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IsaacThomanIsaacThoman
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4 note auto
1 parent ba59675 commit 451b4cb

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6 files changed

+233
-4
lines changed

6 files changed

+233
-4
lines changed

‎src/main/deploy/pathplanner/autos/C-01-00.auto ‎src/main/deploy/pathplanner/autos/CS-01-00-02.auto

+119
Original file line numberDiff line numberDiff line change
@@ -260,6 +260,125 @@
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]
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}
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},
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{
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"type": "named",
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"data": {
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"name": "shootMode"
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}
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},
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{
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"type": "wait",
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"data": {
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"waitTime": 0.4
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}
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},
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{
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"type": "named",
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"data": {
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"name": "disableAimAssist"
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}
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},
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{
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"type": "named",
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"data": {
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"name": "intakeMode"
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}
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},
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{
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"type": "parallel",
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"data": {
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"commands": [
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{
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"type": "path",
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"data": {
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"pathName": "speakerCenterToNote02"
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}
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},
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{
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"type": "sequential",
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"data": {
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"commands": [
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{
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"type": "wait",
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"data": {
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"waitTime": 1.1
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}
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},
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{
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"type": "named",
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"data": {
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"name": "enableAimAssist"
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}
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}
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]
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}
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}
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]
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}
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},
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{
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"type": "named",
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"data": {
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"name": "holdMode"
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}
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},
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{
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"type": "named",
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"data": {
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"name": "disableAimAssist"
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}
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},
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{
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"type": "parallel",
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"data": {
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"commands": [
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{
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"type": "path",
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"data": {
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"pathName": "note02ToSpeakerCenter"
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}
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},
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{
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"type": "sequential",
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"data": {
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"commands": [
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{
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"type": "wait",
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"data": {
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"waitTime": 0.4
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}
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},
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{
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"type": "named",
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"data": {
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"name": "readyToShootMode"
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}
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}
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]
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}
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}
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]
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}
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},
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{
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"type": "race",
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"data": {
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"commands": [
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{
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"type": "wait",
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"data": {
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"waitTime": 5.0
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}
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},
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{
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"type": "named",
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"data": {
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"name": "waitForArmError"
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}
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}
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]
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}
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},
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{
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"type": "named",
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"data": {

‎src/main/deploy/pathplanner/paths/note01ToSpeakerCenter.path

+1-1
Original file line numberDiff line numberDiff line change
@@ -12,7 +12,7 @@
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"y": 5.564638673136996
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},
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"isLocked": false,
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"linkedName": "note0-1"
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"linkedName": "note01"
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},
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{
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"anchor": {

‎src/main/deploy/pathplanner/paths/note02ToSpeakerCenter.path

+52
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,52 @@
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{
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"version": 1.0,
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"waypoints": [
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{
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"anchor": {
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"x": 2.2579976738900847,
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"y": 4.086511681795294
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},
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"prevControl": null,
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"nextControl": {
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"x": 1.8600695807886543,
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"y": 4.086511681795294
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},
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"isLocked": false,
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"linkedName": "note02"
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},
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{
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"anchor": {
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"x": 1.4871952550922645,
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"y": 5.56
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},
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"prevControl": {
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"x": 2.04037879281646,
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"y": 5.56
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},
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"nextControl": null,
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"isLocked": false,
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"linkedName": "centerSpeaker"
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}
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],
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"rotationTargets": [],
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"constraintZones": [],
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"eventMarkers": [],
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"globalConstraints": {
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"maxVelocity": 4.0,
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"maxAcceleration": 3.0,
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"maxAngularVelocity": 540.0,
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"maxAngularAcceleration": 720.0
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},
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"goalEndState": {
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"velocity": 0,
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"rotation": 180.0,
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"rotateFast": false
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},
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"reversed": false,
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"folder": "speaker",
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"previewStartingState": {
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"rotation": 180.0,
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"velocity": 0
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},
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"useDefaultConstraints": true
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}

‎src/main/deploy/pathplanner/paths/speakerCenterToNote01.path

+1-1
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@@ -25,7 +25,7 @@
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},
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"nextControl": null,
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"isLocked": false,
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"linkedName": "note0-1"
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"linkedName": "note01"
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}
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],
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"rotationTargets": [],

‎src/main/deploy/pathplanner/paths/speakerCenterToNote02.path

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Original file line numberDiff line numberDiff line change
@@ -0,0 +1,58 @@
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{
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"version": 1.0,
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"waypoints": [
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{
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"anchor": {
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"x": 1.4871952550922645,
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"y": 5.56
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},
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"prevControl": null,
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"nextControl": {
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"x": 1.794769529379264,
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"y": 5.56
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},
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"isLocked": false,
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"linkedName": "centerSpeaker"
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},
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{
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"anchor": {
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"x": 2.2579976738900847,
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"y": 4.086511681795294
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},
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"prevControl": {
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"x": 1.1565714996633367,
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"y": 4.115883046434244
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},
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"nextControl": null,
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"isLocked": false,
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"linkedName": "note02"
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}
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],
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"rotationTargets": [
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{
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"waypointRelativePos": 0.75,
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"rotationDegrees": 170.05219982639534,
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"rotateFast": false
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}
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],
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"constraintZones": [],
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"eventMarkers": [],
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"globalConstraints": {
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"maxVelocity": 4.0,
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"maxAcceleration": 3.0,
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"maxAngularVelocity": 540.0,
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"maxAngularAcceleration": 720.0
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},
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"goalEndState": {
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"velocity": 0,
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"rotation": 180.0,
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"rotateFast": false
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},
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"reversed": false,
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"folder": "speaker",
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"previewStartingState": {
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"rotation": 180.0,
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"velocity": 0
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},
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"useDefaultConstraints": true
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}

‎src/main/java/frc/robot/RobotContainer.java

+2-2
Original file line numberDiff line numberDiff line change
@@ -154,8 +154,8 @@ private void configureBindings() {
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private void createAutos(){
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autoChooser.setDefaultOption("no auto :'( ", null);
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157-
autoChooser.addOption("AS-3CENTERLINE",new PathPlannerAuto("AS-3CENTERLINE"));
158-
autoChooser.addOption("C-4NOTE",new PathPlannerAuto("C-4NOTE"));
157+
autoChooser.addOption("CS-01-00-02",new PathPlannerAuto("CS-01-00-02"));
158+
// autoChooser.addOption("C-4NOTE",new PathPlannerAuto("C-4NOTE"));
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// autoChooser.addOption("four-amp",new PathPlannerAuto("four-amp"));
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// autoChooser.addOption("two-amp-speaker",new PathPlannerAuto("two-amp-two-speaker"));
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// autoChooser.addOption("test",Autos.testAuto());

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