From 88b748f3a6b86dc0d5ff6bd2170ff06a36f4674f Mon Sep 17 00:00:00 2001 From: Cindy Guo Date: Mon, 23 Feb 2026 20:17:49 -0500 Subject: [PATCH 01/11] fixed names for all the red auto paths --- .../pathplanner/autos/Left Trench shoot and Human Player.auto | 2 +- .../paths/{Hub to Center.path => Red Hub to Center.path} | 0 .../paths/{Hub to Depot.path => Red Hub to Depot.path} | 0 .../{Hub to Human Player.path => Red Hub to Human Player.path} | 0 ...uman Player to Tower.path => Red Human Player to Tower.path} | 0 .../paths/{LB to Depot.path => Red LB to Depot.path} | 0 .../{LB to Human Player.path => Red LB to Human Player.path} | 0 .../paths/{LB to Tower.path => Red LB to Tower.path} | 0 .../paths/{LT to Center.path => Red LT to Center.path} | 0 .../paths/{LT to Depot.path => Red LT to Depot.path} | 0 .../pathplanner/paths/{LT to Hub.path => Red LT to Hub.path} | 0 .../{LT to Human Player.path => Red LT to Human Player.path} | 0 .../paths/{RB to Depot.path => Red RB to Depot.path} | 0 .../{RB to Human Player.path => Red RB to Human Player.path} | 0 .../paths/{RB to Tower.path => Red RB to Tower.path} | 0 .../paths/{RT to Center.path => Red RT to Center.path} | 0 .../paths/{RT to Depot.path => Red RT to Depot.path} | 0 .../pathplanner/paths/{RT to Hub.path => Red RT to Hub.path} | 0 .../{RT to Human Player.path => Red RT to Human Player.path} | 0 .../paths/{Tower to Center.path => Red Tower to Center.path} | 0 .../paths/{Tower to Depot.path => Red Tower to Depot.path} | 0 21 files changed, 1 insertion(+), 1 deletion(-) rename src/main/deploy/pathplanner/paths/{Hub to Center.path => Red Hub to Center.path} (100%) rename src/main/deploy/pathplanner/paths/{Hub to Depot.path => Red Hub to Depot.path} (100%) rename src/main/deploy/pathplanner/paths/{Hub to Human Player.path => Red Hub to Human Player.path} (100%) rename src/main/deploy/pathplanner/paths/{Human Player to Tower.path => Red Human Player to Tower.path} (100%) rename src/main/deploy/pathplanner/paths/{LB to Depot.path => Red LB to Depot.path} (100%) rename src/main/deploy/pathplanner/paths/{LB to Human Player.path => Red LB to Human Player.path} (100%) rename src/main/deploy/pathplanner/paths/{LB to Tower.path => Red LB to Tower.path} (100%) rename src/main/deploy/pathplanner/paths/{LT to Center.path => Red LT to Center.path} (100%) rename src/main/deploy/pathplanner/paths/{LT to Depot.path => Red LT to Depot.path} (100%) rename src/main/deploy/pathplanner/paths/{LT to Hub.path => Red LT to Hub.path} (100%) rename src/main/deploy/pathplanner/paths/{LT to Human Player.path => Red LT to Human Player.path} (100%) rename src/main/deploy/pathplanner/paths/{RB to Depot.path => Red RB to Depot.path} (100%) rename src/main/deploy/pathplanner/paths/{RB to Human Player.path => Red RB to Human Player.path} (100%) rename src/main/deploy/pathplanner/paths/{RB to Tower.path => Red RB to Tower.path} (100%) rename src/main/deploy/pathplanner/paths/{RT to Center.path => Red RT to Center.path} (100%) rename src/main/deploy/pathplanner/paths/{RT to Depot.path => Red RT to Depot.path} (100%) rename src/main/deploy/pathplanner/paths/{RT to Hub.path => Red RT to Hub.path} (100%) rename src/main/deploy/pathplanner/paths/{RT to Human Player.path => Red RT to Human Player.path} (100%) rename src/main/deploy/pathplanner/paths/{Tower to Center.path => Red Tower to Center.path} (100%) rename src/main/deploy/pathplanner/paths/{Tower to Depot.path => Red Tower to Depot.path} (100%) diff --git a/src/main/deploy/pathplanner/autos/Left Trench shoot and Human Player.auto b/src/main/deploy/pathplanner/autos/Left Trench shoot and Human Player.auto index 67a672a..b076a82 100644 --- a/src/main/deploy/pathplanner/autos/Left Trench shoot and Human Player.auto +++ b/src/main/deploy/pathplanner/autos/Left Trench shoot and Human Player.auto @@ -19,7 +19,7 @@ { "type": "path", "data": { - "pathName": "LT to Human Player" + "pathName": "Red LT to Human Player" } } ] diff --git a/src/main/deploy/pathplanner/paths/Hub to Center.path b/src/main/deploy/pathplanner/paths/Red Hub to Center.path similarity index 100% rename from src/main/deploy/pathplanner/paths/Hub to Center.path rename to src/main/deploy/pathplanner/paths/Red Hub to Center.path diff --git a/src/main/deploy/pathplanner/paths/Hub to Depot.path b/src/main/deploy/pathplanner/paths/Red Hub to Depot.path similarity index 100% rename from src/main/deploy/pathplanner/paths/Hub to Depot.path rename to src/main/deploy/pathplanner/paths/Red Hub to Depot.path diff --git a/src/main/deploy/pathplanner/paths/Hub to Human Player.path b/src/main/deploy/pathplanner/paths/Red Hub to Human Player.path similarity index 100% rename from src/main/deploy/pathplanner/paths/Hub to Human Player.path rename to src/main/deploy/pathplanner/paths/Red Hub to Human Player.path diff --git a/src/main/deploy/pathplanner/paths/Human Player to Tower.path b/src/main/deploy/pathplanner/paths/Red Human Player to Tower.path similarity index 100% rename from src/main/deploy/pathplanner/paths/Human Player to Tower.path rename to src/main/deploy/pathplanner/paths/Red Human Player to Tower.path diff --git a/src/main/deploy/pathplanner/paths/LB to Depot.path b/src/main/deploy/pathplanner/paths/Red LB to Depot.path similarity index 100% rename from src/main/deploy/pathplanner/paths/LB to Depot.path rename to src/main/deploy/pathplanner/paths/Red LB to Depot.path diff --git a/src/main/deploy/pathplanner/paths/LB to Human Player.path b/src/main/deploy/pathplanner/paths/Red LB to Human Player.path similarity index 100% rename from src/main/deploy/pathplanner/paths/LB to Human Player.path rename to src/main/deploy/pathplanner/paths/Red LB to Human Player.path diff --git a/src/main/deploy/pathplanner/paths/LB to Tower.path b/src/main/deploy/pathplanner/paths/Red LB to Tower.path similarity index 100% rename from src/main/deploy/pathplanner/paths/LB to Tower.path rename to src/main/deploy/pathplanner/paths/Red LB to Tower.path diff --git a/src/main/deploy/pathplanner/paths/LT to Center.path b/src/main/deploy/pathplanner/paths/Red LT to Center.path similarity index 100% rename from src/main/deploy/pathplanner/paths/LT to Center.path rename to src/main/deploy/pathplanner/paths/Red LT to Center.path diff --git a/src/main/deploy/pathplanner/paths/LT to Depot.path b/src/main/deploy/pathplanner/paths/Red LT to Depot.path similarity index 100% rename from src/main/deploy/pathplanner/paths/LT to Depot.path rename to src/main/deploy/pathplanner/paths/Red LT to Depot.path diff --git a/src/main/deploy/pathplanner/paths/LT to Hub.path b/src/main/deploy/pathplanner/paths/Red LT to Hub.path similarity index 100% rename from src/main/deploy/pathplanner/paths/LT to Hub.path rename to src/main/deploy/pathplanner/paths/Red LT to Hub.path diff --git a/src/main/deploy/pathplanner/paths/LT to Human Player.path b/src/main/deploy/pathplanner/paths/Red LT to Human Player.path similarity index 100% rename from src/main/deploy/pathplanner/paths/LT to Human Player.path rename to src/main/deploy/pathplanner/paths/Red LT to Human Player.path diff --git a/src/main/deploy/pathplanner/paths/RB to Depot.path b/src/main/deploy/pathplanner/paths/Red RB to Depot.path similarity index 100% rename from src/main/deploy/pathplanner/paths/RB to Depot.path rename to src/main/deploy/pathplanner/paths/Red RB to Depot.path diff --git a/src/main/deploy/pathplanner/paths/RB to Human Player.path b/src/main/deploy/pathplanner/paths/Red RB to Human Player.path similarity index 100% rename from src/main/deploy/pathplanner/paths/RB to Human Player.path rename to src/main/deploy/pathplanner/paths/Red RB to Human Player.path diff --git a/src/main/deploy/pathplanner/paths/RB to Tower.path b/src/main/deploy/pathplanner/paths/Red RB to Tower.path similarity index 100% rename from src/main/deploy/pathplanner/paths/RB to Tower.path rename to src/main/deploy/pathplanner/paths/Red RB to Tower.path diff --git a/src/main/deploy/pathplanner/paths/RT to Center.path b/src/main/deploy/pathplanner/paths/Red RT to Center.path similarity index 100% rename from src/main/deploy/pathplanner/paths/RT to Center.path rename to src/main/deploy/pathplanner/paths/Red RT to Center.path diff --git a/src/main/deploy/pathplanner/paths/RT to Depot.path b/src/main/deploy/pathplanner/paths/Red RT to Depot.path similarity index 100% rename from src/main/deploy/pathplanner/paths/RT to Depot.path rename to src/main/deploy/pathplanner/paths/Red RT to Depot.path diff --git a/src/main/deploy/pathplanner/paths/RT to Hub.path b/src/main/deploy/pathplanner/paths/Red RT to Hub.path similarity index 100% rename from src/main/deploy/pathplanner/paths/RT to Hub.path rename to src/main/deploy/pathplanner/paths/Red RT to Hub.path diff --git a/src/main/deploy/pathplanner/paths/RT to Human Player.path b/src/main/deploy/pathplanner/paths/Red RT to Human Player.path similarity index 100% rename from src/main/deploy/pathplanner/paths/RT to Human Player.path rename to src/main/deploy/pathplanner/paths/Red RT to Human Player.path diff --git a/src/main/deploy/pathplanner/paths/Tower to Center.path b/src/main/deploy/pathplanner/paths/Red Tower to Center.path similarity index 100% rename from src/main/deploy/pathplanner/paths/Tower to Center.path rename to src/main/deploy/pathplanner/paths/Red Tower to Center.path diff --git a/src/main/deploy/pathplanner/paths/Tower to Depot.path b/src/main/deploy/pathplanner/paths/Red Tower to Depot.path similarity index 100% rename from src/main/deploy/pathplanner/paths/Tower to Depot.path rename to src/main/deploy/pathplanner/paths/Red Tower to Depot.path