From 6f55668af95a20fec11ba07f78b3e1ed106b05d1 Mon Sep 17 00:00:00 2001 From: itamaroryan Date: Mon, 16 Mar 2026 19:02:21 +0200 Subject: [PATCH 1/8] auto --- .../deploy/pathplanner/paths/R quarter.path | 2 +- .../deploy/pathplanner/paths/R seven.path | 169 ++++++++++++++++++ 2 files changed, 170 insertions(+), 1 deletion(-) create mode 100644 src/main/deploy/pathplanner/paths/R seven.path diff --git a/src/main/deploy/pathplanner/paths/R quarter.path b/src/main/deploy/pathplanner/paths/R quarter.path index c104be027c..ebe4302f9c 100644 --- a/src/main/deploy/pathplanner/paths/R quarter.path +++ b/src/main/deploy/pathplanner/paths/R quarter.path @@ -12,7 +12,7 @@ "y": 2.5147127350855207 }, "isLocked": false, - "linkedName": null + "linkedName": "starting line right" }, { "anchor": { diff --git a/src/main/deploy/pathplanner/paths/R seven.path b/src/main/deploy/pathplanner/paths/R seven.path new file mode 100644 index 0000000000..0ccd868e6e --- /dev/null +++ b/src/main/deploy/pathplanner/paths/R seven.path @@ -0,0 +1,169 @@ +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 3.395203052662038, + "y": 2.5 + }, + "prevControl": null, + "nextControl": { + "x": 3.700185248731214, + "y": 2.5 + }, + "isLocked": false, + "linkedName": "starting line right" + }, + { + "anchor": { + "x": 5.68226818830826, + "y": 2.3335663338034864 + }, + "prevControl": { + "x": 4.931273095486775, + "y": 2.4293133162224 + }, + "nextControl": { + "x": 6.433263281129745, + "y": 2.237819351384573 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 7.713637660485022, + "y": 1.4278601997146938 + }, + "prevControl": { + "x": 7.605644565621945, + "y": -0.37202471438450924 + }, + "nextControl": { + "x": 7.752453637666319, + "y": 2.074793152633729 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 7.713637660485022, + "y": 3.7180028530670475 + }, + "prevControl": { + "x": 7.777274692085099, + "y": 2.667991831442249 + }, + "nextControl": { + "x": 7.687760342373879, + "y": 4.144978601991789 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 5.9281027104195285, + "y": 2.644094151207196 + }, + "prevControl": { + "x": 6.173522772446481, + "y": 2.6977797897716598 + }, + "nextControl": { + "x": 5.514065620542081, + "y": 2.5535235378031382 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 3.395203052662038, + "y": 2.1653637660485026 + }, + "prevControl": { + "x": 3.6315871896001, + "y": 2.246742754762098 + }, + "nextControl": { + "x": 3.09453637660485, + "y": 2.0618544935805994 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 0.4809272467902993, + "y": 0.71623395149786 + }, + "prevControl": { + "x": 0.730063686351519, + "y": 0.7369953214612982 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [ + { + "waypointRelativePos": 0.9722814498933869, + "rotationDegrees": 135.0 + }, + { + "waypointRelativePos": 2.046908315565027, + "rotationDegrees": -90.0 + }, + { + "waypointRelativePos": 2.910447761194019, + "rotationDegrees": -90.0 + }, + { + "waypointRelativePos": 3.955223880597019, + "rotationDegrees": 45.0 + }, + { + "waypointRelativePos": 5.15, + "rotationDegrees": 45.0 + } + ], + "constraintZones": [ + { + "name": "Constraints Zone", + "minWaypointRelativePos": 5.6, + "maxWaypointRelativePos": 6.0, + "constraints": { + "maxVelocity": 1.5, + "maxAcceleration": 2.0, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0, + "nominalVoltage": 12.0, + "unlimited": false + } + } + ], + "pointTowardsZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 4.2, + "maxAcceleration": 