Add general autos

README.md

@@ -30,4 +30,4 @@ Coming soon!
 Coming soon!
 
 ## Robot Simulation
-Coming Soon!
+Coming Soon!

simgui.json

@@ -51,6 +51,15 @@
   },
   "NetworkTables": {
     "transitory": {
+      "Robot": {
+        "m_robotContainer": {
+          "open": true,
+          "subStateMachine": {
+            "open": true
+          }
+        },
+        "open": true
+      },
       "SmartDashboard": {
         "Field": {
           "open": true

src/main/deploy/pathplanner/autos/4-Piece-High.auto

@@ -0,0 +1,103 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "GetCoralStationPiece"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "P-I"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "PrepPlace"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "I-CSTop"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "GetCoralStationPiece"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "CSTop-J"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "PrepPlace"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "J-CSTop"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "GetCoralStationPiece"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "CSTop-K"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "PrepPlace"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "K-CSTop"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "GetCoralStationPiece"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "CSTop-L"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "PrepPlace"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}

src/main/deploy/pathplanner/autos/4-Piece-Low.auto

@@ -7,7 +7,7 @@
         {
           "type": "named",
           "data": {
-            "name": "GetCoralStationPiece"
+            "name": "ForceGamePiece"
           }
         },
         {
@@ -16,6 +16,12 @@
             "pathName": "P-F"
           }
         },
+        {
+          "type": "named",
+          "data": {
+            "name": "PrepPlace"
+          }
+        },
         {
           "type": "named",
           "data": {
@@ -37,7 +43,13 @@
         {
           "type": "path",
           "data": {
-            "pathName": "CSBottom-E"
+            "pathName": "CSBottom-C"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "PrepPlace"
           }
         },
         {
@@ -49,7 +61,7 @@
         {
           "type": "path",
           "data": {
-            "pathName": "E-CSBottom"
+            "pathName": "C-CSBottom"
           }
         },
         {
@@ -64,6 +76,12 @@
             "pathName": "CSBottom-D"
           }
         },
+        {
+          "type": "named",
+          "data": {
+            "name": "PrepPlace"
+          }
+        },
         {
           "type": "named",
           "data": {
@@ -85,7 +103,13 @@
         {
           "type": "path",
           "data": {
-            "pathName": "CSBottom-C"
+            "pathName": "CSBottom-E"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "PrepPlace"
           }
         },
         {

src/main/deploy/pathplanner/autos/L.auto

@@ -14,6 +14,6 @@
     }
   },
   "resetOdom": true,
-  "folder": null,
+  "folder": "DEBUG",
   "choreoAuto": false
 }

src/main/deploy/pathplanner/paths/A-CSBottom.path

@@ -0,0 +1,66 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 3.196,
+        "y": 4.192
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 2.287806338028168,
+        "y": 4.155411971830985
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 1.612,
+        "y": 0.673
+      },
+      "prevControl": {
+        "x": 2.1280809859154917,
+        "y": 1.5022887323943643
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 0.683574879227053,
+      "rotationDegrees": 55.0
+    }
+  ],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [
+    {
+      "name": "PrepCoralStation",
+      "waypointRelativePos": 0.7611940298507465,
+      "endWaypointRelativePos": null,
+      "command": null
+    }
+  ],
+  "globalConstraints": {
+    "maxVelocity": 4.5,
+    "maxAcceleration": 10.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 55.0
+  },
+  "reversed": false,
+  "folder": "Score-CSBottom",
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "useDefaultConstraints": true
+}

src/main/deploy/pathplanner/paths/C-CSBottom.path

@@ -39,7 +39,7 @@
   "eventMarkers": [
     {
       "name": "PrepCoralStation",
-      "waypointRelativePos": 0.6925373134328354,
+      "waypointRelativePos": 0.8000000000000017,
       "endWaypointRelativePos": null,
       "command": null
     }

src/main/deploy/pathplanner/paths/New New Path.path → src/main/deploy/pathplanner/paths/CSBottom-A.path

@@ -3,35 +3,47 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 1.6453125,
-        "y": 0.6958881578947365
+        "x": 1.612,
+        "y": 0.673
       },
       "prevControl": null,
       "nextControl": {
-        "x": 2.645312500000002,
-        "y": 0.6958881578947365
+        "x": 2.0582201973313072,
+        "y": 1.5368304538832596
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 4.0,
-        "y": 6.0
+        "x": 3.196,
+        "y": 4.192
       },
       "prevControl": {
-        "x": 3.0,
-        "y": 6.0
+        "x": 2.7960000000000003,
+        "y": 4.192
       },
       "nextControl": null,
       "isLocked": false,
       "linkedName": null
     }
   ],
-  "rotationTargets": [],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 0.6743801652892595,
+      "rotationDegrees": 0.0
+    }
+  ],
   "constraintZones": [],
   "pointTowardsZones": [],
-  "eventMarkers": [],
+  "eventMarkers": [
+    {
+      "name": "PrepPlace",
+      "waypointRelativePos": 0.6735802469135783,
+      "endWaypointRelativePos": null,
+      "command": null
+    }
+  ],
   "globalConstraints": {
     "maxVelocity": 4.5,
     "maxAcceleration": 10.0,
@@ -45,10 +57,10 @@
     "rotation": 0.0
   },
   "reversed": false,
-  "folder": null,
+  "folder": "CSBottom-Score",
   "idealStartingState": {
     "velocity": 0,
-    "rotation": 54.958070598461035
+    "rotation": 55.0
   },
   "useDefaultConstraints": true
 }

src/main/deploy/pathplanner/paths/CSBottom-C.path

@@ -37,9 +37,15 @@
   "constraintZones": [],
   "pointTowardsZones": [],
   "eventMarkers": [
+    {
+      "name": "GetCoralStationPiece",
+      "waypointRelativePos": 0.011851851851851739,
+      "endWaypointRelativePos": null,
+      "command": null
+    },
     {
       "name": "PrepPlace",
-      "waypointRelativePos": 0.8059259259259244,
+      "waypointRelativePos": 0.9501234567901256,
       "endWaypointRelativePos": null,
       "command": null
     }

src/main/deploy/pathplanner/paths/CSBottom-D.path

@@ -37,9 +37,15 @@
   "constraintZones": [],
   "pointTowardsZones": [],
   "eventMarkers": [
+    {
+      "name": "GetCoralStationPiece",
+      "waypointRelativePos": 0.0,
+      "endWaypointRelativePos": null,
+      "command": null
+    },
     {
       "name": "PrepPlace",
-      "waypointRelativePos": 0.8019753086419719,
+      "waypointRelativePos": 1.0,
       "endWaypointRelativePos": null,
       "command": null
     }