From 2e939a7e28ba3639afe04491bed9ddfe32244deb Mon Sep 17 00:00:00 2001 From: Aj Date: Mon, 23 Feb 2026 20:19:27 -0500 Subject: [PATCH 02/11] Paths! --- .../pathplanner/paths/Blue Hub to Center.path | 70 +++++++++++++++++++ 1 file changed, 70 insertions(+) create mode 100644 src/main/deploy/pathplanner/paths/Blue Hub to Center.path diff --git a/src/main/deploy/pathplanner/paths/Blue Hub to Center.path b/src/main/deploy/pathplanner/paths/Blue Hub to Center.path new file mode 100644 index 0000000..ecc2faf --- /dev/null +++ b/src/main/deploy/pathplanner/paths/Blue Hub to Center.path @@ -0,0 +1,70 @@ +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 3.4675512820512835, + "y": 4.035 + }, + "prevControl": null, + "nextControl": { + "x": 3.4675512820512835, + "y": 5.035 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 4.200128205128206, + "y": 7.546717948717948 + }, + "prevControl": { + "x": 3.2001282051282063, + "y": 7.546717948717948 + }, + "nextControl": { + "x": 5.200128205128207, + "y": 7.546717948717948 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 7.3746282051213745, + "y": 6.151333333327653 + }, + "prevControl": { + "x": 6.890329576041465, + "y": 7.541893265969594 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [], + "constraintZones": [], + "pointTowardsZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 3.0, + "maxAcceleration": 3.0, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0, + "nominalVoltage": 12.0, + "unlimited": false + }, + "goalEndState": { + "velocity": 0, + "rotation": 0.0 + }, + "reversed": false, + "folder": null, + "idealStartingState": { + "velocity": 0, + "rotation": 0.0 + }, + "useDefaultConstraints": true +} \ No newline at end of file From 8d36bc4c3bcbe45f5936807649c80dd7515dc3eb Mon Sep 17 00:00:00 2001 From: Aj Date: Mon, 23 Feb 2026 21:04:44 -0500 Subject: [PATCH 03/11] More Paths! (Almost Done) --- .../Left Trench shoot and Human Player.auto | 2 +- .../pathplanner/paths/Blue Hub to Center.path | 24 ++------- .../pathplanner/paths/Blue Hub to Depot.path | 54 +++++++++++++++++++ .../paths/Blue Hub to Human Player.path | 54 +++++++++++++++++++ .../paths/Blue Human Player to Tower.path | 54 +++++++++++++++++++ .../pathplanner/paths/Blue LB to Depo.path | 54 +++++++++++++++++++ .../paths/Blue LB to Human Player.path | 54 +++++++++++++++++++ .../pathplanner/paths/Blue LB to Tower.path | 54 +++++++++++++++++++ .../pathplanner/paths/Blue LT to Center.path | 54 +++++++++++++++++++ .../pathplanner/paths/Blue LT to Depot.path | 54 +++++++++++++++++++ .../paths/Blue LT to Human Player.path | 54 +++++++++++++++++++ .../pathplanner/paths/Blue RB to Depot.path | 54 +++++++++++++++++++ .../paths/Blue RB to Human Player.path | 54 +++++++++++++++++++ .../pathplanner/paths/Blue RB to Tower.path | 54 +++++++++++++++++++ .../pathplanner/paths/Blue RT to Center.path | 54 +++++++++++++++++++ .../pathplanner/paths/Blue RT to Depot.path | 54 +++++++++++++++++++ .../pathplanner/paths/Blur LT to Hub.path | 54 +++++++++++++++++++ 17 files changed, 815 insertions(+), 21 deletions(-) create mode 100644 src/main/deploy/pathplanner/paths/Blue Hub to Depot.path create mode 100644 src/main/deploy/pathplanner/paths/Blue Hub to Human Player.path create mode 100644 src/main/deploy/pathplanner/paths/Blue Human Player to Tower.path create mode 100644 src/main/deploy/pathplanner/paths/Blue LB to Depo.path create mode 100644 src/main/deploy/pathplanner/paths/Blue LB to Human Player.path create mode 100644 src/main/deploy/pathplanner/paths/Blue LB to Tower.path create mode 100644 src/main/deploy/pathplanner/paths/Blue LT to Center.path create mode 100644 src/main/deploy/pathplanner/paths/Blue LT to Depot.path create mode 100644 src/main/deploy/pathplanner/paths/Blue LT to Human Player.path create mode 100644 src/main/deploy/pathplanner/paths/Blue RB to Depot.path create mode 100644 src/main/deploy/pathplanner/paths/Blue RB to Human Player.path create mode 100644 src/main/deploy/pathplanner/paths/Blue RB to Tower.path create mode 100644 src/main/deploy/pathplanner/paths/Blue RT to Center.path create mode 100644 src/main/deploy/pathplanner/paths/Blue RT to Depot.path create mode 100644 src/main/deploy/pathplanner/paths/Blur LT to Hub.path diff --git a/src/main/deploy/pathplanner/autos/Left Trench shoot and Human Player.auto b/src/main/deploy/pathplanner/autos/Left Trench shoot and Human Player.auto index b87e624..5036705 100644 --- a/src/main/deploy/pathplanner/autos/Left Trench shoot and Human Player.auto +++ b/src/main/deploy/pathplanner/autos/Left Trench shoot and Human Player.auto @@ -37,7 +37,7 @@ { "type": "path", "data": { - "pathName": "Human Player to Tower" + "pathName": null } }, { diff --git a/src/main/deploy/pathplanner/paths/Blue Hub to Center.path b/src/main/deploy/pathplanner/paths/Blue Hub to Center.path index ecc2faf..b960823 100644 --- a/src/main/deploy/pathplanner/paths/Blue Hub to Center.path +++ b/src/main/deploy/pathplanner/paths/Blue Hub to Center.path @@ -8,24 +8,8 @@ }, "prevControl": null, "nextControl": { - "x": 3.4675512820512835, - "y": 5.035 - }, - "isLocked": false, - "linkedName": null - }, - { - "anchor": { - "x": 4.200128205128206, - "y": 7.546717948717948 - }, - "prevControl": { - "x": 3.2001282051282063, - "y": 7.546717948717948 - }, - "nextControl": { - "x": 5.200128205128207, - "y": 7.546717948717948 + "x": 1.2334875444839866, + "y": 6.988398576512456 }, "isLocked": false, "linkedName": null @@ -36,8 +20,8 @@ "y": 6.151333333327653 }, "prevControl": { - "x": 6.890329576041465, - "y": 7.541893265969594 + "x": 4.385931198102018, + "y": 9.043404507710557 }, "nextControl": null, "isLocked": false, diff --git a/src/main/deploy/pathplanner/paths/Blue Hub to Depot.path b/src/main/deploy/pathplanner/paths/Blue Hub to Depot.path new file mode 100644 index 0000000..e2220f5 --- /dev/null +++ b/src/main/deploy/pathplanner/paths/Blue Hub to Depot.path @@ -0,0 +1,54 @@ +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 3.4068446026097274, + "y": 4.051138790035587 + }, + "prevControl": null, + "nextControl": { + "x": 2.2202075140385538, + "y": 4.051138790035587 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 1.1796915776986958, + "y": 5.955516014234875 + }, + "prevControl": { + "x": 1.1796915776986958, + "y": 6.50518339622403 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [], + "constraintZones": [], + "pointTowardsZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 3.0, + "maxAcceleration": 3.0, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0, + "nominalVoltage": 12.0, + "unlimited": false + }, + "goalEndState": { + "velocity": 0.0, + "rotation": 90.0 + }, + "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/Blue Hub to Human Player.path b/src/main/deploy/pathplanner/paths/Blue Hub to Human Player.path new file mode 100644 index 0000000..8047858 --- /dev/null +++ b/src/main/deploy/pathplanner/paths/Blue Hub to Human Player.path @@ -0,0 +1,54 @@ +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 3.439122182680902, + "y": 4.061897983392646 + }, + "prevControl": null, + "nextControl": { + "x": 2.782811387900357, + "y": 4.029620403321471 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 0.5556583629893244, + "y": 0.6727520759193351 + }, + "prevControl": { + "x": 0.5018623962040336, + "y": 1.8993001186239622 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [], + "constraintZones": [], + "pointTowardsZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 3.0, + "maxAcceleration": 3.0, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0, + "nominalVoltage": 12.0, + "unlimited": false + }, + "goalEndState": { + "velocity": 0, + "rotation": 90.0 + }, + "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/Blue Human Player to Tower.path b/src/main/deploy/pathplanner/paths/Blue Human Player to Tower.path new file mode 100644 index 0000000..9fca153 --- /dev/null +++ b/src/main/deploy/pathplanner/paths/Blue Human Player to Tower.path @@ -0,0 +1,54 @@ +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 0.4907307692307705, + "y": 0.6395641025641032 + }, + "prevControl": null, + "nextControl": { + "x": 2.572179487179488, + "y": 2.302397435897437 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 1.6535512820512839, + "y": 3.755923076923077 + }, + "prevControl": { + "x": 2.851256410256412, + "y": 3.755923076923077 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [], + "constraintZones": [], + "pointTowardsZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 3.0, + "maxAcceleration": 3.0, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0, + "nominalVoltage": 12.0, + "unlimited": false + }, + "goalEndState": { + "velocity": 0, + "rotation": 0.0 + }, + "reversed": false, + "folder": null, + "idealStartingState": { + "velocity": 0, + "rotation": 90.0 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Blue LB to Depo.path b/src/main/deploy/pathplanner/paths/Blue LB to Depo.path new file mode 100644 index 0000000..ad937f0 --- /dev/null +++ b/src/main/deploy/pathplanner/paths/Blue LB to Depo.path @@ -0,0 +1,54 @@ +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 3.479179487179488, + "y": 5.581551282051282 + }, + "prevControl": null, + "nextControl": { + "x": 3.5202792340058284, + "y": 5.334952801093246 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 1.1884230769230784, + "y": 5.918769230769231 + }, + "prevControl": { + "x": 1.2000512820512832, + "y": 5.604807692307693 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [], + "constraintZones": [], + "pointTowardsZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 