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HarryWangOnLaptop
2026-02-23 08:38:49 +08:00
commit c2ffb70f3d
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src/main/deploy/example.txt
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Files placed in this directory will be deployed to the RoboRIO into the
'deploy' directory in the home folder. Use the 'Filesystem.getDeployDirectory' wpilib function
to get a proper path relative to the deploy directory.
src/main/deploy/pathplanner/autos/Line.auto
+19
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{
"version": "2025.0",
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "Line"
}
}
]
}
},
"resetOdom": false,
"folder": null,
"choreoAuto": false
}
src/main/deploy/pathplanner/autos/LineGoAndBack.auto
+37
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{
"version": "2025.0",
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "Line"
}
},
{
"type": "wait",
"data": {
"waitTime": 1.0
}
},
{
"type": "path",
"data": {
"pathName": "LineBack"
}
},
{
"type": "wait",
"data": {
"waitTime": 1.0
}
}
]
}
},
"resetOdom": false,
"folder": null,
"choreoAuto": false
}
src/main/deploy/pathplanner/autos/Rotate.auto
+19
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{
"version": "2025.0",
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "Rotate"
}
}
]
}
},
"resetOdom": false,
"folder": null,
"choreoAuto": false
}
src/main/deploy/pathplanner/autos/RotateAndLine.auto
+19
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{
"version": "2025.0",
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "RotateAndLine"
}
}
]
}
},
"resetOdom": false,
"folder": null,
"choreoAuto": false
}
src/main/deploy/pathplanner/navgrid.json
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src/main/deploy/pathplanner/paths/Line.path
+54
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{
"version": "2025.0",
"waypoints": [
{
"anchor": {
"x": 14.314,
"y": 4.15
},
"prevControl": null,
"nextControl": {
"x": 14.299415121255347,
"y": 4.61077032810271
},
"isLocked": false,
"linkedName": "StartingPointRed1"
},
{
"anchor": {
"x": 14.314,
"y": 6.668017118402283
},
"prevControl": {
"x": 14.247660485021397,
"y": 6.305734664764623
},
"nextControl": null,
"isLocked": false,
"linkedName": null
}
],
"rotationTargets": [],
"constraintZones": [],
"pointTowardsZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 1.5,
"maxAcceleration": 3.0,
"maxAngularVelocity": 360.0,
"maxAngularAcceleration": 720.0,
"nominalVoltage": 12.0,
"unlimited": false
},
"goalEndState": {
"velocity": 0,
"rotation": 180.0
},
"reversed": false,
"folder": null,
"idealStartingState": {
"velocity": 0,
"rotation": 180.0
},
"useDefaultConstraints": true
}
src/main/deploy/pathplanner/paths/LineBack.path
+54
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{
"version": "2025.0",
"waypoints": [
{
"anchor": {
"x": 14.314,
"y": 6.668017118402283
},
"prevControl": null,
"nextControl": {
"x": 14.299415121255347,
"y": 7.128787446504993
},
"isLocked": false,
"linkedName": "Point1"
},
{
"anchor": {
"x": 14.314,
"y": 4.15
},
"prevControl": {
"x": 14.299415121255347,
"y": 4.597831669044222
},
"nextControl": null,
"isLocked": false,
"linkedName": "StartingPointRed2"
}
],
"rotationTargets": [],
"constraintZones": [],
"pointTowardsZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 1.5,
"maxAcceleration": 3.0,
"maxAngularVelocity": 360.0,
"maxAngularAcceleration": 720.0,
"nominalVoltage": 12.0,
"unlimited": false
},
"goalEndState": {
"velocity": 0,
"rotation": 180.0
},
"reversed": false,
"folder": null,
"idealStartingState": {
"velocity": 0,
"rotation": 180.0
},
"useDefaultConstraints": true
}
src/main/deploy/pathplanner/paths/Rotate.path
+54
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{
"version": "2025.0",
"waypoints": [
{
"anchor": {
"x": 14.314,
"y": 4.15
},
"prevControl": null,
"nextControl": {
"x": 14.064,
"y": 4.15
},
"isLocked": false,
"linkedName": "StartingPointRed1"
},
{
"anchor": {
"x": 14.314,
"y": 4.15
},
"prevControl": {
"x": 14.650181888846735,
"y": 4.15
},
"nextControl": null,
"isLocked": false,
"linkedName": null
}
],
"rotationTargets": [],
"constraintZones": [],
"pointTowardsZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 1.5,
"maxAcceleration": 3.0,
"maxAngularVelocity": 360.0,
"maxAngularAcceleration": 720.0,
"nominalVoltage": 12.0,
"unlimited": false
},
"goalEndState": {
"velocity": 0,
"rotation": 0.0
},
"reversed": false,
"folder": null,
"idealStartingState": {
"velocity": 0,
"rotation": 180.0
},
"useDefaultConstraints": true
}
src/main/deploy/pathplanner/paths/RotateAndLine.path
+54
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{
"version": "2025.0",
"waypoints": [
{
"anchor": {
"x": 14.314,
"y": 4.15
},
"prevControl": null,
"nextControl": {
"x": 14.312353780313838,
"y": 4.74015691868759
},
"isLocked": false,
"linkedName": "StartingPointRed1"
},
{
"anchor": {
"x": 14.314,
"y": 6.357489300998574
},
"prevControl": {
"x": 14.312353780313838,
"y": 6.098716119828817
},
"nextControl": null,
"isLocked": false,
"linkedName": null
}
],
"rotationTargets": [],
"constraintZones": [],
"pointTowardsZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 1.5,
"maxAcceleration": 3.0,
"maxAngularVelocity": 360.0,
"maxAngularAcceleration": 720.0,
"nominalVoltage": 12.0,
"unlimited": false
},
"goalEndState": {
"velocity": 0,
"rotation": 0.0
},
"reversed": false,
"folder": null,
"idealStartingState": {
"velocity": 0,
"rotation": 180.0
},
"useDefaultConstraints": true
}
src/main/deploy/pathplanner/settings.json
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{
"robotWidth": 0.85,
"robotLength": 0.85,
"holonomicMode": true,
"pathFolders": [],
"autoFolders": [],
"defaultMaxVel": 1.5,
"defaultMaxAccel": 3.0,
"defaultMaxAngVel": 360.0,
"defaultMaxAngAccel": 720.0,
"defaultNominalVoltage": 12.0,
"robotMass": 30.0,
"robotMOI": 3.6,
"robotTrackwidth": 0.546,
"driveWheelRadius": 0.045,
"driveGearing": 5.902,
"maxDriveSpeed": 4.89,
"driveMotorType": "krakenX60",
"driveCurrentLimit": 40.0,
"wheelCOF": 1.2,
"flModuleX": 0.289,
"flModuleY": 0.289,
"frModuleX": 0.289,
"frModuleY": -0.289,
"blModuleX": -0.289,
"blModuleY": 0.289,
"brModuleX": -0.289,
"brModuleY": -0.289,
"bumperOffsetX": 0.0,
"bumperOffsetY": 0.0,
"robotFeatures": [
"{\"name\":\"Circle\",\"type\":\"circle\",\"data\":{\"center\":{\"x\":0.0,\"y\":0.0},\"radius\":0.1,\"strokeWidth\":0.02,\"filled\":false}}"
]
}