Merge Limelight, Some Auto & Climber to MAIN

.pathplanner/settings.json

@@ -0,0 +1,12 @@
+{
+  "robotWidth": 0.6858,
+  "robotLength": 0.6858,
+  "holonomicMode": true,
+  "pathFolders": [],
+  "autoFolders": [],
+  "defaultMaxVel": 3.0,
+  "defaultMaxAccel": 3.0,
+  "defaultMaxAngVel": 90.0,
+  "defaultMaxAngAccel": 90.0,
+  "maxModuleSpeed": 3.0
+}

build.gradle

@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2024.1.1"
+    id "edu.wpi.first.GradleRIO" version "2024.3.1"
 }
 
 java {

src/main/deploy/pathplanner/paths/2NoteBLRR.path

@@ -0,0 +1,70 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 0.9323613212443815,
+        "y": 6.656317475275852
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 1.9323613212443809,
+        "y": 6.656317475275852
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 2.6751120813030673,
+        "y": 6.984842182244751
+      },
+      "prevControl": {
+        "x": 1.6751120813030673,
+        "y": 6.984842182244751
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "eventMarkers": [
+    {
+      "name": "print",
+      "waypointRelativePos": 0.75,
+      "command": {
+        "type": "parallel",
+        "data": {
+          "commands": [
+            {
+              "type": "named",
+              "data": {
+                "name": "printLeft2Note"
+              }
+            }
+          ]
+        }
+      }
+    }
+  ],
+  "globalConstraints": {
+    "maxVelocity": 0.5,
+    "maxAcceleration": 0.5,
+    "maxAngularVelocity": 90.0,
+    "maxAngularAcceleration": 90.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 180.0,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": null,
+  "previewStartingState": {
+    "rotation": -120.0,
+    "velocity": 0.0
+  },
+  "useDefaultConstraints": false
+}

src/main/deploy/pathplanner/paths/2note test.path

@@ -0,0 +1,86 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 0.7361011157207502,
+        "y": 4.399669799339599
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 3.8201100198496696,
+        "y": 3.887598307604023
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 2.911291498508923,
+        "y": 4.070383423174254
+      },
+      "prevControl": {
+        "x": 1.9173912130318533,
+        "y": 4.180665890178681
+      },
+      "nextControl": {
+        "x": 4.823527855389046,
+        "y": 3.858203040480156
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 1.0005397510795024,
+        "y": 5.573698952953462
+      },
+      "prevControl": {
+        "x": 1.210298603467578,
+        "y": 6.180013452619499
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "eventMarkers": [
+    {
+      "name": "print",
+      "waypointRelativePos": 0.75,
+      "command": {
+        "type": "parallel",
+        "data": {
+          "commands": [
+            {
+              "type": "named",
+              "data": {
+                "name": "printLeft2Note"
+              }
+            }
+          ]
+        }
+      }
+    }
+  ],
+  "globalConstraints": {
+    "maxVelocity": 0.5,
+    "maxAcceleration": 0.5,
+    "maxAngularVelocity": 90.0,
+    "maxAngularAcceleration": 90.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 180.0,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": null,
+  "previewStartingState": {
+    "rotation": 120.0,
+    "velocity": 0.0
+  },
+  "useDefaultConstraints": false
+}

src/main/deploy/pathplanner/paths/Middle2Note.path

@@ -0,0 +1,143 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 1.2689287141904957,
+        "y": 5.562302316231041
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 1.4910047710766396,
+        "y": 5.55160475883074
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 2.5,
+        "y": 5.562302316231041
+      },
+      "prevControl": {
+        "x": 1.5536710609852626,
+        "y": 5.562302316231041
+      },
+      "nextControl": {
+        "x": 3.4463289390147374,
+        "y": 5.562302316231041
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 1.5,
+        "y": 5.56
+      },
+      "prevControl": {
+        "x": 2.500000000000001,
+        "y": 5.56
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "eventMarkers": [
+    {
+      "name": "intake",
+      "waypointRelativePos": 1.0,
+      "command": {
+        "type": "parallel",
+        "data": {
+          "commands": [
+            {
+              "type": "named",
+              "data": {
+                "name": "intake"
+              }
+            },
+            {
+              "type": "wait",
+              "data": {
+                "waitTime": 3.0
+              }
+            }
+          ]
+        }
+      }
+    },
+    {
+      "name": "shoot1",
+      "waypointRelativePos": 0.05,
+      "command": {
+        "type": "parallel",
+        "data": {
+          "commands": [
+            {
+              "type": "named",
+              "data": {
+                "name": "shoot"
+              }
+            }
+          ]
+        }
+      }
+    },
+    {
+      "name": "printEnd",
+      "waypointRelativePos": 2.0,
+      "command": {
+        "type": "parallel",
+        "data": {
+          "commands": [
+            {
+              "type": "named",
+              "data": {
+                "name": "printAfter"
+              }
+            }
+          ]
+        }
+      }
+    },
+    {
+      "name": "shoot2",
+      "waypointRelativePos": 2.0,
+      "command": {
+        "type": "parallel",
+        "data": {
+          "commands": [
+            {
+              "type": "named",
+              "data": {
+                "name": "shoot"
+              }
+            }
+          ]
+        }
+      }
+    }
+  ],
+  "globalConstraints": {
+    "maxVelocity": 1.5,
+    "maxAcceleration": 1.5,
+    "maxAngularVelocity": 90.0,
+    "maxAngularAcceleration": 90.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 180.0,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": null,
+  "previewStartingState": {
+    "rotation": 180.0,
+    "velocity": 0
+  },
+  "useDefaultConstraints": false
+}