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Merged
amzoeee merged 9 commits into from
Apr 7, 2026
Merged

Zoe/alternate autos #143

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d7fc9ce
add variableWaitCommand
amzoeee Apr 6, 2026
e538a50
add outpost flex auto
amzoeee Apr 6, 2026
7b398e4
edit outpost flex auto a bit
amzoeee Apr 6, 2026
665c69a
add depot flex auto
amzoeee Apr 6, 2026
de400e5
add center flex auto
amzoeee Apr 6, 2026
305e658
edit center auto
amzoeee Apr 6, 2026
4b3b83e
Merge branch 'main' into zoe/alternate-autos
amzoeee Apr 7, 2026
d8cbc40
ensure robot turns at end of flex pickup
amzoeee Apr 7, 2026
3171fd4
make waitTime persist across startups
amzoeee Apr 7, 2026
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7 changes: 6 additions & 1 deletion mirror-autos.py
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Original file line number Diff line number Diff line change
Expand Up @@ -87,6 +87,9 @@ def main():
outpost_paths = [
"1st outpost shoot",
"fast outpost shoot",
"outpost flex pickup",
"outpost flex bump",
"outpost flex center",
"2nd outpost cleanup",
"2nd outpost shoot",
"outpost center half neutral zone"
Expand All @@ -96,7 +99,9 @@ def main():
outpost_autos = [
"outpost cleanup",
"outpost fast",
"outpost shoot"
"outpost shoot",
"outpost flex",
"outpost center flex"
]

# Mirror paths
Expand Down
37 changes: 37 additions & 0 deletions src/main/deploy/pathplanner/autos/depot center flex.auto
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Original file line number Diff line number Diff line change
@@ -0,0 +1,37 @@
{
"version": "2025.0",
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "depot flex bump"
}
},
{
"type": "named",
"data": {
"name": "variable wait command"
}
},
{
"type": "path",
"data": {
"pathName": "depot flex center"
}
},
{
"type": "named",
"data": {
"name": "pointwheelsinx"
}
}
]
}
},
"resetOdom": true,
"folder": null,
"choreoAuto": false
}
37 changes: 37 additions & 0 deletions src/main/deploy/pathplanner/autos/depot flex.auto
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Original file line number Diff line number Diff line change
@@ -0,0 +1,37 @@
{
"version": "2025.0",
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "depot flex bump"
}
},
{
"type": "named",
"data": {
"name": "variable wait command"
}
},
{
"type": "path",
"data": {
"pathName": "depot flex pickup"
}
},
{
"type": "named",
"data": {
"name": "snap to hub flex command"
}
}
]
}
},
"resetOdom": true,
"folder": null,
"choreoAuto": false
}
37 changes: 37 additions & 0 deletions src/main/deploy/pathplanner/autos/outpost center flex.auto
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Original file line number Diff line number Diff line change
@@ -0,0 +1,37 @@
{
"version": "2025.0",
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "outpost flex bump"
}
},
{
"type": "named",
"data": {
"name": "variable wait command"
}
},
{
"type": "path",
"data": {
"pathName": "outpost flex center"
}
},
{
"type": "named",
"data": {
"name": "pointwheelsinx"
}
}
]
}
},
"resetOdom": true,
"folder": null,
"choreoAuto": false
}
37 changes: 37 additions & 0 deletions src/main/deploy/pathplanner/autos/outpost flex.auto
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Original file line number Diff line number Diff line change
@@ -0,0 +1,37 @@
{
"version": "2025.0",
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "outpost flex bump"
}
},
{
"type": "named",
"data": {
"name": "variable wait command"
}
},
{
"type": "path",
"data": {
"pathName": "outpost flex pickup"
}
},
{
"type": "named",
"data": {
"name": "snap to hub flex command"
}
}
]
}
},
"resetOdom": true,
"folder": null,
"choreoAuto": false
}
61 changes: 61 additions & 0 deletions src/main/deploy/pathplanner/paths/depot flex bump.path
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Original file line number Diff line number Diff line change
@@ -0,0 +1,61 @@
{
"version": "2025.0",
"waypoints": [
{
"anchor": {
"x": 3.679,
"y": 5.4510000000000005
},
"prevControl": null,
"nextControl": {
"x": 4.679,
"y": 5.4510000000000005
},
"isLocked": false,
"linkedName": "depot neutral zone start"
},
{
"anchor": {
"x": 5.559956958912037,
"y": 5.4510000000000005
},
"prevControl": {
"x": 4.559956958912037,
"y": 5.4510000000000005
},
"nextControl": null,
"isLocked": false,
"linkedName": "depot flex wait"
}
],
"rotationTargets": [],
"constraintZones": [],
"pointTowardsZones": [],
"eventMarkers": [
{
"name": "deploy intake trigger",
"waypointRelativePos": 0,
"endWaypointRelativePos": null,
"command": null
}
],
"globalConstraints": {
"maxVelocity": 2.0,
"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": -0.0
},
"useDefaultConstraints": false
}
106 changes: 106 additions & 0 deletions src/main/deploy/pathplanner/paths/depot flex center.path
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Original file line number Diff line number Diff line change
@@ -0,0 +1,106 @@
{
"version": "2025.0",
"waypoints": [
{
"anchor": {
"x": 5.559956958912037,
"y": 5.4510000000000005
},
"prevControl": null,
"nextControl": {
"x": 6.559956958912037,
"y": 5.4510000000000005
},
"isLocked": false,
"linkedName": "depot flex wait"
},
{
"anchor": {
"x": 6.452785083912038,
"y": 7.299567418981482
},
"prevControl": {
"x": 6.394654152199075,
"y": 6.613609302662038
},
"nextControl": {
"x": 6.473895452122505,
"y": 7.548674529185142
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 8.222563585069445,
"y": 6.884646412037037
},
"prevControl": {
"x": 8.194941550925927,
"y": 7.884550925925927
},
"nextControl": {
"x": 8.239274483811554,
"y": 6.279719816241851
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 8.222563585069445,
"y": 4.02743894675926
},
"prevControl": {
"x": 8.24040964988426,
"y": 4.71680881076389
},
"nextControl": null,
"isLocked": false,
"linkedName": null
}
],
"rotationTargets": [
{
"waypointRelativePos": 1.493687913907287,
"rotationDegrees": -0.0
},
{
"waypointRelativePos": 2.342922185430464,
"rotationDegrees": -110.0
},
{
"waypointRelativePos": 2.91,
"rotationDegrees": -110.0
}
],
"constraintZones": [],
"pointTowardsZones": [],
"eventMarkers": [
{
"name": "intake trigger",
"waypointRelativePos": 0,
"endWaypointRelativePos": null,
"command": null
}
],
"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
}
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