251925360442475
},
"nextControl": {
"x": 8.201584412594418,
"y": 4.252006526198716
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 6.281156626506024,
"y": 5.166018072289157
},
"prevControl": {
"x": 7.4229657958013675,
"y": 3.494083217249549
},
"nextControl": {
"x": 5.975180722891566,
"y": 5.61405421686747
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 5.569672364672364,
"y": 5.5811697574893016
},
"prevControl": {
"x": 6.057980778775294,
"y": 5.5811697574893016
},
"nextControl": {
"x": 5.081363950569434,
"y": 5.5811697574893016
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 3.508573466476462,
"y": 5.5811697574893016
},
"prevControl": {
"x": 4.098255113043399,
"y": 5.5811697574893016
},
"nextControl": null,
"isLocked": false,
"linkedName": null
}
],
"rotationTargets": [
{
"waypointRelativePos": 1.0,
"rotationDegrees": -135.0
},
{
"waypointRelativePos": 1.3571134868421066,
"rotationDegrees": 180.0
},
{
"waypointRelativePos": 1.7769325657894743,
"rotationDegrees": 96.86659894451316
},
{
"waypointRelativePos": 3.0,
"rotationDegrees": -52.86053644571499
},
{
"waypointRelativePos": 3.9,
"rotationDegrees": -45.0
}
],
"constraintZones": [
{
"name": "Constraints Zone",
"minWaypointRelativePos": 3.8,
"maxWaypointRelativePos": 4.4,
"constraints": {
"maxVelocity": 1.5,
"maxAcceleration": 2.0,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0,
"nominalVoltage": 12.0,
"unlimited": false
}
},
{
"name": "Constraints Zone",
"minWaypointRelativePos": 4.7,
"maxWaypointRelativePos": 5.0,
"constraints": {
"maxVelocity": 0.5,
"maxAcceleration": 2.0,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0,
"nominalVoltage": 12.0,
"unlimited": false
}
}
],
"pointTowardsZones": [
{
"fieldPosition": {
"x": 7.9,
"y": 5.01
},
"rotationOffset": -90.0,
"minWaypointRelativePos": 1.9292722176079757,
"maxWaypointRelativePos": 2.8679401993355524,
"name": "Point Towards Zone"
}
],
"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
}
172 changes: 172 additions & 0 deletions src/main/deploy/pathplanner/paths/R double swipe.path
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,172 @@
{
"version": "2025.0",
"waypoints": [
{
"anchor": {
"x": 0.8610120481968198,
"y": 0.636
},
"prevControl": null,
"nextControl": {
"x": 2.2269759036185066,
"y": 2.024301204820622
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 3.395203052662038,
"y": 2.5
},
"prevControl": {
"x": 2.501209268016166,
"y": 2.5
},
"nextControl": {
"x": 4.28919683730791,
"y": 2.5
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 5.569672364672364,
"y": 2.5
},
"prevControl": {
"x": 5.319684140380445,
"y": 2.5024264614921368
},
"nextControl": {
"x": 6.673958188657408,
"y": 2.4892814670138885
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 8.27038794626047,
"y": 3.5451864865548153
},
"prevControl": {
"x": 8.701588101689149,
"y": 0.9580746395575246
},
"nextControl": {
"x": 8.201584412594418,
"y": 3.9579934738012836
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 6.996921686746987,
"y": 3.1443915662650603
},
"prevControl": {
"x": 7.412174698795181,
"y": 4.297265060240964
},
"nextControl": {
"x": 6.855944174235065,
"y": 2.752993472317489
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 3.395203052662038,
"y": 2.342529188588278
},
"prevControl": {
"x": 3.9848846992289753,
"y": 2.3425291885882786
},
"nextControl": null,
"isLocked": false,
"linkedName": null
}
],
"rotationTargets": [
{
"waypointRelativePos": 1.0,
"rotationDegrees": 135.0
},
{
"waypointRelativePos": 2.0,
"rotationDegrees": 135.0
},
{
"waypointRelativePos": 2.3571134868421066,
"rotationDegrees": 180.0
},
{
"waypointRelativePos": 2.7769325657894743,
"rotationDegrees": -96.86659894451316
},
{
"waypointRelativePos": 3.580468749999996,
"rotationDegrees": 68.48048252063953
},
{
"waypointRelativePos": 4.2,
"rotationDegrees": 45.0
},
{
"waypointRelativePos": 4.45,
"rotationDegrees": 45.0
}
],
"constraintZones": [
{
"name": "Constraints Zone",
"minWaypointRelativePos": 4.4,
"maxWaypointRelativePos": 5.0,
"constraints": {
"maxVelocity": 1.5,
"maxAcceleration": 2.0,
"maxAngularVelocity": 540.0,
"maxAngularAcceleration": 720.0,
"nominalVoltage": 12.0,
"unlimited": false
}
}
],
"pointTowardsZones": [
{
"fieldPosition": {
"x": 7.9,
"y": 3.2
},
"rotationOffset": 90.0,
"minWaypointRelativePos": 2.9292722176079757,
"maxWaypointRelativePos": 3.8679401993355524,
"name": "Point Towards Zone"
}
],
"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": 0.0
},
"useDefaultConstraints": true
}
1 change: 1 addition & 0 deletions src/main/java/frc/robot/autonomous/AutonomousConstants.java
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -24,6 +24,7 @@ public class AutonomousConstants {
public static final double TIME_TO_WAIT_TO_START_SHOOTING_AFTER_AUTO_START = 2.0;
public static final double TIME_TO_WAIT_TO_START_WIGGLE_AFTER_PATH_END = 2.0;
public static final double TIME_BETWEEN_WIGGLES_SECONDS = 0.3;
public static final double TIME_TO_EMPTY_TANK_AFTER_END_OF_PATH = 10;
public static final double TIME_TO_WAIT_AT_DEPOT = 2;
public static final Rotation2d WIGGLE_RANGE = Rotation2d.fromDegrees(5);

Expand Down
Loading
Loading