Path rerouting for midline pieces

.pathplanner/settings.json

@@ -4,7 +4,10 @@
   "holonomicMode": true,
   "pathFolders": [
     "ABCDE",
+    "Ferry",
     "HGF",
+    "Jerk",
+    "Reroutes",
     "Tests"
   ],
   "autoFolders": [],

src/main/deploy/pathplanner/autos/HGFED Ferry.auto

@@ -0,0 +1,73 @@
+{
+  "version": 1.0,
+  "startingPose": null,
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Start to H (HGF)"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "H to Bot Ferry Shot"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Bot Ferry Shot to G"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "G to Bot Ferry Shot"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Bot Ferry Shot to F"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "F to Ferry Shot"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Ferry Shot to E"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "E to Ferry Shot"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Ferry Shot to D"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "D to Ferry Shot"
+          }
+        }
+      ]
+    }
+  },
+  "folder": null,
+  "choreoAuto": false
+}

src/main/deploy/pathplanner/autos/HGFED Jerk.auto

@@ -0,0 +1,73 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 1.8676110546665539,
+      "y": 3.264181107065918
+    },
+    "rotation": 0
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Start to H (HGF)"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "H to HJerk"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "HJerk to G"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "G to GJerk"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "GJerk to F"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "F to FJerk"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "FJerk to E"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "E to EJerk"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "E to D"
+          }
+        }
+      ]
+    }
+  },
+  "folder": null,
+  "choreoAuto": false
+}

src/main/deploy/pathplanner/paths/Bot Ferry Shot to F.path

@@ -0,0 +1,49 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 5.184698146585559,
+        "y": 1.7317770555385747
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 4.542075882112337,
+        "y": 1.4070669922462469
+      },
+      "isLocked": false,
+      "linkedName": "Bottom Ferry Shot"
+    },
+    {
+      "anchor": {
+        "x": 8.153314996088682,
+        "y": 3.8006001937929805
+      },
+      "prevControl": {
+        "x": 8.622401730400966,
+        "y": 3.6275174514636674
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": "F"
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 5.0,
+    "maxAcceleration": 3.5,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0
+  },
+  "goalEndState": {
+    "velocity": 0.0,
+    "rotation": -52.06624772942949,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": "Ferry",
+  "previewStartingState": null,
+  "useDefaultConstraints": false
+}

src/main/deploy/pathplanner/paths/Bot Ferry Shot to G.path

@@ -0,0 +1,49 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 5.184698146585559,
+        "y": 1.7317770555385747
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 4.966168689462843,
+        "y": 1.8309984059106137
+      },
+      "isLocked": false,
+      "linkedName": "Bottom Ferry Shot"
+    },
+    {
+      "anchor": {
+        "x": 8.1299266872038,
+        "y": 2.1166419540816297
+      },
+      "prevControl": {
+        "x": 8.585196389542793,
+        "y": 1.9099308074732155
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": "G"
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 5.0,
+    "maxAcceleration": 4.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0
+  },
+  "goalEndState": {
+    "velocity": 0.0,
+    "rotation": -19.445264029634334,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": "Ferry",
+  "previewStartingState": null,
+  "useDefaultConstraints": true
+}

src/main/deploy/pathplanner/paths/C to H.path

@@ -0,0 +1,49 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 2.35,
+        "y": 3.58
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 3.2022891174842094,
+        "y": 2.8533616716563954
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 7.91,
+        "y": 0.78
+      },
+      "prevControl": {
+        "x": 6.389309367425445,
+        "y": 0.78
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 5.55,
+    "maxAcceleration": 5.5,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 0,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": "Jerk",
+  "previewStartingState": null,
+  "useDefaultConstraints": false
+}

src/main/deploy/pathplanner/paths/D to Ferry Shot.path

@@ -43,7 +43,7 @@
     "rotateFast": false
   },
   "reversed": false,
-  "folder": "ABCDE",
+  "folder": "Ferry",
   "previewStartingState": {
     "rotation": 0,
     "velocity": 0

src/main/deploy/pathplanner/paths/E to D.path

@@ -0,0 +1,52 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 8.07,
+        "y": 6.04
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 6.887239453491253,
+        "y": 6.954220328193742
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 7.95,
+        "y": 7.43
+      },
+      "prevControl": {
+        "x": 7.035751355453329,
+        "y": 7.4461660034431185
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 5.55,
+    "maxAcceleration": 5.5,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 0,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": "Jerk",
+  "previewStartingState": {
+    "rotation": 0,
+    "velocity": 0
+  },
+  "useDefaultConstraints": true
+}