feat: added bunnybots map

README.md

@@ -5,3 +5,7 @@
 ```
 ./gradlew spotlessApply
 ```
+
+## Autonomous Documentation
+
+Set field image to bunnybotsmap.png with a scale of 68

src/main/deploy/pathplanner/autos/New Auto.auto

@@ -0,0 +1,19 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Test Path"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}

src/main/deploy/pathplanner/paths/Test Path.path

@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 1.0,
+        "y": 5.0
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 0.5625,
+        "y": 4.953125
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 3.0,
+        "y": 5.0
+      },
+      "prevControl": {
+        "x": 2.0,
+        "y": 5.0
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "useDefaultConstraints": true
+}

src/main/deploy/pathplanner/paths/Top Bucket Path.path

@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 0.4429442528408664,
+        "y": 2.87806054281588
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 1.4429442528408662,
+        "y": 2.87806054281588
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 4.302773111664035,
+        "y": 2.87806054281588
+      },
+      "prevControl": {
+        "x": 3.3027731116640346,
+        "y": 2.87806054281588
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "useDefaultConstraints": true
+}

src/main/deploy/pathplanner/settings.json

@@ -0,0 +1,23 @@
+{
+  "robotWidth": 0.648,
+  "robotLength": 0.648,
+  "holonomicMode": true,
+  "pathFolders": [],
+  "autoFolders": [
+    "New Folder"
+  ],
+  "defaultMaxVel": 3.0,
+  "defaultMaxAccel": 3.0,
+  "defaultMaxAngVel": 540.0,
+  "defaultMaxAngAccel": 720.0,
+  "robotMass": 74.088,
+  "robotMOI": 6.883,
+  "robotWheelbase": 0.6477,
+  "robotTrackwidth": 0.648,
+  "driveWheelRadius": 0.05,
+  "driveGearing": 6.0,
+  "maxDriveSpeed": 5.45,
+  "driveMotorType": "vortex",
+  "driveCurrentLimit": 60.0,
+  "wheelCOF": 1.19
+}

src/main/deploy/swerve/modules/physicalproperties.json

@@ -12,7 +12,7 @@
     },
     "drive": {
       "diameter": 3.9,
-      "gearRatio": 16.9,
+      "gearRatio": 6,
       "factor": 0
     }
   },