2.0, + "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": 135.0 + }, + "useDefaultConstraints": true +} \ No newline at end of file From 3e2c52c28478d871e68e6bbe761ece415a767da9 Mon Sep 17 00:00:00 2001 From: Spiderh0ok Date: Thu, 19 Mar 2026 22:53:05 +0200 Subject: [PATCH 2/8] w sigma code --- .../pathplanner/paths/Depot-to-Outpost.path | 8 +- .../deploy/pathplanner/paths/L quarter.path | 10 +-- .../pathplanner/paths/Outpost-to-Depot.path | 8 +- .../deploy/pathplanner/paths/R seven.path | 30 +++---- .../frc/robot/autonomous/AutosBuilder.java | 81 ++++++++++++++++++- 5 files changed, 108 insertions(+), 29 deletions(-) diff --git a/src/main/deploy/pathplanner/paths/Depot-to-Outpost.path b/src/main/deploy/pathplanner/paths/Depot-to-Outpost.path index 1f9d069b7c..c36bb7d882 100644 --- a/src/main/deploy/pathplanner/paths/Depot-to-Outpost.path +++ b/src/main/deploy/pathplanner/paths/Depot-to-Outpost.path @@ -3,13 +3,13 @@ "waypoints": [ { "anchor": { - "x": 6.490904803240741, - "y": 5.359282986111111 + "x": 0.7357159090909089, + "y": 5.941761363636363 }, "prevControl": null, "nextControl": { - "x": 6.01217441807669, - "y": 3.6901959675661757 + "x": 0.2569855239268577, + "y": 4.272674345091428 }, "isLocked": false, "linkedName": "Depot" diff --git a/src/main/deploy/pathplanner/paths/L quarter.path b/src/main/deploy/pathplanner/paths/L quarter.path index 555c2c8b49..146c30d5f9 100644 --- a/src/main/deploy/pathplanner/paths/L quarter.path +++ b/src/main/deploy/pathplanner/paths/L quarter.path @@ -3,16 +3,16 @@ "waypoints": [ { "anchor": { - "x": 3.395203052662038, + "x": 3.395, "y": 5.71 }, "prevControl": null, "nextControl": { - "x": 4.562700290337638, + "x": 4.562497237675601, "y": 5.695287264914479 }, "isLocked": false, - "linkedName": null + "linkedName": "starting line left" }, { "anchor": { @@ -105,7 +105,7 @@ }, "nextControl": null, "isLocked": false, - "linkedName": null + "linkedName": "DepotBalls" } ], "rotationTargets": [ @@ -191,7 +191,7 @@ "folder": null, "idealStartingState": { "velocity": 0, - "rotation": -135.0 + "rotation": 135.0 }, "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 fdfa3fbcd2..0685c9e2bf 100644 --- a/src/main/deploy/pathplanner/paths/Outpost-to-Depot.path +++ b/src/main/deploy/pathplanner/paths/Outpost-to-Depot.path @@ -16,12 +16,12 @@ }, { "anchor": { - "x": 6.490904803240741, - "y": 5.359282986111111 + "x": 0.7357159090909089, + "y": 5.941761363636363 }, "prevControl": { - "x": 6.06392905431064, - "y": 2.9397537421738784 + "x": 0.3087401601608084, + "y": 3.5222321196991304 }, "nextControl": null, "isLocked": false, diff --git a/src/main/deploy/pathplanner/paths/R seven.path b/src/main/deploy/pathplanner/paths/R seven.path index 0ccd868e6e..a101b63e38 100644 --- a/src/main/deploy/pathplanner/paths/R seven.path +++ b/src/main/deploy/pathplanner/paths/R seven.path @@ -16,15 +16,15 @@ }, { "anchor": { - "x": 5.68226818830826, + "x": 5.682, "y": 2.3335663338034864 }, "prevControl": { - "x": 4.931273095486775, + "x": 4.931004907178515, "y": 2.4293133162224 }, "nextControl": { - "x": 6.433263281129745, + "x": 6.432995092821486, "y": 2.237819351384573 }, "isLocked": false, @@ -32,32 +32,32 @@ }, { "anchor": { - "x": 7.713637660485022, - "y": 1.4278601997146938 + "x": 8.239079545454544, + "y": 1.5407500000000005 }, "prevControl": { - "x": 7.605644565621945, - "y": -0.37202471438450924 + "x": 8.012329545454545, + "y": -0.32478409090909044 }, "nextControl": { - "x": 7.752453637666319, - "y": 