Add autos and update PurpleLib

build.gradle

@@ -97,7 +97,7 @@ dependencies {
   nativeRelease wpi.java.vendor.jniRelease(wpi.platforms.desktop)
   simulationRelease wpi.sim.enableRelease()
 
-  implementation 'com.github.lasarobotics:PurpleLib:2024.3.2'
+  implementation 'com.github.lasarobotics:PurpleLib:2024.3.7'
 
   implementation 'org.apache.commons:commons-math3:3.+'
 

src/main/deploy/pathplanner/autos/Leave.auto

@@ -0,0 +1,25 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 1.9959808841615208,
+      "y": 7.00722290166912
+    },
+    "rotation": 0
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Leave"
+          }
+        }
+      ]
+    }
+  },
+  "folder": null,
+  "choreoAuto": false
+}

src/main/deploy/pathplanner/autos/Preload + 1.auto

@@ -0,0 +1,37 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 0.5136030322185964,
+      "y": 7.406883986700304
+    },
+    "rotation": 0
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "shoot preload ring"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "pick up first note ring"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Leave"
+          }
+        }
+      ]
+    }
+  },
+  "folder": null,
+  "choreoAuto": false
+}

src/main/deploy/pathplanner/autos/Preload + 3 Ring.auto

@@ -0,0 +1,43 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 0.5136030322185964,
+      "y": 7.406883986700304
+    },
+    "rotation": -0.14212525923498598
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "shoot preload ring"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "pick up first note ring"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "pickup second note ring"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "pickup third note ring"
+          }
+        }
+      ]
+    }
+  },
+  "folder": null,
+  "choreoAuto": false
+}

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

@@ -0,0 +1,58 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 2.0,
+        "y": 7.0
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 2.095137859580823,
+        "y": 7.0
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 5.0,
+        "y": 7.0
+      },
+      "prevControl": {
+        "x": 4.223054873333534,
+        "y": 7.0
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 0,
+      "rotationDegrees": 0,
+      "rotateFast": false
+    }
+  ],
+  "constraintZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 0.3,
+    "maxAcceleration": 4.3,
+    "maxAngularVelocity": 1080.0,
+    "maxAngularAcceleration": 360.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 0,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": null,
+  "previewStartingState": {
+    "rotation": 0,
+    "velocity": 0
+  },
+  "useDefaultConstraints": true
+}

src/main/deploy/pathplanner/paths/pick up first note ring.path

@@ -0,0 +1,52 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 2.2933126568007527,
+        "y": 6.5118855049740185
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 2.3653240288936725,
+        "y": 6.4501614717515166
+      },
+      "isLocked": false,
+      "linkedName": "After shoot preload"
+    },
+    {
+      "anchor": {
+        "x": 2.8179669391920243,
+        "y": 6.902804382049867
+      },
+      "prevControl": {
+        "x": 2.6327948395245167,
+        "y": 6.74849429899361
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": "Pickup first note blue"
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 0.3,
+    "maxAcceleration": 4.3,
+    "maxAngularVelocity": 1080.0,
+    "maxAngularAcceleration": 360.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 37.056528189409626,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": null,
+  "previewStartingState": {
+    "rotation": 39.61068824002659,
+    "velocity": 0
+  },
+  "useDefaultConstraints": true
+}

src/main/deploy/pathplanner/paths/pickup second note ring.path

@@ -0,0 +1,74 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 2.8179669391920243,
+        "y": 6.902804382049867
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 2.4914040645807916,
+        "y": 6.63524960418918
+      },
+      "isLocked": false,
+      "linkedName": "Pickup first note blue"
+    },
+    {
+      "anchor": {
+        "x": 2.554990507331036,
+        "y": 5.862536185456876
+      },
+      "prevControl": {
+        "x": 2.253971780788205,
+        "y": 6.030028763316528
+      },
+      "nextControl": {
+        "x": 3.1233644170112997,
+        "y": 5.546282069263308
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 2.22,
+        "y": 4.9638782657846985
+      },
+      "prevControl": {
+        "x": 2.3515276736053607,
+        "y": 5.240088238984543
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": "pickup second note blue"
+    }
+  ],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 0.8,
+      "rotationDegrees": -42.93006019188974,
+      "rotateFast": false
+    }
+  ],
+  "constraintZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 0.3,
+    "maxAcceleration": 4.3,
+    "maxAngularVelocity": 1080.0,
+    "maxAngularAcceleration": 360.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": -17.88287899515925,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": null,
+  "previewStartingState": {
+    "rotation": 24.707053675495473,
+    "velocity": 0
+  },
+  "useDefaultConstraints": true
+}

src/main/deploy/pathplanner/paths/pickup third note ring.path

@@ -0,0 +1,52 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 2.22,
+        "y": 4.9638782657846985
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 2.427869350588231,
+        "y": 4.187163805411808
+      },
+      "isLocked": false,
+      "linkedName": "pickup second note blue"
+    },
+    {
+      "anchor": {
+        "x": 2.5967027559055125,
+        "y": 4.277612633350267
+      },
+      "prevControl": {
+        "x": 2.431663353829512,
+        "y": 4.399619713377149
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 0.3,
+    "maxAcceleration": 4.3,
+    "maxAngularVelocity": 1080.0,
+    "maxAngularAcceleration": 360.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": -26.85592198442992,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": null,
+  "previewStartingState": {
+    "rotation": -17.697748346149556,
+    "velocity": 0
+  },
+  "useDefaultConstraints": true
+}