3.0, + "maxAcceleration": 3.0, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0, + "nominalVoltage": 12.0, + "unlimited": false + }, + "goalEndState": { + "velocity": 0, + "rotation": 90.0 + }, + "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/Blue LB to Human Player.path b/src/main/deploy/pathplanner/paths/Blue LB to Human Player.path new file mode 100644 index 0000000..3136b16 --- /dev/null +++ b/src/main/deploy/pathplanner/paths/Blue LB to Human Player.path @@ -0,0 +1,54 @@ +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 3.479179487179488, + "y": 5.604807692307693 + }, + "prevControl": null, + "nextControl": { + "x": 2.4675256410256416, + "y": 5.616435897435898 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 0.5139871794871811, + "y": 0.6163076923076927 + }, + "prevControl": { + "x": 1.5954102564102572, + "y": 1.441910256410257 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [], + "constraintZones": [], + "pointTowardsZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 3.0, + "maxAcceleration": 3.0, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0, + "nominalVoltage": 12.0, + "unlimited": false + }, + "goalEndState": { + "velocity": 0, + "rotation": 90.0 + }, + "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/Blue LB to Tower.path b/src/main/deploy/pathplanner/paths/Blue LB to Tower.path new file mode 100644 index 0000000..88fdead --- /dev/null +++ b/src/main/deploy/pathplanner/paths/Blue LB to Tower.path @@ -0,0 +1,54 @@ +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 0.5256153846153859, + "y": 0.6977051282051274 + }, + "prevControl": null, + "nextControl": { + "x": 0.816320512820514, + "y": 1.7558717948717946 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 1.6419230769230784, + "y": 3.6977820512820516 + }, + "prevControl": { + "x": 2.8745128205128214, + "y": 3.221025641025642 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [], + "constraintZones": [], + "pointTowardsZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 3.0, + "maxAcceleration": 3.0, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0, + "nominalVoltage": 12.0, + "unlimited": false + }, + "goalEndState": { + "velocity": 0, + "rotation": 0.0 + }, + "reversed": false, + "folder": null, + "idealStartingState": { + "velocity": 0.0, + "rotation": 90.0 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Blue LT to Center.path b/src/main/deploy/pathplanner/paths/Blue LT to Center.path new file mode 100644 index 0000000..d271078 --- /dev/null +++ b/src/main/deploy/pathplanner/paths/Blue LT to Center.path @@ -0,0 +1,54 @@ +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 3.4675512820512835, + "y": 6.837397435897435 + }, + "prevControl": null, + "nextControl": { + "x": 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+ "anchor": { + "x": 3.502435897435899, + "y": 2.5000769230769233 + }, + "prevControl": null, + "nextControl": { + "x": 2.3279871794871805, + "y": 2.488448717948718 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 0.4674743589743602, + "y": 0.6628205128205127 + }, + "prevControl": { + "x": 1.618666666661539, + "y": 0.7558461538520418 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [], + "constraintZones": [], + "pointTowardsZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 3.0, + "maxAcceleration": 3.0, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0, + "nominalVoltage": 12.0, + "unlimited": false + }, + "goalEndState": { + "velocity": 0, + "rotation": 90.0 + }, + "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/Blue RB to Tower.path b/src/main/deploy/pathplanner/paths/Blue RB to Tower.path new file mode 100644 index 0000000..4b16f54 --- /dev/null +++ b/src/main/deploy/pathplanner/paths/Blue RB to Tower.path @@ -0,0 +1,54 @@ +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 3.4559230769230784, + "y": 2.5582179487179486 + }, + "prevControl": null, + "nextControl": { + "x": 2.269846153846155, + "y": 2.488448717948718 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 1.6070384615384627, + "y": 3.779179487179487 + }, + "prevControl": { + "x": 2.5489230769230784, + "y": 3.802435897435898 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [], + "constraintZones": [], + "pointTowardsZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 3.0, + "maxAcceleration": 3.0, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0, + "nominalVoltage": 12.0, + "unlimited": false + }, + "goalEndState": { + "velocity": 0, + "rotation": 0.0 + }, + "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/Blue RT to Center.path b/src/main/deploy/pathplanner/paths/Blue RT to Center.path new file mode 100644 index 0000000..4e2a7d7 --- /dev/null +++ b/src/main/deploy/pathplanner/paths/Blue RT to Center.path @@ -0,0 +1,54 @@ +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 3.4559230769230784, + "y": 1.1279487179487193 + }, + "prevControl": null, + "nextControl": { + "x": 3.11870512820513, + "y": 0.41862820512820453 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 7.281602564102566, + "y": 2.2675128205128217 + }, + "prevControl": { + "x": 7.723474358974359, + "y": 0.26746153846153886 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [], + "constraintZones": [], + "pointTowardsZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 3.0, + "maxAcceleration": 3.0, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0, + "nominalVoltage": 12.0, + "unlimited": false + }, + "goalEndState": { + "velocity": 0, + "rotation": 0.0 + }, + "reversed": false, + "folder": null, + "idealStartingState": { + "velocity": 0, + "rotation": 69.0 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Blue RT to Depot.path b/src/main/deploy/pathplanner/paths/Blue RT to Depot.path new file mode 100644 index 0000000..29ab239 --- /dev/null +++ b/src/main/deploy/pathplanner/paths/Blue RT to Depot.path @@ -0,0 +1,54 @@ +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 3.4675512820512835, + "y": 1.1512051282051277 + }, + "prevControl": null, + "nextControl": { + "x": 2.7466025641025653, + "y": 1.1744615384615384 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 1.165166666666668, + "y": 6.000166666666667 + }, + "prevControl": { + "x": 1.6535512820512839, + "y": 6.000166666666667 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [], + "constraintZones": [], + "pointTowardsZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 3.0, + "maxAcceleration": 3.0, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0, + "nominalVoltage": 12.0, + "unlimited": false + }, + "goalEndState": { + "velocity": 0, + "rotation": 90.0 + }, + "reversed": false, + "folder": null, + "idealStartingState": { + "velocity": 0, + "rotation": 69.0 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Blur LT to Hub.path b/src/main/deploy/pathplanner/paths/Blur LT to Hub.path new file mode 100644 index 0000000..6392e71 --- /dev/null +++ b/src/main/deploy/pathplanner/paths/Blur LT to Hub.path @@ -0,0 +1,54 @@ +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 3.502435897435899, + "y": 6.883910256410257 + }, + "prevControl": null, + "nextControl": { + "x": 3.23498717948718, + "y": 6.25598717948718 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 3.502435897435899, + "y": 4.011743589743591 + }, + "prevControl": { + "x": 3.025679487179488, + "y": 4.779205128205128 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [], + "constraintZones": [], + "pointTowardsZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 3.0, + "maxAcceleration": 3.0, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0, + "nominalVoltage": 12.0, + "unlimited": false + }, + "goalEndState": { + "velocity": 0, + "rotation": 0.0 + }, + "reversed": false, + "folder": null, + "idealStartingState": { + "velocity": 0, + "rotation": -69.0 + }, + "useDefaultConstraints": true +} \ No newline at end of file From 6a0058dba78c8db683266eb161ff548adc97c9d1 Mon Sep 17 00:00:00 2001 From: Aj Date: Mon, 23 Feb 2026 21:33:24 -0500 Subject: [PATCH 04/11] Finished paths --- .../pathplanner/paths/Blue RT to Hub.path | 54 +++++++++++++++++++ .../paths/Blue RT to Human Player.path | 54 +++++++++++++++++++ .../paths/Blue Tower to Center.path | 54 +++++++++++++++++++ .../paths/Blue Tower to Depot.path | 54 +++++++++++++++++++ 4 files changed, 216 insertions(+) create mode 100644 src/main/deploy/pathplanner/paths/Blue RT to Hub.path create mode 100644 src/main/deploy/pathplanner/paths/Blue RT to Human Player.path create mode 100644 src/main/deploy/pathplanner/paths/Blue Tower to Center.path create mode 100644 src/main/deploy/pathplanner/paths/Blue Tower to Depot.path diff --git a/src/main/deploy/pathplanner/paths/Blue RT to Hub.path b/src/main/deploy/pathplanner/paths/Blue RT to Hub.path new file mode 100644 index 0000000..bc0e6c1 --- /dev/null +++ b/src/main/deploy/pathplanner/paths/Blue RT to Hub.path @@ -0,0 +1,54 @@ +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 3.4442948717948725, + "y": 0.6395641025641032 + }, + "prevControl": null, + "nextControl": { + "x": 3.2931282051282067, + "y": 3.2210256410256406 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 3.4442948717948725, + "y": 4.023371794871795 + }, + "prevControl": { + "x": 3.409410256410257, + "y": 3.476846153846154 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [], + "constraintZones": [], + "pointTowardsZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 3.0, + "maxAcceleration": 3.0, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0, + "nominalVoltage": 12.0, + "unlimited": false + }, + "goalEndState": { + "velocity": 0, + "rotation": 