DCMP Changes

src/main/deploy/pathplanner/paths/1 Depot side center.path

@@ -3,37 +3,32 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 4.489717954282408,
-        "y": 7.530401114004629
+        "x": 4.139596586501166,
+        "y": 7.549712955779675
       },
       "prevControl": null,
       "nextControl": {
-        "x": 6.6936413483796295,
-        "y": 7.439924189814815
+        "x": 6.343519980598391,
+        "y": 7.459236031589861
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 7.753707692307692,
-        "y": 5.793184615384616
+        "x": 7.87243987587277,
+        "y": 4.4607059736229635
       },
       "prevControl": {
-        "x": 7.802546153846153,
-        "y": 7.760676923076924
+        "x": 7.921695112490301,
+        "y": 7.2964003103180755
       },
       "nextControl": null,
       "isLocked": false,
       "linkedName": null
     }
   ],
-  "rotationTargets": [
-    {
-      "waypointRelativePos": 0.6025082236842106,
-      "rotationDegrees": -58.149754025069136
-    }
-  ],
+  "rotationTargets": [],
   "constraintZones": [],
   "pointTowardsZones": [],
   "eventMarkers": [],
@@ -47,7 +42,7 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": -86.47765706868994
+    "rotation": -93.09405805891707
   },
   "reversed": false,
   "folder": null,

src/main/deploy/pathplanner/paths/2 Center back depot.path

@@ -3,32 +3,41 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 7.649053846153848,
-        "y": 5.96063076923077
+        "x": 8.012834586466164,
+        "y": 4.447124060150376
       },
       "prevControl": null,
       "nextControl": {
-        "x": 7.537423076923078,
-        "y": 7.593230769230768
+        "x": 8.09999176373828,
+        "y": 7.520768188897378
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 3.9102779260481375,
-        "y": 7.456715595885093
+        "x": 3.3376992481203005,
+        "y": 7.341883458646617
       },
       "prevControl": {
-        "x": 4.350690457723854,
-        "y": 7.556749418150089
+        "x": 7.9468947368421095,
+        "y": 7.678176691729323
       },
       "nextControl": null,
       "isLocked": false,
       "linkedName": null
     }
   ],
-  "rotationTargets": [],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 0.5,
+      "rotationDegrees": -5.220589140086717
+    },
+    {
+      "waypointRelativePos": 0.9506024096385572,
+      "rotationDegrees": 0.0
+    }
+  ],
   "constraintZones": [],
   "pointTowardsZones": [],
   "eventMarkers": [],
@@ -42,13 +51,13 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": -81.599031837346
+    "rotation": 122.76203131319906
   },
   "reversed": false,
   "folder": null,
   "idealStartingState": {
     "velocity": 0,
-    "rotation": -90.07765154134242
+    "rotation": -87.20729763428666
   },
   "useDefaultConstraints": true
 }

src/main/deploy/pathplanner/paths/3 deopt side.path

@@ -0,0 +1,68 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 3.5394806134259262,
+        "y": 7.305488208912037
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 6.734254267939816,
+        "y": 7.836736689814815
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 6.227675347222223,
+        "y": 4.233865523726852
+      },
+      "prevControl": {
+        "x": 6.016475043402778,
+        "y": 7.055512080439814
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [
+    {
+      "name": "Constraints Zone",
+      "minWaypointRelativePos": 0.6592348421926909,
+      "maxWaypointRelativePos": 1.0,
+      "constraints": {
+        "maxVelocity": 1.5,
+        "maxAcceleration": 1.5,
+        "maxAngularVelocity": 540.0,
+        "maxAngularAcceleration": 720.0,
+        "nominalVoltage": 12.0,
+        "unlimited": false
+      }
+    }
+  ],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": -88.50938390003228
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": -61.449999218114584
+  },
+  "useDefaultConstraints": true
+}