2.074793152633729 + "x": 8.317278169587606, + "y": 2.1841114076401977 }, "isLocked": false, "linkedName": null }, { "anchor": { - "x": 7.713637660485022, - "y": 3.7180028530670475 + "x": 8.239079545454544, + "y": 3.901011363636364 }, "prevControl": { - "x": 7.777274692085099, - "y": 2.667991831442249 + "x": 8.302716577054621, + "y": 2.8510003420115657 }, "nextControl": { - "x": 7.687760342373879, - "y": 4.144978601991789 + "x": 8.213202227343402, + "y": 4.327987112561106 }, "isLocked": false, "linkedName": null diff --git a/src/main/java/frc/robot/autonomous/AutosBuilder.java b/src/main/java/frc/robot/autonomous/AutosBuilder.java index 9694149a92..2bebd31db9 100644 --- a/src/main/java/frc/robot/autonomous/AutosBuilder.java +++ b/src/main/java/frc/robot/autonomous/AutosBuilder.java @@ -58,6 +58,30 @@ public static List> getAutoList( stuckIsNearEndOfPathTolerance, stuckDebounceSeconds, AllianceSide.DEPOT + ), + getSevenAuto( + robot, + resetSubsystems, + openIntake, + closeIntake, + scoreSequence, + pathfindingConstraints, + regularIsNearEndOfPathTolerance, + stuckIsNearEndOfPathTolerance, + stuckDebounceSeconds, + AllianceSide.DEPOT + ), + getSevenAuto( + robot, + resetSubsystems, + openIntake, + closeIntake, + scoreSequence, + pathfindingConstraints, + regularIsNearEndOfPathTolerance, + stuckIsNearEndOfPathTolerance, + stuckDebounceSeconds, + AllianceSide.OUTPOST ) ); } @@ -88,7 +112,6 @@ private static Supplier getQuarterAuto( stuckIsNearEndOfPathTolerance, stuckDebounceSeconds, robot.getSwerve().getLogPath() - ) .asProxy() .alongWith(new InstantCommand(() -> hasPathEnded = false)) @@ -120,5 +143,61 @@ private static Supplier getQuarterAuto( ); } + private static Supplier getSevenAuto( + Robot robot, + Supplier resetSubsystems, + Supplier openIntake, + Supplier closeIntake, + Supplier scoreSequence, + PathConstraints pathfindingConstraints, + Pose2d regularIsNearEndOfPathTolerance, + Pose2d stuckIsNearEndOfPathTolerance, + double stuckDebounceSeconds, + AllianceSide startingSide + ) { + return () -> new PathPlannerAutoWrapper( + new ParallelCommandGroup( + PathFollowingCommandsBuilder + .followAdjustedPathThenStop( + robot.getSwerve(), + () -> robot.getPoseEstimator().getEstimatedPose(), + startingSide == AllianceSide.DEPOT + ? PathHelper.PATH_PLANNER_PATHS.get("L seven") + : PathHelper.PATH_PLANNER_PATHS.get("R seven"), + pathfindingConstraints, + regularIsNearEndOfPathTolerance, + stuckIsNearEndOfPathTolerance, + stuckDebounceSeconds, + robot.getSwerve().getLogPath() + ) + .asProxy() + .alongWith(new InstantCommand(() -> hasPathEnded = false)) + .andThen(new InstantCommand(() -> hasPathEnded = true)), + new SequentialCommandGroup( + resetSubsystems.get(), + new ParallelCommandGroup( + new WaitCommand(AutonomousConstants.TIME_TO_WAIT_TO_START_SHOOTING_AFTER_AUTO_START).andThen(scoreSequence.get()), + openIntake.get() + .until(() -> hasPathEnded) + .andThen( + new ParallelCommandGroup( + new WaitCommand(AutonomousConstants.TIME_TO_WAIT_TO_START_WIGGLE_AFTER_PATH_END) + .andThen( + robot.getSwerve() + .getCommandsBuilder() + .wiggle(AutonomousConstants.WIGGLE_RANGE, AutonomousConstants.TIME_BETWEEN_WIGGLES_SECONDS) + ) + .asProxy(), + new WaitCommand(AutonomousConstants.TIME_TO_WAIT_TO_CLOSE_INTAKE_AFTER_PATH_END_SECONDS) + .andThen(closeIntake.get()) + ) + ) + ) + ) + ), + new Pose2d(), + startingSide == AllianceSide.OUTPOST ? "R seven" : "L seven" + ); + } } From 26121f9d1aef30b67164bfaa32a1382f718ff38e Mon Sep 17 00:00:00 2001 From: