U-Shape

Author: AceiusRedshift

src/main/deploy/pathplanner/autos/Far Left Full Sweep.auto

@@ -0,0 +1,37 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Left Sweep Out"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "LaunchInPlace"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Left Sweep Reset"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Left Sweep Out"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": "Sweep Only",
+  "choreoAuto": false
+}

src/main/deploy/pathplanner/autos/Far Left Sweep Only.auto

@@ -8,24 +8,24 @@
       },
       "prevControl": null,
       "nextControl": {
-        "x": 5.087900888173833,
-        "y": 7.277157840614658
+        "x": 4.522842413251909,
+        "y": 7.533206138350141
       },
       "isLocked": false,
       "linkedName": "Left Sweep Start"
     },
     {
       "anchor": {
-        "x": 7.220939759036145,
-        "y": 7.269602409638554
+        "x": 7.356458333333333,
+        "y": 6.698695175438596
       },
       "prevControl": {
-        "x": 6.725670446843524,
-        "y": 7.620199071260089
+        "x": 6.264326197317278,
+        "y": 7.644400413040957
       },
       "nextControl": {
-        "x": 7.542616085851799,
-        "y": 7.041890650545384
+        "x": 7.604110608649321,
+        "y": 6.484246716184551
       },
       "isLocked": false,
       "linkedName": null
@@ -36,28 +36,92 @@
         "y": 6.111
       },
       "prevControl": {
-        "x": 7.596106475234765,
-        "y": 6.827514787943704
+        "x": 7.49826656534994,
+        "y": 6.82585924215176
       },
       "nextControl": {
-        "x": 7.802497934471371,
-        "y": 5.866574209879072
+        "x": 7.876325778892795,
+        "y": 5.752266760257454
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
         "x": 7.75,
-        "y": 5.0
+        "y": 4.660054824561403
       },
       "prevControl": {
-        "x": 7.7743116211986765,
-        "y": 5.24881508208847
+        "x": 8.183541109157595,
+        "y": 5.110321237607146
+      },
+      "nextControl": {
+        "x": 7.576599699524522,
+        "y": 4.479965025308325
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 7.000657894736843,
+        "y": 4.660054824561403
+      },
+      "prevControl": {
+        "x": 7.2374057894794595,
+        "y": 4.432884390778632
+      },
+      "nextControl": {
+        "x": 6.810930473863743,
+        "y": 4.842106962964094
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 6.18327850877193,
+        "y": 6.939100877192982
+      },
+      "prevControl": {
+        "x": 6.870833208461253,
+        "y": 5.804915693976325
+      },
+      "nextControl": {
+        "x": 5.873768378921202,
+        "y": 7.44966651435724
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 4.731228070175439,
+        "y": 7.4
+      },
+      "prevControl": {
+        "x": 5.431228070175439,
+        "y": 7.4
+      },
+      "nextControl": {
+        "x": 4.431228070175439,
+        "y": 7.4
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 2.7983662280701753,
+        "y": 7.4
+      },
+      "prevControl": {
+        "x": 3.2503289473684216,
+        "y": 7.419912280701754
       },
       "nextControl": null,
       "isLocked": false,
-      "linkedName": "Left Sweep Middle"
+      "linkedName": "Left Sweep End"
     }
   ],
   "rotationTargets": [
@@ -68,6 +132,14 @@
     {
       "waypointRelativePos": 1.5,
       "rotationDegrees": -90.0
+    },
+    {
+      "waypointRelativePos": 4.376058041112453,
+      "rotationDegrees": 91.0
+    },
+    {
+      "waypointRelativePos": 5.0,
+      "rotationDegrees": 0.0
     }
   ],
   "constraintZones": [],
@@ -83,7 +155,7 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": -90.0
+    "rotation": 0.0
   },
   "reversed": false,
   "folder": "Secondary",