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"maxAngularVelocity": 540.0, + "maxAngularAcceleration": 720.0, + "nominalVoltage": 12.0, + "unlimited": false + }, + "goalEndState": { + "velocity": 0.0, + "rotation": 35.798885165620696 + }, + "reversed": false, + "folder": "Steal Auto", + "idealStartingState": { + "velocity": 0, + "rotation": 135.0 + }, + "useDefaultConstraints": true +} \ No newline at end of file From bc4689ff19140b4d6685108753866686d84f89ae Mon Sep 17 00:00:00 2001 From: Nitay4 Date: Mon, 27 Apr 2026 18:58:32 -0400 Subject: [PATCH 2/6] midflight --- .../pathplanner/paths/New york auto.path | 258 ------------------ .../robot/autonomous/AutonomousConstants.java | 3 + .../frc/robot/autonomous/AutosBuilder.java | 72 +++++ 3 files changed, 75 insertions(+), 258 deletions(-) delete mode 100644 src/main/deploy/pathplanner/paths/New york auto.path diff --git a/src/main/deploy/pathplanner/paths/New york auto.path b/src/main/deploy/pathplanner/paths/New york auto.path deleted file mode 100644 index b3d802a994..0000000000 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87d45ff620..a14039df62 100644 --- a/src/main/java/frc/robot/autonomous/AutonomousConstants.java +++ b/src/main/java/frc/robot/autonomous/AutonomousConstants.java @@ -35,6 +35,9 @@ public class AutonomousConstants { public static final double STEAL_START_SECOND_SINCE_AUTO_BEGAN = 3.5; public static final double SIDE_STEAL_START_SECOND_SINCE_AUTO_BEGAN = 3.5; + public static final double NY_AUTO_TIME_TO_START_PASSING = 3.0; + public static final double NY_AUTO_TIME_TO_PASS = 9; + public static final Double DEFAULT_STUCK_DEBOUNCE_SECONDS = 2.0; } diff --git a/src/main/java/frc/robot/autonomous/AutosBuilder.java b/src/main/java/frc/robot/autonomous/AutosBuilder.java index ab1723dbbe..1d49ae1658 100644 --- a/src/main/java/frc/robot/autonomous/AutosBuilder.java +++ b/src/main/java/frc/robot/autonomous/AutosBuilder.java @@ -415,6 +415,30 @@ public static List> getAutoList( stuckIsNearEndOfPathTolerance, stuckDebounceSeconds, AllianceSide.OUTPOST + ), + getNewYorkAuto( + robot, + resetSubsystems, + openIntake, + scoreSequence, + passSequence, + pathfindingConstraints, + regularIsNearEndOfPathTolerance, + stuckIsNearEndOfPathTolerance, + stuckDebounceSeconds, + AllianceSide.OUTPOST + ), + getNewYorkAuto( + robot, + resetSubsystems, + openIntake, + scoreSequence, + passSequence, + pathfindingConstraints, + regularIsNearEndOfPathTolerance, + stuckIsNearEndOfPathTolerance, + stuckDebounceSeconds, + AllianceSide.DEPOT ) ); } @@ -1113,6 +1137,54 @@ private static Supplier getMiddleAuto( ); } + private static Supplier getNewYorkAuto( + Robot robot, + Supplier resetSubsystems, + Supplier openIntake, + Supplier scoreSequence, + Supplier passSequence, + PathConstraints pathfindingConstraints, + Pose2d regularIsNearEndOfPathTolerance, + Pose2d stuckIsNearEndOfPathTolerance, + double stuckDebounceSeconds, + AllianceSide startingSide + ) { + return () -> new PathPlannerAutoWrapper( + new ParallelCommandGroup( + PathFollowingCommandsBuilder + .followAdjustedPathThenStop( + robot.getSwerve(), + () -> robot.getPoseEstimator().getEstimatedPose(), + startingSide == AllianceSide.OUTPOST + ? PathHelper.PATH_PLANNER_PATHS.get("R NY auto") + : PathHelper.PATH_PLANNER_PATHS.get("L NY auto"), + pathfindingConstraints, + regularIsNearEndOfPathTolerance, + stuckIsNearEndOfPathTolerance, + stuckDebounceSeconds, + robot.getSwerve().getLogPath() + ) + .asProxy() + .andThen(new InstantCommand(() -> hasPathEnded = true)), + new SequentialCommandGroup( + resetSubsystems.get(), + new ParallelCommandGroup( + new WaitCommand(AutonomousConstants.NY_AUTO_TIME_TO_START_PASSING).andThen(passSequence.get()) + .withTimeout(AutonomousConstants.NY_AUTO_TIME_TO_PASS) + .andThen(scoreSequence.get()), + openIntake.get() + ) + ) + ), + new Pose2d(), + startingSide.name() + " NY auto", + startingSide == AllianceSide.OUTPOST + ? PathHelper.PATH_PLANNER_PATHS.get("R NY auto") + : PathHelper.PATH_PLANNER_PATHS.get("L NY auto") + ); + } + + private