Spiderh0ok Date: Thu, 19 Mar 2026 22:53:40 +0200 Subject: [PATCH 3/8] forgot to do git add . --- .../deploy/pathplanner/paths/L seven.path | 139 ++++++++++++++++++ 1 file changed, 139 insertions(+) create mode 100644 src/main/deploy/pathplanner/paths/L seven.path diff --git a/src/main/deploy/pathplanner/paths/L seven.path b/src/main/deploy/pathplanner/paths/L seven.path new file mode 100644 index 0000000000..5b879bf61f --- /dev/null +++ b/src/main/deploy/pathplanner/paths/L seven.path @@ -0,0 +1,139 @@ +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 3.395, + "y": 5.71 + }, + "prevControl": null, + "nextControl": { + "x": 4.4152499999999995, + "y": 5.601636363636365 + }, + "isLocked": false, + "linkedName": "starting line left" + }, + { + "anchor": { + "x": 6.105568181818182, + "y": 5.477954545454545 + }, + "prevControl": { + "x": 5.889893689293765, + "y": 5.351524670526438 + }, + "nextControl": { + "x": 6.404465909090909, + "y": 5.653170454545455 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 8.239, + "y": 7.4465568181818185 + }, + "prevControl": { + "x": 8.12296609654913, + "y": 8.049933116126335 + }, + "nextControl": { + "x": 8.290534090909093, + "y": 7.178579545454545 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 8.239, + "y": 4.282363636363637 + }, + "prevControl": { + "x": 8.249386363636363, + "y": 5.416113636363637 + }, + "nextControl": { + "x": 8.236709828484035, + "y": 4.032374126354866 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 5.858204545454544, + "y": 5.251204545454545 + }, + "prevControl": { + "x": 7.393920454545453, + "y": 4.746170454545453 + }, + "nextControl": { + "x": 5.620716873612638, + "y": 5.3293045180736955 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 0.698, + "y": 5.973061658398299 + }, + "prevControl": { + "x": 3.374261363636363, + "y": 5.405806818181818 + }, + "nextControl": null, + "isLocked": false, + "linkedName": "DepotBalls" + } + ], + "rotationTargets": [ + { + "waypointRelativePos": 0.7940251572327044, + "rotationDegrees": 135.0 + }, + { + "waypointRelativePos": 1.85, + "rotationDegrees": 90.0 + }, + { + "waypointRelativePos": 3.042452830188687, + "rotationDegrees": 90.0 + }, + { + "waypointRelativePos": 3.977987421383667, + "rotationDegrees": 45.0 + }, + { + "waypointRelativePos": 4.638364779874225, + "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": 0.0 + }, + "reversed": false, + "folder": null, + "idealStartingState": { + "velocity": 0, + "rotation": 135.0 + }, + "useDefaultConstraints": true +} \ No newline at end of file From b780c0da605a56d5adc2640cadf72d9d2d521bae Mon Sep 17 00:00:00 2001 From: Spiderh0ok Date: Thu, 19 Mar 2026 22:59:19 +0200 Subject: [PATCH 4/8] pull fix --- .../frc/robot/autonomous/AutosBuilder.java | 26 +++++++++++++++++++ 1 file changed, 26 insertions(+) diff --git a/src/main/java/frc/robot/autonomous/AutosBuilder.java b/src/main/java/frc/robot/autonomous/AutosBuilder.java index 192d61c0c1..027f8dbb6e 100644 --- a/src/main/java/frc/robot/autonomous/AutosBuilder.java +++ b/src/main/java/frc/robot/autonomous/AutosBuilder.java @@ -303,4 +303,30 @@ private static Supplier getSevenAuto( ); } + private static Command getAllianceSideToStartingLineAuto( + Robot robot, + AllianceSide allianceSide, + PathConstraints pathfindingConstraints, + Pose2d regularIsNearEndOfPathTolerance, + Pose2d stuckIsNearEndOfPathTolerance, + double stuckDebounceSeconds + ) { + return PathFollowingCommandsBuilder + .followAdjustedPathThenStop( + robot.getSwerve(), + () -> robot.getPoseEstimator().getEstimatedPose(), + allianceSide == AllianceSide.DEPOT + ? PathHelper.PATH_PLANNER_PATHS.get("Depot - Starting line") + : PathHelper.PATH_PLANNER_PATHS.get("Outpost - Starting line"), + pathfindingConstraints, + regularIsNearEndOfPathTolerance, + stuckIsNearEndOfPathTolerance, + stuckDebounceSeconds, + robot.getSwerve().getLogPath() + ) + .andThen( + robot.getSwerve().getCommandsBuilder().wiggle(AutonomousConstants.WIGGLE_RANGE, AutonomousConstants.TIME_BETWEEN_WIGGLES_SECONDS) + ); + } + } From 0f5f3a2b9ec49d304413df5d1f0a0f1bc01ef09d Mon Sep 17 00:00:00 2001 From: Spiderh0ok Date: Thu, 19 Mar 2026 23:02:53 +0200 Subject: [PATCH 5/8] spotLess --- .../frc/robot/autonomous/AutosBuilder.java | 50 +++++++++---------- 1 file changed, 25 insertions(+), 25 deletions(-) diff --git a/src/main/java/frc/robot/autonomous/AutosBuilder.java b/src/main/java/frc/robot/autonomous/AutosBuilder.java index 027f8dbb6e..b37309417f 100644 --- a/src/main/java/frc/robot/autonomous/AutosBuilder.java +++ b/src/main/java/frc/robot/autonomous/AutosBuilder.java @@ -303,30 +303,30 @@ private static Supplier getSevenAuto( ); } - private static Command getAllianceSideToStartingLineAuto( - Robot robot, - AllianceSide allianceSide, - PathConstraints pathfindingConstraints, - Pose2d regularIsNearEndOfPathTolerance, - Pose2d stuckIsNearEndOfPathTolerance, - double stuckDebounceSeconds - ) { - return PathFollowingCommandsBuilder - .followAdjustedPathThenStop( - robot.getSwerve(), - () -> robot.getPoseEstimator().getEstimatedPose(), - allianceSide == AllianceSide.DEPOT - ? PathHelper.PATH_PLANNER_PATHS.get("Depot - Starting line") - : PathHelper.PATH_PLANNER_PATHS.get("Outpost - Starting line"), - pathfindingConstraints, - regularIsNearEndOfPathTolerance, - stuckIsNearEndOfPathTolerance, - stuckDebounceSeconds, - robot.getSwerve().getLogPath() - ) - .andThen( - robot.getSwerve().getCommandsBuilder().wiggle(AutonomousConstants.WIGGLE_RANGE, AutonomousConstants.TIME_BETWEEN_WIGGLES_SECONDS) - ); - } + private static Command getAllianceSideToStartingLineAuto( + Robot robot, + AllianceSide allianceSide, + PathConstraints pathfindingConstraints, + Pose2d regularIsNearEndOfPathTolerance, + Pose2d stuckIsNearEndOfPathTolerance, + double stuckDebounceSeconds + ) { + return PathFollowingCommandsBuilder + .followAdjustedPathThenStop( + robot.getSwerve(), + () -> robot.getPoseEstimator().getEstimatedPose(), + allianceSide == AllianceSide.DEPOT + ? PathHelper.PATH_PLANNER_PATHS.get("Depot - Starting line") + : PathHelper.PATH_PLANNER_PATHS.get("Outpost - Starting line"), + pathfindingConstraints, + regularIsNearEndOfPathTolerance, + stuckIsNearEndOfPathTolerance, + stuckDebounceSeconds, + robot.getSwerve().getLogPath() + ) + .andThen( + robot.getSwerve().getCommandsBuilder().wiggle(AutonomousConstants.WIGGLE_RANGE, AutonomousConstants.TIME_BETWEEN_WIGGLES_SECONDS) + ); + } } From c1149a7cf783df583d79629fcf160422657cc632 Mon Sep 17 00:00:00 2001 From: Spiderh0ok Date: Thu, 19 Mar 2026 23:06:22 +0200 Subject: [PATCH 6/8] path changes fix --- src/main/deploy/pathplanner/paths/L quarter.path | 2 +- src/main/deploy/pathplanner/paths/Outpost-to-Depot.path | 8 ++++---- 2 files changed, 5 insertions(+), 5 deletions(-) diff --git a/src/main/deploy/pathplanner/paths/L quarter.path b/src/main/deploy/pathplanner/paths/L quarter.path index b5a0c7f830..d77532e026 100644 --- a/src/main/deploy/pathplanner/paths/L quarter.path +++ b/src/main/deploy/pathplanner/paths/L