Workingjava

.pathplanner/settings.json

@@ -0,0 +1,7 @@
+{
+  "robotWidth": 0.76,
+  "robotLength": 0.9,
+  "holonomicMode": false,
+  "generateJSON": true,
+  "generateCSV": false
+}

build.gradle

@@ -102,4 +102,5 @@ wpi.java.configureTestTasks(test)
 // Configure string concat to always inline compile
 tasks.withType(JavaCompile) {
     options.compilerArgs.add '-XDstringConcat=inline'
+    options.compilerArgs.add '-parameters'
 }

src/main/deploy/pathplanner/BasicAuto.path

@@ -0,0 +1,52 @@
+{
+  "waypoints": [
+    {
+      "anchorPoint": {
+        "x": 1.8971430359922339,
+        "y": 3.295782989670245
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 3.4617919262920473,
+        "y": 3.2849960506962317
+      },
+      "holonomicAngle": 0,
+      "isReversal": false,
+      "velOverride": null,
+      "isLocked": false,
+      "isStopPoint": false,
+      "stopEvent": {
+        "names": [],
+        "executionBehavior": "parallel",
+        "waitBehavior": "none",
+        "waitTime": 0
+      }
+    },
+    {
+      "anchorPoint": {
+        "x": 3.918574694292246,
+        "y": 3.292390870496027
+      },
+      "prevControl": {
+        "x": 3.1698661501588417,
+        "y": 3.314778857045866
+      },
+      "nextControl": null,
+      "holonomicAngle": 0,
+      "isReversal": false,
+      "velOverride": null,
+      "isLocked": false,
+      "isStopPoint": false,
+      "stopEvent": {
+        "names": [],
+        "executionBehavior": "parallel",
+        "waitBehavior": "none",
+        "waitTime": 0
+      }
+    }
+  ],
+  "maxVelocity": null,
+  "maxAcceleration": null,
+  "isReversed": false,
+  "markers": []
+}

src/main/deploy/pathplanner/OneCargoAuto1.path

@@ -0,0 +1,102 @@
+{
+  "waypoints": [
+    {
+      "anchorPoint": {
+        "x": 1.8771305963664562,
+        "y": 4.960295710065105
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 2.8771305963664533,
+        "y": 4.960295710065105
+      },
+      "holonomicAngle": 0,
+      "isReversal": false,
+      "velOverride": null,
+      "isLocked": false,
+      "isStopPoint": false,
+      "stopEvent": {
+        "names": [],
+        "executionBehavior": "parallel",
+        "waitBehavior": "none",
+        "waitTime": 0
+      }
+    },
+    {
+      "anchorPoint": {
+        "x": 4.23487917151273,
+        "y": 4.960295710065105
+      },
+      "prevControl": {
+        "x": 3.1900986919438368,
+        "y": 4.960295710065105
+      },
+      "nextControl": {
+        "x": 4.751770205294798,
+        "y": 4.960295710065105
+      },
+      "holonomicAngle": 0,
+      "isReversal": false,
+      "velOverride": null,
+      "isLocked": false,
+      "isStopPoint": false,
+      "stopEvent": {
+        "names": [],
+        "executionBehavior": "parallel",
+        "waitBehavior": "none",
+        "waitTime": 0
+      }
+    },
+    {
+      "anchorPoint": {
+        "x": 5.839961855362307,
+        "y": 3.8086262137436555
+      },
+      "prevControl": {
+        "x": 6.552586078837914,
+        "y": 4.833470347828792
+      },
+      "nextControl": {
+        "x": 5.445207455710081,
+        "y": 3.2409192546470966
+      },
+      "holonomicAngle": 0,
+      "isReversal": false,
+      "velOverride": null,
+      "isLocked": false,
+      "isStopPoint": false,
+      "stopEvent": {
+        "names": [],
+        "executionBehavior": "parallel",
+        "waitBehavior": "none",
+        "waitTime": 0
+      }
+    },
+    {
+      "anchorPoint": {
+        "x": 3.8993534127419136,
+        "y": 3.3824178174672146
+      },
+      "prevControl": {
+        "x": 4.996613326559983,
+        "y": 3.3733495537166522
+      },
+      "nextControl": null,
+      "holonomicAngle": 0,
+      "isReversal": false,
+      "velOverride": null,
+      "isLocked": false,
+      "isStopPoint": false,
+      "stopEvent": {
+        "names": [],
+        "executionBehavior": "parallel",
+        "waitBehavior": "none",
+        "waitTime": 0
+      }
+    }
+  ],
+  "maxVelocity": 3.0,
+  "maxAcceleration": 4.0,
+  "isReversed": true,
+  "markers": []
+}

src/main/deploy/pathplanner/OneCargoAuto2.path

@@ -0,0 +1,52 @@
+{
+  "waypoints": [
+    {
+      "anchorPoint": {
+        "x": 1.7999927428426288,
+        "y": 3.8077216154432314
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 2.7999927428426297,
+        "y": 3.8077216154432314
+      },
+      "holonomicAngle": 0,
+      "isReversal": false,
+      "velOverride": null,
+      "isLocked": false,
+      "isStopPoint": false,
+      "stopEvent": {
+        "names": [],
+        "executionBehavior": "parallel",
+        "waitBehavior": "none",
+        "waitTime": 0
+      }
+    },
+    {
+      "anchorPoint": {
+        "x": 3.918574694292246,
+        "y": 3.4212235567328277
+      },
+      "prevControl": {
+        "x": 3.116949091041039,
+        "y": 3.4355382996480284
+      },
+      "nextControl": null,
+      "holonomicAngle": 0,
+      "isReversal": false,
+      "velOverride": null,
+      "isLocked": false,
+      "isStopPoint": false,
+      "stopEvent": {
+        "names": [],
+        "executionBehavior": "parallel",
+        "waitBehavior": "none",
+        "waitTime": 0
+      }
+    }
+  ],
+  "maxVelocity": null,
+  "maxAcceleration": null,
+  "isReversed": true,
+  "markers": []
+}

src/main/deploy/pathplanner/OneCargoAuto3.path

@@ -0,0 +1,52 @@
+{
+  "waypoints": [
+    {
+      "anchorPoint": {
+        "x": 1.8952671238675813,
+        "y": 1.5959698586063844
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 2.8927761364294655,
+        "y": 1.5959698586063844
+      },
+      "holonomicAngle": 0,
+      "isReversal": false,
+      "velOverride": null,
+      "isLocked": false,
+      "isStopPoint": false,
+      "stopEvent": {
+        "names": [],
+        "executionBehavior": "parallel",
+        "waitBehavior": "none",
+        "waitTime": 0
+      }
+    },
+    {
+      "anchorPoint": {
+        "x": 3.8812168852407885,
+        "y": 2.1219291561390143
+      },
+      "prevControl": {
+        "x": 2.4302946851507743,
+        "y": 2.1219291561390143
+      },
+      "nextControl": null,
+      "holonomicAngle": 0,
+      "isReversal": false,
+      "velOverride": null,
+      "isLocked": false,
+      "isStopPoint": false,
+      "stopEvent": {
+        "names": [],
+        "executionBehavior": "parallel",
+        "waitBehavior": "none",
+        "waitTime": 0
+      }
+    }
+  ],
+  "maxVelocity": 2.0,
+  "maxAcceleration": null,
+  "isReversed": true,
+  "markers": []
+}