0.0 + }, + "reversed": false, + "folder": null, + "idealStartingState": { + "velocity": 0, + "rotation": 63.099999999999994 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Blue RT to Human Player.path b/src/main/deploy/pathplanner/paths/Blue RT to Human Player.path new file mode 100644 index 0000000..70dfe30 --- /dev/null +++ b/src/main/deploy/pathplanner/paths/Blue RT to Human Player.path @@ -0,0 +1,54 @@ +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 3.4326666666666683, + "y": 0.7325897435897435 + }, + "prevControl": null, + "nextControl": { + "x": 1.9442564102564113, + "y": 0.7325897435897437 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 0.5023589743589756, + "y": 0.7325897435897435 + }, + "prevControl": { + "x": 1.3628461538499945, + "y": 0.7791025641074987 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [], + "constraintZones": [], + "pointTowardsZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 3.0, + "maxAcceleration": 3.0, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0, + "nominalVoltage": 12.0, + "unlimited": false + }, + "goalEndState": { + "velocity": 0, + "rotation": 90.0 + }, + "reversed": false, + "folder": null, + "idealStartingState": { + "velocity": 0, + "rotation": 63.10000000000001 + }, + "useDefaultConstraints": true +} \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Blue Tower to Center.path b/src/main/deploy/pathplanner/paths/Blue Tower to Center.path new file mode 100644 index 0000000..18e6dcb --- /dev/null +++ b/src/main/deploy/pathplanner/paths/Blue Tower to Center.path @@ -0,0 +1,54 @@ +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 1.6535512820512839, + "y": 3.732666666666667 + }, + "prevControl": null, + "nextControl": { + "x": 1.5023846153846172, + "y": 9.197923076923077 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 7.33974358974359, + "y": 5.872256410256409 + }, + "prevControl": { + "x": 6.746705128205129, + "y": 7.63974358974359 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [], + "constraintZones": [], + "pointTowardsZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 3.0, + "maxAcceleration": 3.0, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0, + "nominalVoltage": 12.0, + "unlimited": false + }, + "goalEndState": { + "velocity": 0, + "rotation": 0.0 + }, + "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/Blue Tower to Depot.path b/src/main/deploy/pathplanner/paths/Blue Tower to Depot.path new file mode 100644 index 0000000..e914af2 --- /dev/null +++ b/src/main/deploy/pathplanner/paths/Blue Tower to Depot.path @@ -0,0 +1,54 @@ +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 1.5837820512820526, + "y": 3.790807692307692 + }, + "prevControl": null, + "nextControl": { + "x": 2.0140256410256416, + "y": 4.686179487179487 + }, + "isLocked": false, + "linkedName": null + }, + { + "anchor": { + "x": 1.153538461538463, + "y": 5.988538461538463 + }, + "prevControl": { + "x": 1.665179487179488, + "y": 5.80248717948718 + }, + "nextControl": null, + "isLocked": false, + "linkedName": null + } + ], + "rotationTargets": [], + "constraintZones": [], + "pointTowardsZones": [], + "eventMarkers": [], + "globalConstraints": { + "maxVelocity": 3.0, + "maxAcceleration": 3.0, + "maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0, + "nominalVoltage": 12.0, + "unlimited": false + }, + "goalEndState": { + "velocity": 0, + "rotation": 90.0 + }, + "reversed": false, + "folder": null, + "idealStartingState": { + "velocity": 0, + "rotation": 0.0 + }, + "useDefaultConstraints": true +} \ No newline at end of file From 7b867aca3ffde8469adedcfd70f879ccc0f9c120 Mon Sep 17 00:00:00 2001 From: Anunaya Chandran Date: Tue, 24 Feb 2026 19:02:25 -0500 Subject: [PATCH 05/11] Fixed AJ's Paths --- .../Left Trench shoot and Human Player.auto | 2 +- .../pathplanner/paths/Blue Hub to Center.path | 12 +++++----- .../pathplanner/paths/Blue Hub to Depot.path | 20 ++++++++--------- .../paths/Blue Hub to Human Player.path | 20 ++++++++--------- .../paths/Blue Human Player to Tower.path | 12 +++++----- ... LB to Depo.path => Blue LB to Depot.path} | 12 +++++----- .../paths/Blue LB to Human Player.path | 20 ++++++++--------- .../pathplanner/paths/Blue LB to Tower.path | 20 ++++++++--------- .../pathplanner/paths/Blue LT to Center.path | 20 ++++++++--------- .../pathplanner/paths/Blue LT to Depot.path | 20 ++++++++--------- ...lur LT to Hub.path => Blue LT to Hub.path} | 4 ++-- .../paths/Blue LT to Human Player.path | 12 +++++----- .../pathplanner/paths/Blue RB to Depot.path | 12 +++++----- .../paths/Blue RB to Human Player.path | 20 ++++++++--------- .../pathplanner/paths/Blue RB to Tower.path | 20 ++++++++--------- .../pathplanner/paths/Blue RT to Center.path | 6 ++--- .../pathplanner/paths/Blue RT to Depot.path | 20 ++++++++--------- .../pathplanner/paths/Blue RT to Hub.path | 22 +++++++++---------- .../paths/Blue RT to Human Player.path | 22 +++++++++---------- .../paths/Blue Tower to Center.path | 20 ++++++++--------- .../paths/Blue Tower to Depot.path | 20 ++++++++--------- 21 files changed, 168 insertions(+), 168 deletions(-) rename src/main/deploy/pathplanner/paths/{Blue LB to Depo.path => Blue LB to Depot.path} (81%) rename src/main/deploy/pathplanner/paths/{Blur LT to Hub.path => Blue LT to Hub.path} (93%) diff --git a/src/main/deploy/pathplanner/autos/Left Trench shoot and Human Player.auto b/src/main/deploy/pathplanner/autos/Left Trench shoot and Human Player.auto index 5036705..9922e6e 100644 --- a/src/main/deploy/pathplanner/autos/Left Trench shoot and Human Player.auto +++ b/src/main/deploy/pathplanner/autos/Left Trench shoot and Human Player.auto @@ -37,7 +37,7 @@ { "type": "path", "data": { - "pathName": null + "pathName": "Red Human Player to Tower" } }, { diff --git a/src/main/deploy/pathplanner/paths/Blue Hub to Center.path b/src/main/deploy/pathplanner/paths/Blue Hub to Center.path index b960823..5f91c72 100644 --- a/src/main/deploy/pathplanner/paths/Blue Hub to Center.path +++ b/src/main/deploy/pathplanner/paths/Blue Hub to Center.path @@ -3,16 +3,16 @@ "waypoints": [ { "anchor": { - "x": 3.4675512820512835, - "y": 4.035 + "x": 3.502435897435899, + "y": 4.011743589743591 }, "prevControl": null, "nextControl": { - "x": 1.2334875444839866, - "y": 6.988398576512456 + "x": 1.2683721598686022, + "y": 6.965142166256046 }, "isLocked": false, - "linkedName": null + "linkedName": "BlueShootAtHub" }, { "anchor": { @@ -25,7 +25,7 @@ }, "nextControl": null, "isLocked": false, - "linkedName": null + "linkedName": "BlueCenter" } ], "rotationTargets": [], diff --git a/src/main/deploy/pathplanner/paths/Blue Hub to Depot.path b/src/main/deploy/pathplanner/paths/Blue Hub to Depot.path index e2220f5..76076e5 100644 --- a/src/main/deploy/pathplanner/paths/Blue Hub to Depot.path +++ b/src/main/deploy/pathplanner/paths/Blue Hub to Depot.path @@ -3,29 +3,29 @@ "waypoints": [ { "anchor": { - "x": 3.4068446026097274, - "y": 4.051138790035587 + "x": 3.502435897435899, + "y": 4.011743589743591 }, "prevControl": null, "nextControl": { - "x": 2.2202075140385538, - "y": 4.051138790035587 + "x": 2.3157988088647254, + "y": 4.011743589743591 }, "isLocked": false, - "linkedName": null + "linkedName": "BlueShootAtHub" }, { "anchor": { - "x": 1.1796915776986958, - "y": 5.955516014234875 + "x": 1.1884230769230784, + "y": 5.918769230769231 }, "prevControl": { - "x": 1.1796915776986958, - "y": 6.50518339622403 + "x": 1.1884230769230784, + "y": 6.468436612758386 }, "nextControl": null, "isLocked": false, - "linkedName": null + "linkedName": "BlueDepot" } ], "rotationTargets": [], diff --git a/src/main/deploy/pathplanner/paths/Blue Hub to Human Player.path b/src/main/deploy/pathplanner/paths/Blue Hub to Human Player.path index 8047858..26fc846 100644 --- a/src/main/deploy/pathplanner/paths/Blue Hub to Human Player.path +++ b/src/main/deploy/pathplanner/paths/Blue Hub to Human Player.path @@ -3,29 +3,29 @@ "waypoints": [ { "anchor": { - "x": 3.439122182680902, - "y": 4.061897983392646 + "x": 3.502435897435899, + "y": 4.011743589743591 }, "prevControl": null, "nextControl": { - "x": 2.782811387900357, - "y": 4.029620403321471 + "x": 2.846125102655354, + "y": 3.979466009672416 }, "isLocked": false, - "linkedName": null + "linkedName": "BlueShootAtHub" }, { "anchor": { - "x": 0.5556583629893244, - "y": 0.6727520759193351 + "x": 0.4907307692307705, + "y": 0.6395641025641032 }, "prevControl": { - "x": 0.5018623962040336, - "y": 1.8993001186239622 + "x": 0.4369348024454798, + "y": 1.8661121452687304 }, "nextControl": null, "isLocked": false, - "linkedName": null + "linkedName": "BlueHumanPlayerStation" } ], "rotationTargets": [], diff --git a/src/main/deploy/pathplanner/paths/Blue Human Player to Tower.path b/src/main/deploy/pathplanner/paths/Blue Human Player to Tower.path index 9fca153..6399a4e 100644 --- a/src/main/deploy/pathplanner/paths/Blue Human Player to Tower.path +++ b/src/main/deploy/pathplanner/paths/Blue Human Player to Tower.path @@ -12,20 +12,20 @@ "y": 2.302397435897437 }, "isLocked": false, - "linkedName": null + "linkedName": "BlueHumanPlayerStation" }, { "anchor": { - "x": 1.6535512820512839, - "y": 3.755923076923077 + "x": 1.6040963855421686, + "y": 4.100566265060241 }, "prevControl": { - "x": 2.851256410256412, - "y": 3.755923076923077 + "x": 2.801801513747297, + "y": 4.100566265060241 }, "nextControl": null, "isLocked": false, - "linkedName": null + "linkedName": "BlueTowerShoot" } ], "rotationTargets": [], diff --git a/src/main/deploy/pathplanner/paths/Blue LB to Depo.path b/src/main/deploy/pathplanner/paths/Blue LB to Depot.path