lehigh initial code

elastic-layout.json

@@ -0,0 +1,165 @@
+{
+  "version": 1.0,
+  "grid_size": 128,
+  "tabs": [
+    {
+      "name": "Teleoperated",
+      "grid_layout": {
+        "layouts": [],
+        "containers": [
+          {
+            "title": "BatteryVoltage",
+            "x": 0.0,
+            "y": 512.0,
+            "width": 384.0,
+            "height": 128.0,
+            "type": "Voltage View",
+            "properties": {
+              "topic": "/AdvantageKit/SystemStats/BatteryVoltage",
+              "period": 0.06,
+              "data_type": "double",
+              "min_value": 4.0,
+              "max_value": 13.0,
+              "divisions": 5,
+              "inverted": false,
+              "orientation": "horizontal"
+            }
+          },
+          {
+            "title": "limelight",
+            "x": 896.0,
+            "y": 0.0,
+            "width": 640.0,
+            "height": 384.0,
+            "type": "Camera Stream",
+            "properties": {
+              "topic": "/CameraPublisher/limelight",
+              "period": 0.06,
+              "rotation_turns": 0
+            }
+          },
+          {
+            "title": "Field",
+            "x": 0.0,
+            "y": 0.0,
+            "width": 512.0,
+            "height": 384.0,
+            "type": "Field",
+            "properties": {
+              "topic": "/SmartDashboard/Field",
+              "period": 0.06,
+              "field_game": "Reefscape",
+              "robot_width": 0.85,
+              "robot_length": 0.85,
+              "show_other_objects": true,
+              "show_trajectories": true,
+              "field_rotation": 0.0,
+              "robot_color": 4294198070,
+              "trajectory_color": 4294967295
+            }
+          },
+          {
+            "title": "FMSInfo",
+            "x": 0.0,
+            "y": 384.0,
+            "width": 384.0,
+            "height": 128.0,
+            "type": "FMSInfo",
+            "properties": {
+              "topic": "/FMSInfo",
+              "period": 0.06
+            }
+          },
+          {
+            "title": "MatchTime",
+            "x": 512.0,
+            "y": 0.0,
+            "width": 384.0,
+            "height": 256.0,
+            "type": "Match Time",
+            "properties": {
+              "topic": "/AdvantageKit/DriverStation/MatchTime",
+              "period": 0.06,
+              "data_type": "double",
+              "time_display_mode": "Minutes and Seconds",
+              "red_start_time": 15,
+              "yellow_start_time": 30
+            }
+          },
+          {
+            "title": "Auto Chooser",
+            "x": 512.0,
+            "y": 256.0,
+            "width": 384.0,
+            "height": 128.0,
+            "type": "ComboBox Chooser",
+            "properties": {
+              "topic": "/SmartDashboard/Auto Chooser",
+              "period": 0.06,
+              "sort_options": false
+            }
+          },
+          {
+            "title": "Alerts",
+            "x": 384.0,
+            "y": 384.0,
+            "width": 384.0,
+            "height": 256.0,
+            "type": "Alerts",
+            "properties": {
+              "topic": "/SmartDashboard/Alerts",
+              "period": 0.06
+            }
+          },
+          {
+            "title": "limelight-twoplus",
+            "x": 896.0,
+            "y": 384.0,
+            "width": 640.0,
+            "height": 384.0,
+            "type": "Camera Stream",
+            "properties": {
+              "topic": "/CameraPublisher/limelight-twoplus",
+              "period": 0.06,
+              "rotation_turns": 0
+            }
+          },
+          {
+            "title": "Coral Slot Position",
+            "x": 768.0,
+            "y": 384.0,
+            "width": 128.0,
+            "height": 128.0,
+            "type": "Large Text Display",
+            "properties": {
+              "topic": "/AdvantageKit/RealOutputs/CoralIntake/Coral Slot Position",
+              "period": 0.06,
+              "data_type": "int"
+            }
+          }
+        ]
+      }
+    },
+    {
+      "name": "Autonomous",
+      "grid_layout": {
+        "layouts": [],
+        "containers": [
+          {
+            "title": "Auto Chooser",
+            "x": 640.0,
+            "y": 256.0,
+            "width": 384.0,
+            "height": 128.0,
+            "type": "ComboBox Chooser",
+            "properties": {
+              "topic": "/SmartDashboard/Auto Chooser",
+              "period": 0.06,
+              "sort_options": false
+            }
+          }
+        ]
+      }
+    }
+  ]
+}

