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auto intake in autos (current center autos aren't very safe yet)
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src/main/deploy/pathplanner/autos/Center Shoot 3 vision.auto
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,233 @@ | ||
| { | ||
| "version": 1.0, | ||
| "startingPose": { | ||
| "position": { | ||
| "x": 1.42, | ||
| "y": 5.527514849608872 | ||
| }, | ||
| "rotation": 0 | ||
| }, | ||
| "command": { | ||
| "type": "sequential", | ||
| "data": { | ||
| "commands": [ | ||
| { | ||
| "type": "deadline", | ||
| "data": { | ||
| "commands": [ | ||
| { | ||
| "type": "named", | ||
| "data": { | ||
| "name": "DeployIntake" | ||
| } | ||
| }, | ||
| { | ||
| "type": "named", | ||
| "data": { | ||
| "name": "LiftArmToDeployDemonHorns" | ||
| } | ||
| }, | ||
| { | ||
| "type": "named", | ||
| "data": { | ||
| "name": "RampShooterForManualShot" | ||
| } | ||
| }, | ||
| { | ||
| "type": "named", | ||
| "data": { | ||
| "name": "SwerveStraighten" | ||
| } | ||
| } | ||
| ] | ||
| } | ||
| }, | ||
| { | ||
| "type": "sequential", | ||
| "data": { | ||
| "commands": [ | ||
| { | ||
| "type": "named", | ||
| "data": { | ||
| "name": "SetShootFromSubwoofer" | ||
| } | ||
| }, | ||
| { | ||
| "type": "wait", | ||
| "data": { | ||
| "waitTime": 0.5 | ||
| } | ||
| }, | ||
| { | ||
| "type": "named", | ||
| "data": { | ||
| "name": "Feed" | ||
| } | ||
| }, | ||
| { | ||
| "type": "named", | ||
| "data": { | ||
| "name": "SetArmAndShooterForIntake" | ||
| } | ||
| } | ||
| ] | ||
| } | ||
| }, | ||
| { | ||
| "type": "sequential", | ||
| "data": { | ||
| "commands": [ | ||
| { | ||
| "type": "race", | ||
| "data": { | ||
| "commands": [ | ||
| { | ||
| "type": "path", | ||
| "data": { | ||
| "pathName": "center get center" | ||
| } | ||
| }, | ||
| { | ||
| "type": "named", | ||
| "data": { | ||
| "name": "NoteVisible" | ||
| } | ||
| } | ||
| ] | ||
| } | ||
| }, | ||
| { | ||
| "type": "named", | ||
| "data": { | ||
| "name": "AutoIntake" | ||
| } | ||
| } | ||
| ] | ||
| } | ||
| }, | ||
| { | ||
| "type": "sequential", | ||
| "data": { | ||
| "commands": [ | ||
| { | ||
| "type": "sequential", | ||
| "data": { | ||
| "commands": [ | ||
| { | ||
| "type": "path", | ||
| "data": { | ||
| "pathName": "return center get center" | ||
| } | ||
| }, | ||
| { | ||
| "type": "named", | ||
| "data": { | ||
| "name": "StopSwerves" | ||
| } | ||
| } | ||
| ] | ||
| } | ||
| }, | ||
| { | ||
| "type": "named", | ||
| "data": { | ||
| "name": "SetShootFromSubwoofer" | ||
| } | ||
| }, | ||
| { | ||
| "type": "named", | ||
| "data": { | ||
| "name": "Feed" | ||
| } | ||
| }, | ||
| { | ||
| "type": "named", | ||
| "data": { | ||
| "name": "SetArmAndShooterForIntake" | ||
| } | ||
| } | ||
| ] | ||
| } | ||
| }, | ||
| { | ||
| "type": "parallel", | ||
| "data": { | ||
| "commands": [ | ||
| { | ||
| "type": "sequential", | ||
| "data": { | ||
| "commands": [ | ||
| { | ||
| "type": "path", | ||
| "data": { | ||
| "pathName": "center get podium" | ||
| } | ||
| }, | ||
| { | ||
| "type": "named", | ||
| "data": { | ||
| "name": "StopSwerves" | ||
| } | ||
| } | ||
| ] | ||
| } | ||
| }, | ||
| { | ||
| "type": "named", | ||
| "data": { | ||
| "name": "HasNote" | ||
| } | ||
| } | ||
| ] | ||
| } | ||
| }, | ||
| { | ||
| "type": "sequential", | ||
| "data": { | ||
| "commands": [ | ||
| { | ||
| "type": "sequential", | ||
| "data": { | ||
| "commands": [ | ||
| { | ||
| "type": "path", | ||
| "data": { | ||
| "pathName": "return center get podium" | ||
| } | ||
| }, | ||
| { | ||
| "type": "named", | ||
| "data": { | ||
| "name": "StopSwerves" | ||
| } | ||
| } | ||
| ] | ||
| } | ||
| }, | ||
| { | ||
| "type": "named", | ||
| "data": { | ||
| "name": "SetShootFromSubwoofer" | ||
| } | ||
| }, | ||
| { | ||
| "type": "named", | ||
| "data": { | ||
| "name": "Feed" | ||
| } | ||
| }, | ||
| { | ||
| "type": "named", | ||
| "data": { | ||
| "name": "StopShooter" | ||
| } | ||
| } | ||
| ] | ||
| } | ||
| } | ||
| ] | ||
| } | ||
| }, | ||
| "folder": null, | ||
| "choreoAuto": false | ||
| } |
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