蓝方path

src/main/deploy/pathplanner/autos/8 Balls Middle Start.auto

@@ -7,7 +7,7 @@
         {
           "type": "path",
           "data": {
-            "pathName": "Back To Shoot"
+            "pathName": "Back To Shoot Red"
           }
         },
         {
@@ -20,6 +20,6 @@
     }
   },
   "resetOdom": true,
-  "folder": null,
+  "folder": "Red Middle",
   "choreoAuto": false
 }

src/main/deploy/pathplanner/autos/Depot Auto.auto

@@ -17,7 +17,7 @@
               {
                 "type": "path",
                 "data": {
-                  "pathName": "To Red Depot"
+                  "pathName": "To Depot Red"
                 }
               }
             ]
@@ -42,7 +42,7 @@
               {
                 "type": "path",
                 "data": {
-                  "pathName": "Depot Intake"
+                  "pathName": "Depot Intake Red"
                 }
               }
             ]
@@ -67,7 +67,7 @@
               {
                 "type": "path",
                 "data": {
-                  "pathName": "Depot to Shoot"
+                  "pathName": "Depot to Shoot Red"
                 }
               }
             ]
@@ -83,6 +83,6 @@
     }
   },
   "resetOdom": true,
-  "folder": null,
+  "folder": "Red Middle",
   "choreoAuto": false
 }

src/main/deploy/pathplanner/autos/Shoot and Climb.auto

@@ -7,7 +7,7 @@
         {
           "type": "path",
           "data": {
-            "pathName": "Back To Shoot"
+            "pathName": "Back To Shoot Red"
           }
         },
         {
@@ -19,25 +19,25 @@
         {
           "type": "path",
           "data": {
-            "pathName": "Shoot to Climb Step1"
+            "pathName": "Shoot to Climb Step1 Red"
           }
         },
         {
           "type": "path",
           "data": {
-            "pathName": "Climb Step2"
+            "pathName": "Climb Step2 Red"
           }
         },
         {
           "type": "path",
           "data": {
-            "pathName": "Climb Step3"
+            "pathName": "Climb Step3 Red"
           }
         }
       ]
     }
   },
   "resetOdom": true,
-  "folder": null,
+  "folder": "Red Middle",
   "choreoAuto": false
 }

src/main/deploy/pathplanner/autos/Shoot and Depot.auto

@@ -11,7 +11,7 @@
               {
                 "type": "path",
                 "data": {
-                  "pathName": "Back To Shoot"
+                  "pathName": "Back To Shoot Red"
                 }
               },
               {
@@ -36,7 +36,7 @@
               {
                 "type": "path",
                 "data": {
-                  "pathName": "Shoot to Red Depot"
+                  "pathName": "Shoot to Depot Red"
                 }
               },
               {
@@ -61,7 +61,7 @@
               {
                 "type": "path",
                 "data": {
-                  "pathName": "Depot Intake"
+                  "pathName": "Depot Intake Red"
                 }
               }
             ]
@@ -80,7 +80,7 @@
               {
                 "type": "path",
                 "data": {
-                  "pathName": "Depot to Shoot"
+                  "pathName": "Depot to Shoot Red"
                 }
               }
             ]
@@ -96,6 +96,6 @@
     }
   },
   "resetOdom": true,
-  "folder": null,
+  "folder": "Red Middle",
   "choreoAuto": false
 }

src/main/deploy/pathplanner/paths/Back To Shoot Blue.path

@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 3.53,
+        "y": 4.0
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 3.9033070768298836,
+        "y": 3.9994852751840226
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 3.04,
+        "y": 4.0
+      },
+      "prevControl": {
+        "x": 2.783639997726092,
+        "y": 4.003292975326709
+      },
+      "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": "Blue Middle",
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "useDefaultConstraints": true
+}

src/main/deploy/pathplanner/paths/Climb Step2 Blue.path

@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 0.64,
+        "y": 4.704
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 0.9248292506025121,
+        "y": 4.704
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 1.073,
+        "y": 4.704
+      },
+      "prevControl": {
+        "x": 0.823,
+        "y": 4.704
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 0.5,
+    "maxAcceleration": 1.0,
+    "maxAngularVelocity": 360.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "reversed": false,
+  "folder": "Blue Middle",
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "useDefaultConstraints": false
+}

src/main/deploy/pathplanner/paths/Climb Step3 Blue.path

@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 1.073,
+        "y": 4.704
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 1.3229961597714217,
+        "y": 4.702614323435373
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 1.073,
+        "y": 4.604
+      },
+      "prevControl": {
+        "x": 0.7939837109919805,
+        "y": 4.592976954720596
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 0.25,
+    "maxAcceleration": 0.5,
+    "maxAngularVelocity": 360.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 180.0
+  },
+  "reversed": false,
+  "folder": "Blue Middle",
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 180.0
+  },
+  "useDefaultConstraints": false
+}

src/main/deploy/pathplanner/paths/Depot Intake Blue.path

@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 1.14,
+        "y": 5.969
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 1.5191395924055082,
+        "y": 5.975819656893259
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 0.54,
+        "y": 5.969
+      },
+      "prevControl": {
+        "x": 0.2904111750287428,
+        "y": 5.954667573496888
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 0.5,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 360.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "reversed": false,
+  "folder": "Blue Middle",
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "useDefaultConstraints": false
+}

src/main/deploy/pathplanner/paths/Depot to Shoot Blue.path

@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 0.84,
+        "y": 5.969
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 1.2669518600756762,
+        "y": 5.612104897874479
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 3.04,
+        "y": 4.0
+      },
+      "prevControl": {
+        "x": 2.8248463530252574,
+        "y": 4.180015650217846
+      },
+      "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": "Blue Middle",
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "useDefaultConstraints": true
+}

src/main/deploy/pathplanner/paths/Shoot to Climb Step1 Blue.path

@@ -0,0 +1,70 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 3.04,
+        "y": 4.0
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 3.3282933300270625,
+        "y": 3.975244391494451
+      },
+      "isLocked": true,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 1.97314,
+        "y": 4.704
+      },
+      "prevControl": {
+        "x": 1.4585920284163918,
+        "y": 4.684160090340553
+      },
+      "nextControl": {
+        "x": 2.2475848605490505,
+        "y": 4.714582028383155
+      },
+      "isLocked": true,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 0.64,
+        "y": 4.704
+      },
+      "prevControl": {
+        "x": 0.3610340465991982,
+        "y": 4.704101661030112
+      },
+      "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": "Blue Middle",
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "useDefaultConstraints": true
+}

src/main/deploy/pathplanner/paths/Shoot to Depot Blue.path

@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 3.04,
+        "y": 4.0
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 3.4702773700848932,
+        "y": 3.562911556367572
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 1.14,
+        "y": 5.969
+      },
+      "prevControl": {
+        "x": 0.8995187790061673,
+        "y": 6.223926270411972
+      },
+      "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": "Blue Middle",
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "useDefaultConstraints": true
+}

src/main/deploy/pathplanner/settings.json

@@ -3,9 +3,12 @@
   "robotLength": 0.85,
   "holonomicMode": true,
   "pathFolders": [
+    "Blue Middle",
+    "Red Middle"
+  ],
+  "autoFolders": [
     "Red Middle"
   ],
-  "autoFolders": [],
   "defaultMaxVel": 1.5,
   "defaultMaxAccel": 3.0,
   "defaultMaxAngVel": 360.0,