similarity index 81% rename from src/main/deploy/pathplanner/paths/Blue LB to Depo.path rename to src/main/deploy/pathplanner/paths/Blue LB to Depot.path index ad937f0..e27712f 100644 --- a/src/main/deploy/pathplanner/paths/Blue LB to Depo.path +++ b/src/main/deploy/pathplanner/paths/Blue LB to Depot.path @@ -3,16 +3,16 @@ "waypoints": [ { "anchor": { - "x": 3.479179487179488, - "y": 5.581551282051282 + "x": 3.54922891566265, + "y": 5.4883855421686745 }, "prevControl": null, "nextControl": { - "x": 3.5202792340058284, - "y": 5.334952801093246 + "x": 3.5903286624889903, + "y": 5.241787061210639 }, "isLocked": false, - "linkedName": null + "linkedName": "BlueLeftBumpStartPosition" }, { "anchor": { @@ -25,7 +25,7 @@ }, "nextControl": null, "isLocked": false, - "linkedName": null + "linkedName": "BlueDepot" } ], "rotationTargets": [], diff --git a/src/main/deploy/pathplanner/paths/Blue LB to Human Player.path b/src/main/deploy/pathplanner/paths/Blue LB to Human Player.path index 3136b16..16aff4f 100644 --- a/src/main/deploy/pathplanner/paths/Blue LB to Human Player.path +++ b/src/main/deploy/pathplanner/paths/Blue LB to Human Player.path @@ -3,29 +3,29 @@ "waypoints": [ { "anchor": { - "x": 3.479179487179488, - "y": 5.604807692307693 + "x": 3.54922891566265, + "y": 5.4883855421686745 }, "prevControl": null, "nextControl": { - "x": 2.4675256410256416, - "y": 5.616435897435898 + "x": 2.5375750695088035, + "y": 5.5000137472968795 }, "isLocked": false, - "linkedName": null + "linkedName": "BlueLeftBumpStartPosition" }, { "anchor": { - "x": 0.5139871794871811, - "y": 0.6163076923076927 + "x": 0.4907307692307705, + "y": 0.6395641025641032 }, "prevControl": { - "x": 1.5954102564102572, - "y": 1.441910256410257 + "x": 1.5721538461538467, + "y": 1.4651666666666676 }, "nextControl": null, "isLocked": false, - "linkedName": null + "linkedName": "BlueHumanPlayerStation" } ], "rotationTargets": [], diff --git a/src/main/deploy/pathplanner/paths/Blue LB to Tower.path b/src/main/deploy/pathplanner/paths/Blue LB to Tower.path index 88fdead..a7e79a7 100644 --- a/src/main/deploy/pathplanner/paths/Blue LB to Tower.path +++ b/src/main/deploy/pathplanner/paths/Blue LB to Tower.path @@ -3,29 +3,29 @@ "waypoints": [ { "anchor": { - "x": 0.5256153846153859, - "y": 0.6977051282051274 + "x": 0.4907307692307705, + "y": 0.6395641025641032 }, "prevControl": null, "nextControl": { - "x": 0.816320512820514, - "y": 1.7558717948717946 + "x": 0.7814358974358986, + "y": 1.6977307692307704 }, "isLocked": false, - "linkedName": null + "linkedName": "BlueHumanPlayerStation" }, { "anchor": { - "x": 1.6419230769230784, - "y": 3.6977820512820516 + "x": 1.6040963855421686, + "y": 4.100566265060241 }, "prevControl": { - "x": 2.8745128205128214, - "y": 3.221025641025642 + "x": 2.8366861291319116, + "y": 3.6238098548038313 }, "nextControl": null, "isLocked": false, - "linkedName": null + "linkedName": "BlueTowerShoot" } ], "rotationTargets": [], diff --git a/src/main/deploy/pathplanner/paths/Blue LT to Center.path b/src/main/deploy/pathplanner/paths/Blue LT to Center.path index d271078..8b88b07 100644 --- a/src/main/deploy/pathplanner/paths/Blue LT to Center.path +++ b/src/main/deploy/pathplanner/paths/Blue LT to Center.path @@ -3,29 +3,29 @@ "waypoints": [ { "anchor": { - "x": 3.4675512820512835, - "y": 6.837397435897435 + "x": 3.502435897435899, + "y": 6.883910256410257 }, "prevControl": null, "nextControl": { - "x": 2.479153846153848, - "y": 7.7211410256410264 + "x": 2.5140384615384637, + "y": 7.7676538461538485 }, "isLocked": false, - "linkedName": null + "linkedName": "BlueTrenchStart" }, { "anchor": { - "x": 7.269974358974359, - "y": 5.895512820512821 + "x": 7.3746282051213745, + "y": 6.151333333327653 }, "prevControl": { - "x": 7.537423076923078, - "y": 7.8955641025641015 + "x": 7.642076923070094, + "y": 8.151384615378934 }, "nextControl": null, "isLocked": false, - "linkedName": null + "linkedName": "BlueCenter" } ], "rotationTargets": [], diff --git a/src/main/deploy/pathplanner/paths/Blue LT to Depot.path b/src/main/deploy/pathplanner/paths/Blue LT to Depot.path index 3446a91..21959f8 100644 --- a/src/main/deploy/pathplanner/paths/Blue LT to Depot.path +++ b/src/main/deploy/pathplanner/paths/Blue LT to Depot.path @@ -3,29 +3,29 @@ "waypoints": [ { "anchor": { - "x": 3.409410256410257, - "y": 6.860653846153846 + "x": 3.502435897435899, + "y": 6.883910256410257 }, "prevControl": null, "nextControl": { - "x": 2.432641025641026, - "y": 6.756 + "x": 2.5256666666666683, + "y": 6.779256410256411 }, "isLocked": false, - "linkedName": null + "linkedName": "BlueTrenchStart" }, { "anchor": { - "x": 1.141910256410258, - "y": 5.930397435897436 + "x": 1.1884230769230784, + "y": 5.918769230769231 }, "prevControl": { - "x": 2.095423076923078, - "y": 5.953653846153847 + "x": 2.141935897435898, + "y": 5.942025641025642 }, "nextControl": null, "isLocked": false, - "linkedName": null + "linkedName": "BlueDepot" } ], "rotationTargets": [], diff --git a/src/main/deploy/pathplanner/paths/Blur LT to Hub.path b/src/main/deploy/pathplanner/paths/Blue LT to Hub.path similarity index 93% rename from src/main/deploy/pathplanner/paths/Blur LT to Hub.path rename to src/main/deploy/pathplanner/paths/Blue LT to Hub.path index 6392e71..57978d0 100644 --- a/src/main/deploy/pathplanner/paths/Blur LT to Hub.path +++ b/src/main/deploy/pathplanner/paths/Blue LT to Hub.path @@ -12,7 +12,7 @@ "y": 6.25598717948718 }, "isLocked": false, - "linkedName": null + "linkedName": "BlueTrenchStart" }, { "anchor": { @@ -25,7 +25,7 @@ }, "nextControl": null, "isLocked": false, - "linkedName": null + "linkedName": "BlueShootAtHub" } ], "rotationTargets": [], diff --git a/src/main/deploy/pathplanner/paths/Blue LT to Human Player.path b/src/main/deploy/pathplanner/paths/Blue LT to Human Player.path index 3e55277..1f3c990 100644 --- a/src/main/deploy/pathplanner/paths/Blue LT to Human Player.path +++ b/src/main/deploy/pathplanner/paths/Blue LT to Human Player.path @@ -3,29 +3,29 @@ "waypoints": [ { "anchor": { - "x": 3.4675512820512835, + "x": 3.502435897435899, "y": 6.883910256410257 }, "prevControl": null, "nextControl": { - "x": 3.4908076923076936, + "x": 3.5256923076923092, "y": 6.116448717948718 }, "isLocked": false, - "linkedName": null + "linkedName": "BlueTrenchStart" }, { "anchor": { "x": 0.4907307692307705, - "y": 0.6511923076923085 + "y": 0.6395641025641032 }, "prevControl": { "x": 1.2814487179487188, - "y": 0.6744487179487169 + "y": 0.6628205128205116 }, "nextControl": null, "isLocked": false, - "linkedName": null + "linkedName": "BlueHumanPlayerStation" } ], "rotationTargets": [], diff --git a/src/main/deploy/pathplanner/paths/Blue RB to Depot.path b/src/main/deploy/pathplanner/paths/Blue RB to Depot.path index c342490..d6bad54 100644 --- a/src/main/deploy/pathplanner/paths/Blue RB to Depot.path +++ b/src/main/deploy/pathplanner/paths/Blue RB to Depot.path @@ -12,20 +12,20 @@ "y": 2.488448717948718 }, "isLocked": false, - "linkedName": null + "linkedName": "BlueRightBumpStartPoint" }, { "anchor": { - "x": 1.165166666666668, - "y": 5.942025641025641 + "x": 1.1884230769230784, + "y": 5.918769230769231 }, "prevControl": { - "x": 2.0372820512820526, - "y": 5.895512820512821 + "x": 2.0605384615384628, + "y": 5.872256410256411 }, "nextControl": null, "isLocked": false, - "linkedName": null + "linkedName": "BlueDepot" } ], "rotationTargets": [], diff --git a/src/main/deploy/pathplanner/paths/Blue RB to Human Player.path b/src/main/deploy/pathplanner/paths/Blue RB to Human Player.path index 307cc1b..13c7901 100644 --- a/src/main/deploy/pathplanner/paths/Blue RB to Human Player.path +++ b/src/main/deploy/pathplanner/paths/Blue RB to Human Player.path @@ -3,29 +3,29 @@ "waypoints": [ { "anchor": { - "x": 3.502435897435899, - "y": 2.5000769230769233 + "x": 3.5140641025641033, + "y": 2.465192307692308 }, "prevControl": null, "nextControl": { - "x": 2.3279871794871805, - "y": 2.488448717948718 + "x": 2.3396153846153847, + "y": 2.453564102564103 }, "isLocked": false, - "linkedName": null + "linkedName": "BlueRightBumpStartPoint" }, { "anchor": { - "x": 0.4674743589743602, - "y": 0.6628205128205127 + "x": 0.4907307692307705, + "y": 0.6395641025641032 }, "prevControl": { - "x": 1.618666666661539, - "y": 0.7558461538520418 + "x": 1.6419230769179494, + "y": 0.7325897435956323 }, "nextControl": null, "isLocked": false, - "linkedName": null + "linkedName": "BlueHumanPlayerStation" } ], "rotationTargets": [], diff --git a/src/main/deploy/pathplanner/paths/Blue RB to Tower.path b/src/main/deploy/pathplanner/paths/Blue RB to Tower.path index 4b16f54..3f20d9e 100644 --- a/src/main/deploy/pathplanner/paths/Blue RB to Tower.path +++ b/src/main/deploy/pathplanner/paths/Blue RB to Tower.path @@ -3,29 +3,29 @@ "waypoints": [ { "anchor": { - "x": 3.4559230769230784, - "y": 2.5582179487179486 + "x": 3.5140641025641033, + "y": 2.465192307692308 }, "prevControl": null, "nextControl": { - "x": 2.269846153846155, - "y": 2.488448717948718 + "x": 2.3279871794871805, + "y": 2.3954230769230773 }, "isLocked": false, - "linkedName": null + "linkedName": "BlueRightBumpStartPoint" }, { "anchor": { - "x": 1.6070384615384627, - "y": 3.779179487179487 + "x": 1.6040963855421686, + "y": 4.100566265060241 }, "prevControl": { - "x": 2.5489230769230784, - "y": 3.802435897435898 + "x": 2.5459810009267843, + "y": 4.123822675316652 }, "nextControl": null, "isLocked": false, - "linkedName": null + "linkedName": "BlueTowerShoot" } ], "rotationTargets": [], diff --git a/src/main/deploy/pathplanner/paths/Blue RT to Center.path