feat(auto): auto programs

build.gradle.kts

@@ -46,7 +46,7 @@ deploy {
                 files = project.fileTree("src/main/deploy")
                 directory = "/home/lvuser/deploy"
                 // Change to true to delete files on roboRIO that no longer exist in deploy directory of this project
-                deleteOldFiles = false
+                deleteOldFiles = true
             }
         }
     }

deploy/pathplanner/autos/Left Coral.auto

@@ -0,0 +1,25 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Left Coral"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Shoot Coral"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}

deploy/pathplanner/autos/Auto 2.auto → deploy/pathplanner/autos/Left Cower.auto

@@ -7,7 +7,7 @@
         {
           "type": "path",
           "data": {
-            "pathName": "Example Path"
+            "pathName": "Left Cower"
           }
         }
       ]

deploy/pathplanner/autos/Middle Coral.auto

@@ -0,0 +1,25 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Middle Coral"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Shoot Coral"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}

deploy/pathplanner/autos/Right Coral.auto

@@ -0,0 +1,25 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Right Coral"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Shoot Coral"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}

deploy/pathplanner/autos/Right Cower.auto

@@ -0,0 +1,19 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Right Cower"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}

deploy/pathplanner/paths/Left Coral.path

@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 1.2189361628779647,
+        "y": 5.866971051251446
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 2.9512963438075186,
+        "y": 5.531387199708065
+      },
+      "isLocked": false,
+      "linkedName": "Left Start Point"
+    },
+    {
+      "anchor": {
+        "x": 3.591138698630137,
+        "y": 5.45244006849315
+      },
+      "prevControl": {
+        "x": 2.4776629775650667,
+        "y": 5.714057170101834
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": -57.81900000000001
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "useDefaultConstraints": true
+}

deploy/pathplanner/paths/Left Cower.path

@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 1.2189361628779647,
+        "y": 5.866971051251446
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 1.8817969299286306,
+        "y": 6.271979442135223
+      },
+      "isLocked": false,
+      "linkedName": "Left Start Point"
+    },
+    {
+      "anchor": {
+        "x": 3.6513702957718452,
+        "y": 7.294922163221571
+      },
+      "prevControl": {
+        "x": 3.151972361324708,
+        "y": 7.027257258098368
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "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
+}

deploy/pathplanner/paths/Example Path.path → deploy/pathplanner/paths/Middle Coral.path

@@ -3,25 +3,25 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 2.0,
-        "y": 7.0
+        "x": 1.227639581185799,
+        "y": 4.011881408691406
       },
       "prevControl": null,
       "nextControl": {
-        "x": 5.616544495177205,
-        "y": 6.547897261115757
+        "x": 2.227639581185801,
+        "y": 4.011881408691406
       },
       "isLocked": false,
-      "linkedName": null
+      "linkedName": "Middle Start Point"
     },
     {
       "anchor": {
-        "x": 5.925694376627604,
-        "y": 5.824974817346644
+        "x": 3.106420118543836,
+        "y": 4.011881408691406
       },
       "prevControl": {
-        "x": 6.005604770520303,
-        "y": 5.588090185198601
+        "x": 2.106420118543836,
+        "y": 4.011881408691406
       },
       "nextControl": null,
       "isLocked": false,

deploy/pathplanner/paths/Right Coral.path

@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 1.216342106571903,
+        "y": 2.166053393328631
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 2.848241385626375,
+        "y": 2.498815798349386
+      },
+      "isLocked": false,
+      "linkedName": "Right Start Point"
+    },
+    {
+      "anchor": {
+        "x": 3.7864726027397264,
+        "y": 2.8529965753424653
+      },
+      "prevControl": {
+        "x": 3.488335310899737,
+        "y": 2.7473818965034518
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 61.595470533274415
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "useDefaultConstraints": true
+}

deploy/pathplanner/paths/Right Cower.path

@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 1.216342106571903,
+        "y": 2.166053393328631
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 2.129957067247434,
+        "y": 1.6096848985428793
+      },
+      "isLocked": false,
+      "linkedName": "Right Start Point"
+    },
+    {
+      "anchor": {
+        "x": 3.906678082191781,
+        "y": 0.9747859589041092
+      },
+      "prevControl": {
+        "x": 3.2875855104330522,
+        "y": 1.3712547639598478
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "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
+}