Better auton paths

.pathplanner/settings.json

@@ -1,11 +1,8 @@
 {
-  "robotWidth": 0.9,
-  "robotLength": 0.9,
+  "robotWidth": 0.97,
+  "robotLength": 0.97,
   "holonomicMode": true,
-  "pathFolders": [
-    "RevA",
-    "gatorade"
-  ],
+  "pathFolders": [],
   "autoFolders": [],
   "defaultMaxVel": 3.0,
   "defaultMaxAccel": 3.0,

src/main/deploy/pathplanner/paths/3 Piece 1.path → src/main/deploy/pathplanner/paths/Amp Side Start to Top Piece.path

@@ -3,35 +3,35 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 0.7483342975945213,
-        "y": 6.675397934129203
+        "x": 0.7128224395337682,
+        "y": 6.718986067601764
       },
       "prevControl": null,
       "nextControl": {
-        "x": 2.3770102493908696,
-        "y": 6.456447732339909
+        "x": 1.988042573307369,
+        "y": 6.3556130584483395
       },
       "isLocked": false,
-      "linkedName": null
+      "linkedName": "Amp Side Start"
     },
     {
       "anchor": {
-        "x": 2.809031599544681,
-        "y": 6.921961871701522
+        "x": 2.8691879744870605,
+        "y": 6.9776644182918
       },
       "prevControl": {
-        "x": 2.2404261799264344,
-        "y": 6.638104544727609
+        "x": 1.67324598538086,
+        "y": 6.336669441857402
       },
       "nextControl": null,
       "isLocked": false,
-      "linkedName": "3 Piece 1"
+      "linkedName": "Top Piece"
     }
   ],
   "rotationTargets": [
     {
-      "waypointRelativePos": 0.2,
-      "rotationDegrees": 37.38608672087997,
+      "waypointRelativePos": 0.25,
+      "rotationDegrees": 60.0,
       "rotateFast": false
     }
   ],
@@ -45,13 +45,13 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": 36.0,
+    "rotation": 31.5,
     "rotateFast": true
   },
   "reversed": false,
-  "folder": "RevA",
+  "folder": null,
   "previewStartingState": {
-    "rotation": 59.33438905954238,
+    "rotation": 60.0,
     "velocity": 0
   },
   "useDefaultConstraints": false

src/main/deploy/pathplanner/paths/Intake_Path_1.path → src/main/deploy/pathplanner/paths/Bottom Midfield to Bottom Start.path

@@ -3,50 +3,50 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 2.0,
-        "y": 7.0
+        "x": 8.214257072032662,
+        "y": 0.7568538979670562
       },
       "prevControl": null,
       "nextControl": {
-        "x": 3.0,
-        "y": 7.0
+        "x": 6.569428569412694,
+        "y": 0.762851720147885
       },
       "isLocked": false,
-      "linkedName": null
+      "linkedName": "Bottom Midfield"
     },
     {
       "anchor": {
-        "x": 2.9208403278961947,
-        "y": 7.0
+        "x": 3.263143938324914,
+        "y": 0.7568538979670562
       },
       "prevControl": {
-        "x": 2.647327938174395,
-        "y": 6.99797387557738
+        "x": 6.679111515630439,
+        "y": 0.5865395017827079
       },
       "nextControl": {
-        "x": 3.2912178856275127,
-        "y": 7.0027436819811815
+        "x": 1.184384913527094,
+        "y": 0.860497325519864
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 3.4866439657691353,
-        "y": 6.6044715548077715
+        "x": 0.7132975145579924,
+        "y": 4.40352978391142
       },
       "prevControl": {
-        "x": 4.13474631460541,
-        "y": 7.149700514939878
+        "x": 0.9196582282053455,
+        "y": 3.2139419232542177
       },
       "nextControl": null,
       "isLocked": false,
-      "linkedName": "intake test 1"
+      "linkedName": "Bottom Start"
     }
   ],
   "rotationTargets": [
     {
-      "waypointRelativePos": 0.9,
+      "waypointRelativePos": 1.3,
       "rotationDegrees": 0,
       "rotateFast": false
     }
@@ -61,14 +61,11 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": -98.13010235415607,
-    "rotateFast": false
+    "rotation": -60.0,
+    "rotateFast": true
   },
   "reversed": false,
-  "folder": "gatorade",
-  "previewStartingState": {
-    "rotation": -140.22201891090498,
-    "velocity": 0
-  },
+  "folder": null,
+  "previewStartingState": null,
   "useDefaultConstraints": true
 }

src/main/deploy/pathplanner/paths/Intake_Path_3.path → src/main/deploy/pathplanner/paths/Bottom Piece to Top Piece.path