b/src/main/deploy/pathplanner/paths/Blue RT to Center.path index 4e2a7d7..70e60dd 100644 --- a/src/main/deploy/pathplanner/paths/Blue RT to Center.path +++ b/src/main/deploy/pathplanner/paths/Blue RT to Center.path @@ -12,7 +12,7 @@ "y": 0.41862820512820453 }, "isLocked": false, - "linkedName": null + "linkedName": "BlueRightTrenchStartPoint" }, { "anchor": { @@ -25,7 +25,7 @@ }, "nextControl": null, "isLocked": false, - "linkedName": null + "linkedName": "BlueRightCenter" } ], "rotationTargets": [], @@ -42,7 +42,7 @@ }, "goalEndState": { "velocity": 0, - "rotation": 0.0 + "rotation": 89.35313965124843 }, "reversed": false, "folder": null, diff --git a/src/main/deploy/pathplanner/paths/Blue RT to Depot.path b/src/main/deploy/pathplanner/paths/Blue RT to Depot.path index 29ab239..55e5218 100644 --- a/src/main/deploy/pathplanner/paths/Blue RT to Depot.path +++ b/src/main/deploy/pathplanner/paths/Blue RT to Depot.path @@ -3,29 +3,29 @@ "waypoints": [ { "anchor": { - "x": 3.4675512820512835, - "y": 1.1512051282051277 + "x": 3.4559230769230784, + "y": 1.1279487179487193 }, "prevControl": null, "nextControl": { - "x": 2.7466025641025653, - "y": 1.1744615384615384 + "x": 2.7349743589743603, + "y": 1.15120512820513 }, "isLocked": false, - "linkedName": null + "linkedName": "BlueRightTrenchStartPoint" }, { "anchor": { - "x": 1.165166666666668, - "y": 6.000166666666667 + "x": 1.1884230769230784, + "y": 5.918769230769231 }, "prevControl": { - "x": 1.6535512820512839, - "y": 6.000166666666667 + "x": 1.6768076923076942, + "y": 5.918769230769231 }, "nextControl": null, "isLocked": false, - "linkedName": null + "linkedName": "BlueDepot" } ], "rotationTargets": [], diff --git a/src/main/deploy/pathplanner/paths/Blue RT to Hub.path b/src/main/deploy/pathplanner/paths/Blue RT to Hub.path index bc0e6c1..791b4f7 100644 --- a/src/main/deploy/pathplanner/paths/Blue RT to Hub.path +++ b/src/main/deploy/pathplanner/paths/Blue RT to Hub.path @@ -3,29 +3,29 @@ "waypoints": [ { "anchor": { - "x": 3.4442948717948725, - "y": 0.6395641025641032 + "x": 3.4559230769230784, + "y": 1.1279487179487193 }, "prevControl": null, "nextControl": { - "x": 3.2931282051282067, - "y": 3.2210256410256406 + "x": 3.3047564102564126, + "y": 3.7094102564102567 }, "isLocked": false, - "linkedName": null + "linkedName": "BlueRightTrenchStartPoint" }, { "anchor": { - "x": 3.4442948717948725, - "y": 4.023371794871795 + "x": 3.502435897435899, + "y": 4.011743589743591 }, "prevControl": { - "x": 3.409410256410257, - "y": 3.476846153846154 + "x": 3.4675512820512835, + "y": 3.46521794871795 }, "nextControl": null, "isLocked": false, - "linkedName": null + "linkedName": "BlueShootAtHub" } ], "rotationTargets": [], @@ -48,7 +48,7 @@ "folder": null, "idealStartingState": { "velocity": 0, - "rotation": 63.099999999999994 + "rotation": 69.0 }, "useDefaultConstraints": true } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Blue RT to Human Player.path b/src/main/deploy/pathplanner/paths/Blue RT to Human Player.path index 70dfe30..1a2a1c8 100644 --- a/src/main/deploy/pathplanner/paths/Blue RT to Human Player.path +++ b/src/main/deploy/pathplanner/paths/Blue RT to Human Player.path @@ -3,29 +3,29 @@ "waypoints": [ { "anchor": { - "x": 3.4326666666666683, - "y": 0.7325897435897435 + "x": 3.4559230769230784, + "y": 1.1279487179487193 }, "prevControl": null, "nextControl": { - "x": 1.9442564102564113, - "y": 0.7325897435897437 + "x": 1.9675128205128214, + "y": 1.1279487179487195 }, "isLocked": false, - "linkedName": null + "linkedName": "BlueRightTrenchStartPoint" }, { "anchor": { - "x": 0.5023589743589756, - "y": 0.7325897435897435 + "x": 0.4907307692307705, + "y": 0.6395641025641032 }, "prevControl": { - "x": 1.3628461538499945, - "y": 0.7791025641074987 + "x": 1.3512179487217895, + "y": 0.6860769230818584 }, "nextControl": null, "isLocked": false, - "linkedName": null + "linkedName": "BlueHumanPlayerStation" } ], "rotationTargets": [], @@ -48,7 +48,7 @@ "folder": null, "idealStartingState": { "velocity": 0, - "rotation": 63.10000000000001 + "rotation": 69.0 }, "useDefaultConstraints": true } \ No newline at end of file diff --git a/src/main/deploy/pathplanner/paths/Blue Tower to Center.path b/src/main/deploy/pathplanner/paths/Blue Tower to Center.path index 18e6dcb..5c9c959 100644 --- a/src/main/deploy/pathplanner/paths/Blue Tower to Center.path +++ b/src/main/deploy/pathplanner/paths/Blue Tower to Center.path @@ -3,29 +3,29 @@ "waypoints": [ { "anchor": { - "x": 1.6535512820512839, - "y": 3.732666666666667 + "x": 1.6040963855421686, + "y": 4.100566265060241 }, "prevControl": null, "nextControl": { - "x": 1.5023846153846172, - "y": 9.197923076923077 + "x": 1.452929718875502, + "y": 9.565822675316651 }, "isLocked": false, - "linkedName": null + "linkedName": "BlueTowerShoot" }, { "anchor": { - "x": 7.33974358974359, - "y": 5.872256410256409 + "x": 7.3746282051213745, + "y": 6.151333333327653 }, "prevControl": { - "x": 6.746705128205129, - "y": 7.63974358974359 + "x": 8.543192771084337, + "y": 7.138469879518072 }, "nextControl": null, "isLocked": false, - "linkedName": null + "linkedName": "BlueCenter" } ], "rotationTargets": [], diff --git a/src/main/deploy/pathplanner/paths/Blue Tower to Depot.path b/src/main/deploy/pathplanner/paths/Blue Tower to Depot.path index e914af2..d5e6af7 100644 --- a/src/main/deploy/pathplanner/paths/Blue Tower to Depot.path +++ b/src/main/deploy/pathplanner/paths/Blue Tower to Depot.path @@ -3,29 +3,29 @@ "waypoints": [ { "anchor": { - "x": 1.5837820512820526, - "y": 3.790807692307692 + "x": 1.6040963855421686, + "y": 4.100566265060241 }, "prevControl": null, "nextControl": { - "x": 2.0140256410256416, - "y": 4.686179487179487 + "x": 2.0343399752857576, + "y": 4.995938059932036 }, "isLocked": false, - "linkedName": null + "linkedName": "BlueTowerShoot" }, { "anchor": { - "x": 1.153538461538463, - "y": 5.988538461538463 + "x": 1.1884230769230784, + "y": 5.918769230769231 }, "prevControl": { - "x": 1.665179487179488, - "y": 5.80248717948718 + "x": 1.7000641025641035, + "y": 5.732717948717948 }, "nextControl": null, "isLocked": false, - "linkedName": null + "linkedName": "BlueDepot" } ], "rotationTargets": [], From 0ab2fd3b1c36c417a75fdaf3a8412fa60cc4e792 Mon Sep 17 00:00:00 2001 From: JiuJiu <107072692+jooj99@users.noreply.github.com> Date: Thu, 26 Feb 2026 18:56:52 -0500 Subject: [PATCH 06/11] changed localizer constants --- .../java/frc/robot/constants/Constants.java | 56 +++---- .../robot/subsystems/drivetrain/Swerve.java | 12 +- .../robot/subsystems/localizer/Localizer.java | 148 +++++++++--------- .../java/frc/robot/util/vision/Vision.java | 8 +- 4 files changed, 112 insertions(+), 112 deletions(-) diff --git a/src/main/java/frc/robot/constants/Constants.java b/src/main/java/frc/robot/constants/Constants.java index 1c0319f..074c0ea 100644 --- a/src/main/java/frc/robot/constants/Constants.java +++ b/src/main/java/frc/robot/constants/Constants.java @@ -7,6 +7,7 @@ import edu.wpi.first.math.kinematics.SwerveDriveOdometry; import edu.wpi.first.math.numbers.N1; import edu.wpi.first.math.numbers.N3; +import edu.wpi.first.math.util.Units; import edu.wpi.first.networktables.NetworkTableInstance; public final class Constants { @@ -15,30 +16,29 @@ public final class Constants { public final class VisionConstants { - - public static String CAMERA_FR_NAME; - public static double CAMERA_FR_YAW; - public static double CAMERA_FR_PITCH; - public static double CAMERA_FR_ROLL; - public static double CAMERA_FR_FORWARD; - public static double CAMERA_FR_LEFT; - public static double CAMERA_FR_UP; - - public static String CAMERA_FL_NAME; - public static double CAMERA_FL_YAW; - public static double CAMERA_FL_PITCH; - public static double CAMERA_FL_ROLL; - public static double CAMERA_FL_FORWARD; - public static double CAMERA_FL_LEFT; - public static double CAMERA_FL_UP; - - public static String CAMERA_BR_NAME; - public static double CAMERA_BR_YAW; - public static double CAMERA_BR_PITCH; - public static double CAMERA_BR_ROLL; - public static double CAMERA_BR_FORWARD; - public static double CAMERA_BR_LEFT; - public static double CAMERA_BR_UP; + public static final String CAMERA_FR_NAME = "CAMERA_FR"; + public static final double CAMERA_FR_YAW = 0; + public static final double CAMERA_FR_PITCH = 28.812; + public static final double CAMERA_FR_ROLL = 0; + public static final double CAMERA_FR_FORWARD = 15.03; + public static final double CAMERA_FR_LEFT = -1.475; + public static final double CAMERA_FR_UP = 20; + + public static final String CAMERA_FL_NAME = "CAMERA_FL"; + public static final double CAMERA_FL_YAW = 45; + public static final double CAMERA_FL_PITCH = 14.864; + public static final double CAMERA_FL_ROLL = 0; + public static final double CAMERA_FL_FORWARD = 9.893; + public static final double CAMERA_FL_LEFT = -7.310; + public static final double CAMERA_FL_UP = 20; + + public static final String CAMERA_BR_NAME = "CAMERA_BR"; + public static final double CAMERA_BR_YAW = 0; + public static final double CAMERA_BR_PITCH = 0; + public static final double CAMERA_BR_ROLL = 0; + public static final double CAMERA_BR_FORWARD = 0; + public static final double CAMERA_BR_LEFT = 0; + public static final double CAMERA_BR_UP = 0; @@ -46,10 +46,10 @@ public final class VisionConstants { // The standard deviations of our vision estimated poses, which affect correction rate // (Fake values. Experiment and determine estimation noise on an actual robot.) - public static double MAX_VALID_DIST; - public static Matrix kSINGLE_TAG_STD_DEVS; - public static Matrix kMULTI_TAG_STD_DEVS; - public