Integrate PathPlanner and Test Paths

Team-501-The-PowerKnights · Mar 12, 2024 · 65bbce9 · 65bbce9
1 parent 575f153
commit 65bbce9
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Showing 6 changed files with 218 additions and 6 deletions.
diff --git a/.pathplanner/settings.json b/.pathplanner/settings.json
@@ -0,0 +1,12 @@
+{
+  "robotWidth": 0.9,
+  "robotLength": 0.9,
+  "holonomicMode": true,
+  "pathFolders": [],
+  "autoFolders": [],
+  "defaultMaxVel": 3.0,
+  "defaultMaxAccel": 3.0,
+  "defaultMaxAngVel": 540.0,
+  "defaultMaxAngAccel": 720.0,
+  "maxModuleSpeed": 4.5
+}
diff --git a/src/main/deploy/pathplanner/autos/Stu Auto.auto b/src/main/deploy/pathplanner/autos/Stu Auto.auto
@@ -0,0 +1,25 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 0.500743858630575,
+      "y": 7.329728945172176
+    },
+    "rotation": 0.0
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "1+Curve-Around"
+          }
+        }
+      ]
+    }
+  },
+  "folder": null,
+  "choreoAuto": false
+}
diff --git a/src/main/deploy/pathplanner/navgrid.json b/src/main/deploy/pathplanner/navgrid.json
@@ -1345,7 +1345,7 @@
       false,
       false,
       false,
-      false,
+      true,
       false,
       false,
       false,
@@ -1400,10 +1400,10 @@
     [
       true,
       true,
-      false,
-      false,
-      false,
-      false,
+      true,
+      true,
+      true,
+      true,
       false,
       false,
       false,

diff --git a/src/main/deploy/pathplanner/paths/1+Curve-Around.path b/src/main/deploy/pathplanner/paths/1+Curve-Around.path
@@ -0,0 +1,122 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 0.500743858630575,
+        "y": 7.329728945172176
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 1.50074385863058,
+        "y": 7.329728945172176
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 5.895424362277296,
+        "y": 7.329728945172176
+      },
+      "prevControl": {
+        "x": 5.046754236365618,
+        "y": 7.329728945172176
+      },
+      "nextControl": {
+        "x": 6.7440944881889715,
+        "y": 7.329728945172176
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 8.307235353209444,
+        "y": 5.768694780632805
+      },
+      "prevControl": {
+        "x": 8.307235353209444,
+        "y": 6.221685236163265
+      },
+      "nextControl": {
+        "x": 8.307235353209444,
+        "y": 5.315985366285406
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 8.307235353209444,
+        "y": 2.449846341134125
+      },
+      "prevControl": {
+        "x": 8.307235353209444,
+        "y": 3.207912001409589
+      },
+      "nextControl": {
+        "x": 8.307235353209444,
+        "y": 1.6297106276905273
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 5.895424362277296,
+        "y": 1.0538961618463785
+      },
+      "prevControl": {
+        "x": 7.883830840764359,
+        "y": 1.6848471534780896
+      },
+      "nextControl": {
+        "x": 3.907017883790232,
+        "y": 0.4229451702146654
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 2.3628912122689107,
+        "y": 1.0538961618463785
+      },
+      "prevControl": {
+        "x": 1.3628912122689107,
+        "y": 1.0538961618463785
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 4,
+      "rotationDegrees": 180.0,
+      "rotateFast": false
+    }
+  ],
+  "constraintZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 0,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": null,
+  "previewStartingState": {
+    "rotation": 0,
+    "velocity": 0
+  },
+  "useDefaultConstraints": true
+}
diff --git a/src/main/deploy/pathplanner/paths/1+Straight-to-Line.path b/src/main/deploy/pathplanner/paths/1+Straight-to-Line.path
@@ -0,0 +1,52 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 0.500743858630575,
+        "y": 7.329728945172176
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 1.50074385863058,
+        "y": 7.329728945172176
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 5.895424362277296,
+        "y": 7.329728945172176
+      },
+      "prevControl": {
+        "x": 4.895424362277296,
+        "y": 7.329728945172176
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 0,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": null,
+  "previewStartingState": {
+    "rotation": 0,
+    "velocity": 0
+  },
+  "useDefaultConstraints": true
+}
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -13,6 +13,7 @@
 
 package frc.robot;
 
+import com.pathplanner.lib.commands.PathPlannerAuto;
 import edu.wpi.first.wpilibj.GenericHID;
 import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj2.command.Command;
@@ -221,6 +222,6 @@ private void configureButtonBindings() {
    * @return the command to run in autonomous
    */
   public Command getAutonomousCommand() {
-    return null;
+    return new PathPlannerAuto("Stu Auto");
   }
 }
-Original file line number
+Diff line change
@@ Expand Up / @@ -1345,7 +1345,7 @@ @@
           false,
           false,
           false,
-          false,
+          true,
           false,
           false,
           false,
@@ Expand Down Expand Up / @@ -1400,10 +1400,10 @@ @@
         [
           true,
           true,
-          false,
-          false,
-          false,
-          false,
+          true,
+          true,
+          true,
+          true,
           false,
           false,
           false,
@@ Expand Down @@