quarter.path @@ -3,7 +3,7 @@ "waypoints": [ { "anchor": { - "x": 3.395, + "x": 3.395203052662038, "y": 5.71 }, "prevControl": null, diff --git a/src/main/deploy/pathplanner/paths/Outpost-to-Depot.path b/src/main/deploy/pathplanner/paths/Outpost-to-Depot.path index 0685c9e2bf..fdfa3fbcd2 100644 --- a/src/main/deploy/pathplanner/paths/Outpost-to-Depot.path +++ b/src/main/deploy/pathplanner/paths/Outpost-to-Depot.path @@ -16,12 +16,12 @@ }, { "anchor": { - "x": 0.7357159090909089, - "y": 5.941761363636363 + "x": 6.490904803240741, + "y": 5.359282986111111 }, "prevControl": { - "x": 0.3087401601608084, - "y": 3.5222321196991304 + "x": 6.06392905431064, + "y": 2.9397537421738784 }, "nextControl": null, "isLocked": false, From 017db5eb9ca764a85a8d171d6fad7386edb0d93a Mon Sep 17 00:00:00 2001 From: Spiderh0ok Date: Thu, 19 Mar 2026 23:09:15 +0200 Subject: [PATCH 7/8] fix --- src/main/deploy/pathplanner/paths/Depot-to-Outpost.path | 8 ++++---- src/main/deploy/pathplanner/paths/L quarter.path | 4 ++-- src/main/deploy/pathplanner/paths/L seven.path | 4 ++-- 3 files changed, 8 insertions(+), 8 deletions(-) diff --git a/src/main/deploy/pathplanner/paths/Depot-to-Outpost.path b/src/main/deploy/pathplanner/paths/Depot-to-Outpost.path index c36bb7d882..1f9d069b7c 100644 --- a/src/main/deploy/pathplanner/paths/Depot-to-Outpost.path +++ b/src/main/deploy/pathplanner/paths/Depot-to-Outpost.path @@ -3,13 +3,13 @@ "waypoints": [ { "anchor": { - "x": 0.7357159090909089, - "y": 5.941761363636363 + "x": 6.490904803240741, + "y": 5.359282986111111 }, "prevControl": null, "nextControl": { - "x": 0.2569855239268577, - "y": 4.272674345091428 + "x": 6.01217441807669, + "y": 3.6901959675661757 }, "isLocked": false, "linkedName": "Depot" diff --git a/src/main/deploy/pathplanner/paths/L quarter.path b/src/main/deploy/pathplanner/paths/L quarter.path index d77532e026..eff3527dd9 100644 --- a/src/main/deploy/pathplanner/paths/L quarter.path +++ b/src/main/deploy/pathplanner/paths/L quarter.path @@ -12,7 +12,7 @@ "y": 5.695287264914479 }, "isLocked": false, - "linkedName": "starting line left" + "linkedName": null }, { "anchor": { @@ -191,7 +191,7 @@ "folder": null, "idealStartingState": { "velocity": 0, - "rotation": 135.0 + "rotation": -135.0 }, "useDefaultConstraints": true } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/L seven.path b/src/main/deploy/pathplanner/paths/L seven.path index 5b879bf61f..1a6dab3949 100644 --- a/src/main/deploy/pathplanner/paths/L seven.path +++ b/src/main/deploy/pathplanner/paths/L seven.path @@ -12,7 +12,7 @@ "y": 5.601636363636365 }, "isLocked": false, - "linkedName": "starting line left" + "linkedName": null }, { "anchor": { @@ -57,7 +57,7 @@ }, "nextControl": { "x": 8.236709828484035, - "y": 4.032374126354866 + "y": 4.032374126354862 }, "isLocked": false, "linkedName": null From c291e1c18f2290dda361a566ac449de230390b85 Mon Sep 17 00:00:00 2001 From: Spiderh0ok Date: Thu, 19 Mar 2026 23:10:32 +0200 Subject: [PATCH 8/8] code --- src/main/deploy/pathplanner/paths/L quarter.path | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/deploy/pathplanner/paths/L quarter.path b/src/main/deploy/pathplanner/paths/L quarter.path index eff3527dd9..d9774957d4 100644 --- a/src/main/deploy/pathplanner/paths/L quarter.path +++ b/src/main/deploy/pathplanner/paths/L quarter.path @@ -8,7 +8,7 @@ }, "prevControl": null, "nextControl": { - "x": 4.562497237675601, + "x": 4.562700290337638, "y": 5.695287264914479 }, "isLocked": false,