From 1a91c0e10877d3ddd891b5cce39edfca689638b4 Mon Sep 17 00:00:00 2001
From: Jestin VanScoyoc <31118852+JediScoy@users.noreply.github.com>
Date: Fri, 15 Mar 2024 08:19:23 -0400
Subject: [PATCH] partial attempt

---
 .../pathplanner/autos/5 Piece Nugget.auto     | 56 +++++++++++++++++++
 .../pathplanner/paths/N1-Nugget1Shot.path     | 52 +++++++++++++++++
 .../deploy/pathplanner/paths/Nugget0-N1.path  | 52 +++++++++++++++++
 .../pathplanner/paths/S3-NuggetSauce.path     | 52 +++++++++++++++++
 4 files changed, 212 insertions(+)
 create mode 100644 src/main/deploy/pathplanner/autos/5 Piece Nugget.auto
 create mode 100644 src/main/deploy/pathplanner/paths/N1-Nugget1Shot.path
 create mode 100644 src/main/deploy/pathplanner/paths/Nugget0-N1.path
 create mode 100644 src/main/deploy/pathplanner/paths/S3-NuggetSauce.path

diff --git a/src/main/deploy/pathplanner/autos/5 Piece Nugget.auto b/src/main/deploy/pathplanner/autos/5 Piece Nugget.auto
new file mode 100644
index 0000000..9b621ff
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/5 Piece Nugget.auto	
@@ -0,0 +1,56 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 1.9112722961537205,
+      "y": 4.05
+    },
+    "rotation": 180.0
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "S3-NuggetSauce"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "ShootClose"
+          }
+        },
+        {
+          "type": "parallel",
+          "data": {
+            "commands": [
+              {
+                "type": "named",
+                "data": {
+                  "name": "Intake"
+                }
+              },
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "N1-Nugget1Shot"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "ShootClose"
+          }
+        }
+      ]
+    }
+  },
+  "folder": null,
+  "choreoAuto": false
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/N1-Nugget1Shot.path b/src/main/deploy/pathplanner/paths/N1-Nugget1Shot.path
new file mode 100644
index 0000000..9440843
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/N1-Nugget1Shot.path
@@ -0,0 +1,52 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 2.752,
+        "y": 4.05
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 2.7546355092710204,
+        "y": 4.617729235458472
+      },
+      "isLocked": false,
+      "linkedName": "N1"
+    },
+    {
+      "anchor": {
+        "x": 2.752,
+        "y": 4.588128407026045
+      },
+      "prevControl": {
+        "x": 2.6460991383521244,
+        "y": 4.578261464215236
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": "Nugget1Shot"
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 4.0,
+    "maxAcceleration": 4.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 165.0,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": null,
+  "previewStartingState": {
+    "rotation": 180.0,
+    "velocity": 0
+  },
+  "useDefaultConstraints": true
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/Nugget0-N1.path b/src/main/deploy/pathplanner/paths/Nugget0-N1.path
new file mode 100644
index 0000000..cbe71ec
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/Nugget0-N1.path
@@ -0,0 +1,52 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 1.9,
+        "y": 4.05
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 1.9166698250657546,
+        "y": 4.039057810298217
+      },
+      "isLocked": false,
+      "linkedName": "Nugget0"
+    },
+    {
+      "anchor": {
+        "x": 2.752,
+        "y": 4.05
+      },
+      "prevControl": {
+        "x": 1.7519999999999998,
+        "y": 4.05
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": "N1"
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 4.0,
+    "maxAcceleration": 4.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 180.0,
+    "rotateFast": true
+  },
+  "reversed": false,
+  "folder": null,
+  "previewStartingState": {
+    "rotation": 145.0,
+    "velocity": 0
+  },
+  "useDefaultConstraints": true
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/S3-NuggetSauce.path b/src/main/deploy/pathplanner/paths/S3-NuggetSauce.path
new file mode 100644
index 0000000..4233f95
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/S3-NuggetSauce.path
@@ -0,0 +1,52 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 1.41,
+        "y": 4.05
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 1.7599999999999998,
+        "y": 4.05
+      },
+      "isLocked": false,
+      "linkedName": "NuggetHome"
+    },
+    {
+      "anchor": {
+        "x": 1.9,
+        "y": 4.05
+      },
+      "prevControl": {
+        "x": 1.5899999999999999,
+        "y": 4.05
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": "Nugget0"
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 4.0,
+    "maxAcceleration": 4.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 145.0,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": null,
+  "previewStartingState": {
+    "rotation": 180.0,
+    "velocity": 0
+  },
+  "useDefaultConstraints": true
+}
\ No newline at end of file