@@ -3,32 +3,43 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 2.0258418461699086,
-        "y": 6.203265338861505
+        "x": 2.496610386739292,
+        "y": 4.342898333944817
       },
       "prevControl": null,
       "nextControl": {
-        "x": 1.3983141750744656,
-        "y": 5.915219850489826
+        "x": 2.033174700608661,
+        "y": 4.891906908813818
       },
       "isLocked": false,
-      "linkedName": "intake test 2"
+      "linkedName": "Bottom Piece"
     },
     {
       "anchor": {
-        "x": 2.2418759624486673,
-        "y": 5.555162990025228
+        "x": 2.8691879744870605,
+        "y": 6.9776644182918
       },
       "prevControl": {
-        "x": 1.2418759624486673,
-        "y": 5.555162990025228
+        "x": 2.1594852726731264,
+        "y": 6.5465932181858735
       },
       "nextControl": null,
       "isLocked": false,
-      "linkedName": "intake test 3"
+      "linkedName": "Top Piece"
+    }
+  ],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 0.15,
+      "rotationDegrees": 0,
+      "rotateFast": false
+    },
+    {
+      "waypointRelativePos": 0.65,
+      "rotationDegrees": 65.51032725616209,
+      "rotateFast": true
     }
   ],
-  "rotationTargets": [],
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
@@ -39,13 +50,13 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": 0,
+    "rotation": 31.5,
     "rotateFast": false
   },
   "reversed": false,
-  "folder": "gatorade",
+  "folder": null,
   "previewStartingState": {
-    "rotation": -167.38067770656923,
+    "rotation": -31.5,
     "velocity": 0
   },
   "useDefaultConstraints": true

src/main/deploy/pathplanner/paths/Bottom Start to Bottom Midfield.path

@@ -0,0 +1,84 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 0.7132975145579924,
+        "y": 4.40352978391142
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 0.7139507427163004,
+        "y": 3.9251886188957568
+      },
+      "isLocked": false,
+      "linkedName": "Bottom Start"
+    },
+    {
+      "anchor": {
+        "x": 2.0177347623213766,
+        "y": 1.3250436269391064
+      },
+      "prevControl": {
+        "x": 0.5501092437370062,
+        "y": 2.1267327303173134
+      },
+      "nextControl": {
+        "x": 3.8443245108246487,
+        "y": 0.32727063977417226
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 8.214257072032662,
+        "y": 0.7568538979670562
+      },
+      "prevControl": {
+        "x": 7.759606904612749,
+        "y": 1.1302501893122792
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": "Bottom Midfield"
+    }
+  ],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 0.5,
+      "rotationDegrees": 0,
+      "rotateFast": false
+    },
+    {
+      "waypointRelativePos": 2.0,
+      "rotationDegrees": 0.0,
+      "rotateFast": false
+    },
+    {
+      "waypointRelativePos": 2,
+      "rotationDegrees": 0,
+      "rotateFast": false
+    }
+  ],
+  "constraintZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": -60.0,
+    "rotateFast": true
+  },
+  "reversed": false,
+  "folder": null,
+  "previewStartingState": {
+    "rotation": -60.0,
+    "velocity": 0
+  },
+  "useDefaultConstraints": true
+}

src/main/deploy/pathplanner/paths/Bottom Start to Bottom Piece.path

@@ -0,0 +1,63 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 0.7132975145579924,
+        "y": 4.40352978391142
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 1.717665500144788,
+        "y": 4.387436617470951
+      },
+      "isLocked": false,
+      "linkedName": "Bottom Start"
+    },
+    {
+      "anchor": {
+        "x": 2.496610386739292,
+        "y": 4.342898333944817
+      },
+      "prevControl": {
+        "x": 1.876340558235646,
+        "y": 4.303526491317366
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": "Bottom Piece"
+    }
+  ],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 0.6,
+      "rotationDegrees": 0,
+      "rotateFast": true
+    },
+    {
+      "waypointRelativePos": 0.05,
+      "rotationDegrees": -60.0,
+      "rotateFast": false
+    }
+  ],
+  "constraintZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": -31.5,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": null,
+  "previewStartingState": {
+    "rotation": -60.0,
+    "velocity": 0
+  },
+  "useDefaultConstraints": false
+}