static Command getAllianceSideToStartingLineAuto( Robot robot, AllianceSide allianceSide, From c0ee7f39543aff06df68ccdf9635431a1fe4cd2b Mon Sep 17 00:00:00 2001 From: Nitay4 Date: Tue, 28 Apr 2026 07:13:39 -0500 Subject: [PATCH 3/6] nitay - did --- src/main/deploy/pathplanner/paths/L NY auto | 258 ++++++++++++++++++ src/main/deploy/pathplanner/paths/R NY auto | 274 ++++++++++++++++++++ 2 files changed, 532 insertions(+) create mode 100644 src/main/deploy/pathplanner/paths/L NY auto create mode 100644 src/main/deploy/pathplanner/paths/R NY auto diff --git a/src/main/deploy/pathplanner/paths/L NY auto b/src/main/deploy/pathplanner/paths/L NY auto new file mode 100644 index 0000000000..f46a9d1774 --- /dev/null +++ b/src/main/deploy/pathplanner/paths/L NY auto @@ -0,0 +1,258 @@ +{ + "version": "2025.0", + "waypoints": [ + { + "anchor": { + "x": 3.5522953056768554, + "y": 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00:00:00 2001 From: Nitay4 Date: Tue, 28 Apr 2026 08:06:40 -0500 Subject: [PATCH 4/6] nitay - did --- src/main/deploy/pathplanner/paths/{L NY auto => L NY auto.path} | 0 src/main/deploy/pathplanner/paths/{R NY auto => R NY auto.path} | 0 2 files changed, 0 insertions(+), 0 deletions(-) rename src/main/deploy/pathplanner/paths/{L NY auto => L NY auto.path} (100%) rename src/main/deploy/pathplanner/paths/{R NY auto => R NY auto.path} (100%) diff --git a/src/main/deploy/pathplanner/paths/L NY auto b/src/main/deploy/pathplanner/paths/L NY auto.path similarity index 100% rename from src/main/deploy/pathplanner/paths/L NY auto rename to src/main/deploy/pathplanner/paths/L NY auto.path diff --git a/src/main/deploy/pathplanner/paths/R NY auto b/src/main/deploy/pathplanner/paths/R NY auto.path similarity index 100% rename from src/main/deploy/pathplanner/paths/R NY auto rename to src/main/deploy/pathplanner/paths/R NY auto.path From 0b2b40633f0723e24c62e517f9a7fac697ac7682 Mon Sep 17 00:00:00 2001 From: Nitay4 Date: Tue, 28 Apr 2026 09:06:29 -0500 Subject: [PATCH 5/6] nitay - goated --- .../deploy/pathplanner/paths/R NY auto.path | 544 +++++++++--------- 1 file changed, 272 insertions(+), 272 deletions(-) diff --git a/src/main/deploy/pathplanner/paths/R NY auto.path b/src/main/deploy/pathplanner/paths/R NY auto.path index e3dc1d7969..7d4b3a8ac1 100644 --- a/src/main/deploy/pathplanner/paths/R NY auto.path +++ b/src/main/deploy/pathplanner/paths/R NY auto.path @@ -1,274 +1,274 @@ { - "version": "2025.0", - "waypoints": [ - { - "anchor": { - "x": 3.386491482441776, - "y": 2.546821903935186 - }, - "prevControl": null, - "nextControl": { - "x": 4.386491482441775, - "y": 2.546821903935186 - }, - "isLocked": false, - "linkedName": null - }, - { - "anchor": { - "x": 5.767745515046297, - "y": 2.546821903935186 - }, - "prevControl": { - "x": 5.148250868055555, - "y": 2.7501489438657405 - }, - "nextControl": { - "x": 6.797392168744324, - "y": 2.2088770850609887 - }, - "isLocked": 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a/src/main/deploy/pathplanner/paths/R NY auto.path +++ b/src/main/deploy/pathplanner/paths/R NY auto.path @@ -8,7 +8,7 @@ }, "prevControl": null, "nextControl": { - "x": 4.386491482441775, + "x": 7.871491482441776, "y": 2.546821903935186 }, "isLocked": false, @@ -16,64 +16,48 @@ }, { "anchor": { - "x": 5.767745515046297, - "y": 2.546821903935186 - }, - "prevControl": { - "x": 5.148250868055555, - "y": 2.7501489438657405 - }, - "nextControl": { - "x": 6.797392168744324, - "y": 2.2088770850609887 - }, - "isLocked": false, - "linkedName": null - }, - { - "anchor": { - "x": 7.696826388888889, - "y": 0.6989012586805552 + "x": 8.488554216867469, + "y": 0.7457590361445796 }, "prevControl": { - "x": 6.790832749575449, - "y": 0.8490181568287041 + "x": 4.696638554216866, + "y": 0.7129759036144571 }, "nextControl": { - "x": 7.943463697056215, - "y": 0.6580351575700162 + "x": 8.738544874235794, + "y": 0.7479203386578506 }, "isLocked": false, "linkedName": null }, { "anchor": { - "x": 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