static Matrix ODOM_STD_DEV; + public static double MAX_VALID_DIST = 5.0; //Meters + public static Matrix kSingleTagStdDevs = VecBuilder.fill(4, 4, 8); + public static Matrix kMultiTagStdDevs = VecBuilder.fill(0.5, 0.5, 1); + public static Matrix ODOM_STD_DEV = VecBuilder.fill(0.03, 0.03, Units.degreesToRadians(0.01)); } diff --git a/src/main/java/frc/robot/subsystems/drivetrain/Swerve.java b/src/main/java/frc/robot/subsystems/drivetrain/Swerve.java index e3ee849..65863b2 100644 --- a/src/main/java/frc/robot/subsystems/drivetrain/Swerve.java +++ b/src/main/java/frc/robot/subsystems/drivetrain/Swerve.java @@ -29,7 +29,7 @@ import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine; import frc.robot.constants.TunerConstants; import frc.robot.constants.TunerConstants.TunerSwerveDrivetrain; -//import frc.robot.subsystems.localizer.Localizer; +import frc.robot.subsystems.localizer.Localizer; import com.pathplanner.lib.auto.AutoBuilder; import com.pathplanner.lib.config.PIDConstants; @@ -60,7 +60,7 @@ public class Swerve extends TunerSwerveDrivetrain implements Subsystem { private final SwerveRequest.ApplyRobotSpeeds m_pathApplyRobotSpeeds = new SwerveRequest.ApplyRobotSpeeds(); - //private Localizer localizer; + private Localizer localizer; /* Blue alliance sees forward as 0 degrees (toward red alliance wall) */ private static final Rotation2d kBlueAlliancePerspectiveRotation = Rotation2d.kZero; @@ -157,7 +157,7 @@ public Swerve( if (Utils.isSimulation()) { startSimThread(); } - //localizer = new Localizer(this); + localizer = new Localizer(this); // Configure AutoBuilder last configureAutoBuilder(); } @@ -217,7 +217,7 @@ public Swerve( if (Utils.isSimulation()) { startSimThread(); } - //localizer = new Localizer(this); + localizer = new Localizer(this); configureAutoBuilder(); } @@ -251,7 +251,7 @@ public Swerve( if (Utils.isSimulation()) { startSimThread(); } - //localizer = new Localizer(this); + localizer = new Localizer(this); configureAutoBuilder(); } @@ -309,7 +309,7 @@ public void periodic() { }); } - //localizer.periodic(); + localizer.periodic(); } private void startSimThread() { diff --git a/src/main/java/frc/robot/subsystems/localizer/Localizer.java b/src/main/java/frc/robot/subsystems/localizer/Localizer.java index b136cba..ae6c927 100644 --- a/src/main/java/frc/robot/subsystems/localizer/Localizer.java +++ b/src/main/java/frc/robot/subsystems/localizer/Localizer.java @@ -1,92 +1,92 @@ -// package frc.robot.subsystems.localizer; - -// import java.util.List; -// import java.util.Optional; - - -// import org.photonvision.EstimatedRobotPose; -// import org.photonvision.PhotonCamera; -// import org.photonvision.PhotonPoseEstimator; -// import org.photonvision.PhotonUtils; -// import org.photonvision.targeting.PhotonPipelineResult; -// import org.photonvision.targeting.PhotonTrackedTarget; - -// import edu.wpi.first.apriltag.AprilTagFieldLayout; -// import edu.wpi.first.apriltag.AprilTagFields; -// import edu.wpi.first.math.estimator.SwerveDrivePoseEstimator; -// import edu.wpi.first.math.geometry.*; -// import edu.wpi.first.math.kinematics.SwerveDriveKinematics; -// import edu.wpi.first.math.kinematics.SwerveModulePosition; -// import edu.wpi.first.math.numbers.N1; -// import edu.wpi.first.math.numbers.N3; -// import edu.wpi.first.networktables.NetworkTable; -// import edu.wpi.first.networktables.NetworkTableInstance; -// import edu.wpi.first.networktables.StructPublisher; -// import edu.wpi.first.wpilibj.smartdashboard.Field2d; -// import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; -// import edu.wpi.first.wpilibj2.command.SubsystemBase; -// import edu.wpi.first.math.Matrix; -// import frc.robot.Robot; -// import frc.robot.constants.Constants; -// import frc.robot.subsystems.drivetrain.Swerve; -// import frc.robot.util.vision.Vision.BW; -// import frc.robot.util.vision.Vision.BW.BWCamera; -// import frc.robot.util.vision.Vision; - -// public class Localizer extends SubsystemBase { - -// private final AprilTagFieldLayout kTagLayout = AprilTagFieldLayout.loadField(AprilTagFields.kDefaultField); - -// private final Vision vision; -// private final SwerveDrivePoseEstimator poseEstimator; +package frc.robot.subsystems.localizer; + +import java.util.List; +import java.util.Optional; + + +import org.photonvision.EstimatedRobotPose; +import org.photonvision.PhotonCamera; +import org.photonvision.PhotonPoseEstimator; +import org.photonvision.PhotonUtils; +import org.photonvision.targeting.PhotonPipelineResult; +import org.photonvision.targeting.PhotonTrackedTarget; + +import edu.wpi.first.apriltag.AprilTagFieldLayout; +import edu.wpi.first.apriltag.AprilTagFields; +import edu.wpi.first.math.estimator.SwerveDrivePoseEstimator; +import edu.wpi.first.math.geometry.*; +import edu.wpi.first.math.kinematics.SwerveDriveKinematics; +import edu.wpi.first.math.kinematics.SwerveModulePosition; +import edu.wpi.first.math.numbers.N1; +import edu.wpi.first.math.numbers.N3; +import edu.wpi.first.networktables.NetworkTable; +import edu.wpi.first.networktables.NetworkTableInstance; +import edu.wpi.first.networktables.StructPublisher; +import edu.wpi.first.wpilibj.smartdashboard.Field2d; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; +import edu.wpi.first.wpilibj2.command.SubsystemBase; +import edu.wpi.first.math.Matrix; +import frc.robot.Robot; +import frc.robot.constants.Constants; +import frc.robot.subsystems.drivetrain.Swerve; +import frc.robot.util.vision.Vision.BW; +import frc.robot.util.vision.Vision.BW.BWCamera; +import frc.robot.util.vision.Vision; + +public class Localizer extends SubsystemBase { + + private final AprilTagFieldLayout kTagLayout = AprilTagFieldLayout.loadField(AprilTagFields.kDefaultField); + + private final Vision vision; + private final SwerveDrivePoseEstimator poseEstimator; -// private final Swerve swerve; + private final Swerve swerve; -// public Field2d fieldOdom; + public Field2d fieldOdom; -// private Pose2d currentPose; + private Pose2d currentPose; -// public Localizer(Swerve swerve) { + public Localizer(Swerve swerve) { -// currentPose = new Pose2d(); -// fieldOdom = new Field2d(); + currentPose = new Pose2d(); + fieldOdom = new Field2d(); -// this.swerve = swerve; + this.swerve = swerve; -// poseEstimator = new SwerveDrivePoseEstimator( -// this.swerve.getKinematics(), -// this.swerve.getState().RawHeading, -// this.swerve.getState().ModulePositions, -// this.swerve.getState().Pose, -// Constants.VisionConstants.ODOM_STD_DEV, -// Constants.VisionConstants.kMULTI_TAG_STD_DEVS -// ); + poseEstimator = new SwerveDrivePoseEstimator( + this.swerve.getKinematics(), + this.swerve.getState().RawHeading, + this.swerve.getState().ModulePositions, + this.swerve.getState().Pose, + Constants.VisionConstants.ODOM_STD_DEV, + Constants.VisionConstants.kMultiTagStdDevs + ); -// vision = new Vision((pose, timestamp, stdDevs) -> { -// poseEstimator.addVisionMeasurement(pose, timestamp, stdDevs); -// }); + vision = new Vision((pose, timestamp, stdDevs) -> { + poseEstimator.addVisionMeasurement(pose, timestamp, stdDevs); + }); -// //TEMP, unsure if correct. -// SmartDashboard.putData("Field2d Pose", fieldOdom); + //TEMP, unsure if correct. + SmartDashboard.putData("Field2d Pose", fieldOdom); -// } + } -// public void resetPose(Rotation2d gyroAngle, SwerveModulePosition[] modulePositions, Pose2d newPose) { -// poseEstimator.resetPosition(gyroAngle, modulePositions, newPose); -// } + public void resetPose(Rotation2d gyroAngle, SwerveModulePosition[] modulePositions, Pose2d newPose) { + poseEstimator.resetPosition(gyroAngle, modulePositions, newPose); + } -// public void updateOdometry(Rotation2d gyroAngle, SwerveModulePosition[] modulePositions) { -// poseEstimator.update(gyroAngle, modulePositions); -// } + public void updateOdometry(Rotation2d gyroAngle, SwerveModulePosition[] modulePositions) { + poseEstimator.update(gyroAngle, modulePositions); + } -// public void periodic() { -// currentPose = poseEstimator.getEstimatedPosition(); -// vision.getEstimatedGlobalPoses(currentPose); + public void periodic() { + currentPose = poseEstimator.getEstimatedPosition(); + vision.getEstimatedGlobalPoses(currentPose); -// fieldOdom.setRobotPose(currentPose); -// } + fieldOdom.setRobotPose(currentPose); + } -// } + } diff --git a/src/main/java/frc/robot/util/vision/Vision.java b/src/main/java/frc/robot/util/vision/Vision.java index cd018dc..be6430d 100644 --- a/src/main/java/frc/robot/util/vision/Vision.java +++ b/src/main/java/frc/robot/util/vision/Vision.java @@ -70,11 +70,11 @@ public Vision(EstimateConsumer estC) { private void updateEstimationStdDevs(Optional estimatedPose, List targets, PhotonPoseEstimator photonEstimator) { if (estimatedPose.isEmpty()) { // No pose input. Default to single-tag std devs - curStdDevs = Constants.VisionConstants.kSINGLE_TAG_STD_DEVS; + curStdDevs = Constants.VisionConstants.kSingleTagStdDevs; } else { // Pose present. Start running Heuristic - var estStdDevs = Constants.VisionConstants.kSINGLE_TAG_STD_DEVS; + var estStdDevs = Constants.VisionConstants.kSingleTagStdDevs; int numTags = 0; double avgDist = 0; @@ -93,12 +93,12 @@ private void updateEstimationStdDevs(Optional estimatedPose, if (numTags == 0) { // No tags visible. Default to single-tag std devs - curStdDevs = Constants.VisionConstants.kSINGLE_TAG_STD_DEVS; + curStdDevs = Constants.VisionConstants.kSingleTagStdDevs; } else { // One or more tags visible, run the full heuristic. avgDist /= numTags; // Decrease std devs if multiple targets are visible - if (numTags > 1) estStdDevs = Constants.VisionConstants.kMULTI_TAG_STD_DEVS; + if (numTags > 1) estStdDevs = Constants.VisionConstants.kMultiTagStdDevs; // Increase std devs based on (average) distance if (numTags == 1 && avgDist > 4) estStdDevs = VecBuilder.fill(Double.MAX_VALUE, Double.MAX_VALUE, Double.MAX_VALUE); From 458156776a0c5f7a3a4e39ebef5e315dec3b4bdf Mon Sep 17 00:00:00 2001 From: JiuJiu <107072692+jooj99@users.noreply.github.com> Date: Thu, 26 Feb 2026 19:06:15 -0500 Subject: [PATCH 07/11] defined defaultNetworkTable --- src/main/java/frc/robot/constants/Constants.java | 11 ++++++----- src/main/java/frc/robot/util/vision/Vision.java | 10 +++++----- 2 files changed, 11 insertions(+), 10 deletions(-) diff --git a/src/main/java/frc/robot/constants/Constants.java b/src/main/java/frc/robot/constants/Constants.java index 074c0ea..cf196e1 100644 --- a/src/main/java/frc/robot/constants/Constants.java +++ b/src/main/java/frc/robot/constants/Constants.java @@ -12,10 +12,11 @@ public final class Constants { - public static NetworkTableInstance NT_INSTANCE; public final class VisionConstants { + public static final NetworkTableInstance NT_INSTANCE = NetworkTableInstance.getDefault(); + public static final String CAMERA_FR_NAME = "CAMERA_FR"; public static final double CAMERA_FR_YAW = 0; public static final double CAMERA_FR_PITCH = 28.812; @@ -46,10 +47,10 @@ public final class VisionConstants { // The standard deviations of our vision estimated poses, which affect correction rate // (Fake values. Experiment and determine estimation noise on an actual robot.) - public static double MAX_VALID_DIST = 5.0; //Meters - public static Matrix kSingleTagStdDevs = VecBuilder.fill(4, 4, 8); - public static Matrix kMultiTagStdDevs = VecBuilder.fill(0.5, 0.5, 1); - public static Matrix ODOM_STD_DEV = VecBuilder.fill(0.03, 0.03, Units.degreesToRadians(0.01)); + public static final double MAX_VALID_DIST = 5.0; //Meters + public static final Matrix kSingleTagStdDevs = VecBuilder.fill(4, 4, 8); + public static final Matrix kMultiTagStdDevs = VecBuilder.fill(0.5, 0.5, 1); + public static final Matrix ODOM_STD_DEV = VecBuilder.fill(0.03, 0.03, Units.degreesToRadians(0.01)); } diff --git a/src/main/java/frc/robot/util/vision/Vision.java b/src/main/java/frc/robot/util/vision/Vision.java index be6430d..3152ff9 100644 --- a/src/main/java/frc/robot/util/vision/Vision.java +++ b/src/main/java/frc/robot/util/vision/Vision.java @@ -49,14 +49,14 @@ public static interface EstimateConsumer { private final Map estimators = new EnumMap<>(BWCamera.class); - private final NetworkTable visionTable; + //private final NetworkTable visionTable; private final Field2d debugField = new Field2d(); //TODO: PUBLISH VALUES TO NETWORK TABLES public Vision(EstimateConsumer estC) { - visionTable = NetworkTableInstance.getDefault().getTable("Vision"); + //visionTable = NetworkTableInstance.getDefault().getTable("Vision"); for(BWCamera cam : BW.BWCamera.values()) { PhotonPoseEstimator estimator = new PhotonPoseEstimator(kTagLayout, cam.robotToCameraOffset); @@ -191,7 +191,7 @@ public void processTargets(PhotonPipelineResult result){ public static final class BW { public enum BWCamera { CAMERA_FR ( - new PhotonCamera(Constants.NT_INSTANCE, Constants.VisionConstants.CAMERA_FR_NAME), + new PhotonCamera(Constants.VisionConstants.NT_INSTANCE, Constants.VisionConstants.CAMERA_FR_NAME), new Transform3d( Constants.VisionConstants.CAMERA_FR_FORWARD, Constants.VisionConstants.CAMERA_FR_LEFT, @@ -205,7 +205,7 @@ public enum BWCamera { ), CAMERA_FL ( - new PhotonCamera(Constants.NT_INSTANCE, Constants.VisionConstants.CAMERA_FL_NAME), + new PhotonCamera(Constants.VisionConstants.NT_INSTANCE, Constants.VisionConstants.CAMERA_FL_NAME), new Transform3d( Constants.VisionConstants.CAMERA_FL_FORWARD, Constants.VisionConstants.CAMERA_FL_LEFT, @@ -219,7 +219,7 @@ public enum BWCamera { ), CAMERA_BR ( - new PhotonCamera(Constants.NT_INSTANCE, Constants.VisionConstants.CAMERA_BR_NAME), + new PhotonCamera(Constants.VisionConstants.NT_INSTANCE, Constants.VisionConstants.CAMERA_BR_NAME), new Transform3d( Constants.VisionConstants.CAMERA_BR_FORWARD, Constants.VisionConstants.CAMERA_BR_LEFT, From d85eef410db0c9efe1fc97538b40e7b2b06f7790 Mon Sep 17 00:00:00 2001 From: JiuJiu <107072692+jooj99@users.noreply.github.com> Date: Thu, 26 Feb 2026 19:28:15 -0500 Subject: [PATCH 08/11] fixed localizer periodic --- src/main/java/frc/robot/subsystems/localizer/Localizer.java | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) diff --git a/src/main/java/frc/robot/subsystems/localizer/Localizer.java b/src/main/java/frc/robot/subsystems/localizer/Localizer.java index ae6c927..b6de37b 100644 --- a/src/main/java/frc/robot/subsystems/localizer/Localizer.java +++ b/src/main/java/frc/robot/subsystems/localizer/Localizer.java @@ -46,7 +46,6 @@ public class Localizer extends SubsystemBase { private Pose2d currentPose; - public Localizer(Swerve swerve) { currentPose = new Pose2d(); @@ -81,9 +80,9 @@ public void updateOdometry(Rotation2d gyroAngle, SwerveModulePosition[] modulePo } public void periodic() { + poseEstimator.update(this.swerve.getState().RawHeading, this.swerve.getState().ModulePositions); + vision.getEstimatedGlobalPoses(poseEstimator.getEstimatedPosition()); currentPose = poseEstimator.getEstimatedPosition(); - vision.getEstimatedGlobalPoses(currentPose); - fieldOdom.setRobotPose(currentPose); } From 99c42da4ccf45d7877fbb94889ddd972a30c8efb Mon Sep 17 00:00:00 2001 From: JiuJiu <107072692+jooj99@users.noreply.github.com> Date: Thu, 26 Feb 2026 19:32:12 -0500 Subject: [PATCH 09/11] changed camera measurement constants --- src/main/java/frc/robot/constants/Constants.java | 14 +++++++------- 1 file changed, 7 insertions(+), 7 deletions(-) diff --git a/src/main/java/frc/robot/constants/Constants.java b/src/main/java/frc/robot/constants/Constants.java index cf196e1..366682f 100644 --- a/src/main/java/frc/robot/constants/Constants.java +++ b/src/main/java/frc/robot/constants/Constants.java @@ -21,17 +21,17 @@ public final class VisionConstants { public static final double CAMERA_FR_YAW = 0; public static final double CAMERA_FR_PITCH = 28.812; public static final double CAMERA_FR_ROLL = 0; - public static final double CAMERA_FR_FORWARD = 15.03; - public static final double CAMERA_FR_LEFT = -1.475; - public static final double CAMERA_FR_UP = 20; + public static final double CAMERA_FR_FORWARD = Units.inchesToMeters(15.03); + public static final double CAMERA_FR_LEFT = Units.inchesToMeters(-1.475); + public static final double CAMERA_FR_UP = Units.inchesToMeters(20); public static final String CAMERA_FL_NAME = "CAMERA_FL"; public static final double CAMERA_FL_YAW = 45; public static final double CAMERA_FL_PITCH = 14.864; public static final double CAMERA_FL_ROLL = 0; - public static final double CAMERA_FL_FORWARD = 9.893; - public static final double CAMERA_FL_LEFT = -7.310; - public static final double CAMERA_FL_UP = 20; + public static final double CAMERA_FL_FORWARD = Units.inchesToMeters(9.893); + public static final double CAMERA_FL_LEFT = Units.inchesToMeters(-7.310); + public static final double CAMERA_FL_UP = Units.inchesToMeters(20); public static final String CAMERA_BR_NAME = "CAMERA_BR"; public static final double CAMERA_BR_YAW = 0; @@ -78,4 +78,4 @@ public final class LauncherConstants { public static double TOWER_HOOD_ANGLE = 1.25; public static double TOWER_RPM = -2250.0; } -} \ No newline at end of file +} From 982b0c0bf4fea50665020b4a3087f492aa5ac0a8 Mon Sep 17 00:00:00 2001 From: JiuJiu <107072692+jooj99@users.noreply.github.com> Date: Sat, 28 Feb 2026 13:14:12 -0500 Subject: [PATCH 10/11] smartdashboard for fieldodom --- src/main/java/frc/robot/subsystems/localizer/Localizer.java | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/main/java/frc/robot/subsystems/localizer/Localizer.java b/src/main/java/frc/robot/subsystems/localizer/Localizer.java index b6de37b..1ea6d07 100644 --- a/src/main/java/frc/robot/subsystems/localizer/Localizer.java +++ b/src/main/java/frc/robot/subsystems/localizer/Localizer.java @@ -65,9 +65,7 @@ public Localizer(Swerve swerve) { vision = new Vision((pose, timestamp, stdDevs) -> { poseEstimator.addVisionMeasurement(pose, timestamp, stdDevs); }); - - //TEMP, unsure if correct. - SmartDashboard.putData("Field2d Pose", fieldOdom); + //SmartDashboard.putData("Field2d Pose", fieldOdom); } @@ -84,6 +82,8 @@ public void periodic() { vision.getEstimatedGlobalPoses(poseEstimator.getEstimatedPosition()); currentPose = poseEstimator.getEstimatedPosition(); fieldOdom.setRobotPose(currentPose); + SmartDashboard.putData("Field2d Pose", fieldOdom); + } From 408c9357548150b3be5b78007b3f544c155d0828 Mon Sep 17 00:00:00 2001 From: JiuJiu <107072692+jooj99@users.noreply.github.com> Date: Sat, 28 Feb 2026 13:17:07 -0500 Subject: [PATCH 11/11] removed unused constants --- src/main/java/frc/robot/constants/Constants.java | 9 --------- 1 file changed, 9 deletions(-) diff --git a/src/main/java/frc/robot/constants/Constants.java b/src/main/java/frc/robot/constants/Constants.java index 366682f..4ec6b50 100644 --- a/src/main/java/frc/robot/constants/Constants.java +++ b/src/main/java/frc/robot/constants/Constants.java @@ -55,15 +55,6 @@ public final class VisionConstants { } - public final class SwerveConstants { - public static Translation2d k_frontLeftLocation; - public static Translation2d k_frontRightLocation; - public static Translation2d k_backLeftLocation; - public static Translation2d k_backRightLocation; - } - - - public final class LauncherConstants { public static double SHOOTER_SIZE_IN = 7.0;