src/main/deploy/pathplanner/autos/3 Piece April Tag 9 7 8 .auto

@@ -0,0 +1,49 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Proc3P Part 1"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Proc3P Part 2"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Proc3P Part 3"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Proc3P Part 4"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Proc3P Part 5"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Proc3P Part 6"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}

src/main/deploy/pathplanner/autos/One Piece Barge.auto

@@ -0,0 +1,37 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "OneP Center"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "One piece part 2 barge"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "One piece part 3 barge"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "One piece part 4 barge"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}

src/main/deploy/pathplanner/autos/Proc3P Back.auto

@@ -31,7 +31,7 @@
         {
           "type": "path",
           "data": {
-            "pathName": "Proc Part 5 Back"
+            "pathName": "Proc3P Part 5"
           }
         },
         {

src/main/deploy/pathplanner/paths/Non Proc 3P Part 1.path

@@ -4,24 +4,24 @@
     {
       "anchor": {
         "x": 7.480327868852459,
-        "y": 6.744
+        "y": 6.51
       },
       "prevControl": null,
       "nextControl": {
-        "x": 6.693459821961271,
-        "y": 6.435926031716894
+        "x": 6.403623204075984,
+        "y": 6.070663406486054
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 6.149692622950819,
-        "y": 6.151
+        "x": 5.814036885245901,
+        "y": 5.757223360655737
       },
       "prevControl": {
-        "x": 6.803183415463562,
-        "y": 6.404541372953622
+        "x": 6.415737410077909,
+        "y": 6.004650025675354
       },
       "nextControl": null,
       "isLocked": false,

src/main/deploy/pathplanner/paths/Non Proc 3P Part 2.path

@@ -41,13 +41,13 @@
     "unlimited": false
   },
   "goalEndState": {
-    "velocity": 0.0,
+    "velocity": 0.5,
     "rotation": 131.83680398463187
   },
   "reversed": false,
   "folder": null,
   "idealStartingState": {
-    "velocity": 0,
+    "velocity": 0.0,
     "rotation": -123.01789886636891
   },
   "useDefaultConstraints": true

src/main/deploy/pathplanner/paths/Non Proc 3P Part 3.path

@@ -42,7 +42,7 @@
   },
   "goalEndState": {
     "velocity": 2.0,
-    "rotation": 1.3342198686546403
+    "rotation": -5.230938713244494
   },
   "reversed": false,
   "folder": null,

src/main/deploy/pathplanner/paths/Non Proc 3P Part 4.path

@@ -41,7 +41,7 @@
     "unlimited": false
   },
   "goalEndState": {
-    "velocity": 0.0,
+    "velocity": 0.5,
     "rotation": 127.06544922742414
   },
   "reversed": false,

src/main/deploy/pathplanner/paths/Non Proc 3P Part 6.path

@@ -41,7 +41,7 @@
     "unlimited": false
   },
   "goalEndState": {
-    "velocity": 0,
+    "velocity": 0.5,
     "rotation": 128.49168164709494
   },
   "reversed": false,

src/main/deploy/pathplanner/paths/One piece part 2 barge.path

@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 5.778073770491804,
+        "y": 4.186834016393442
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 6.602930227919898,
+        "y": 4.010654731384542
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 6.521380450274493,
+        "y": 4.020078421927787
+      },
+      "prevControl": {
+        "x": 5.683538694167147,
+        "y": 4.226226857329675
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 4.752,
+    "maxAcceleration": 2.5,
+    "maxAngularVelocity": 540.0,
+    "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": false
+}