From aa2e9df2ee282a82f2ff6a37f566d1e383774a86 Mon Sep 17 00:00:00 2001
From: Jimmy McCosker <witherslayer67@gmail.com>
Date: Sat, 20 Apr 2024 09:54:59 -0400
Subject: [PATCH] new GF auto

---
 .../pathplanner/autos/Source-side + GF.auto   | 106 ++++++++++++++++++
 .../paths/F to source-side shot.path          |  52 +++++++++
 .../paths/Source-side shot to F.path          |  68 +++++++++++
 3 files changed, 226 insertions(+)
 create mode 100644 src/main/deploy/pathplanner/autos/Source-side + GF.auto
 create mode 100644 src/main/deploy/pathplanner/paths/F to source-side shot.path
 create mode 100644 src/main/deploy/pathplanner/paths/Source-side shot to F.path

diff --git a/src/main/deploy/pathplanner/autos/Source-side + GF.auto b/src/main/deploy/pathplanner/autos/Source-side + GF.auto
new file mode 100644
index 0000000..5bf6bc2
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/Source-side + GF.auto	
@@ -0,0 +1,106 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 1.31,
+      "y": 4.05
+    },
+    "rotation": -45.0
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "Startup delay"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Shoot"
+          }
+        },
+        {
+          "type": "race",
+          "data": {
+            "commands": [
+              {
+                "type": "sequential",
+                "data": {
+                  "commands": [
+                    {
+                      "type": "path",
+                      "data": {
+                        "pathName": "SS Angled Line to G"
+                      }
+                    },
+                    {
+                      "type": "wait",
+                      "data": {
+                        "waitTime": 0.25
+                      }
+                    }
+                  ]
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "Intake note"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "G to source-side shot"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Shoot"
+          }
+        },
+        {
+          "type": "deadline",
+          "data": {
+            "commands": [
+              {
+                "type": "named",
+                "data": {
+                  "name": "Intake note"
+                }
+              },
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "Source-side shot to F"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "F to source-side shot"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Shoot"
+          }
+        }
+      ]
+    }
+  },
+  "folder": "Source-side",
+  "choreoAuto": false
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/F to source-side shot.path b/src/main/deploy/pathplanner/paths/F to source-side shot.path
new file mode 100644
index 0000000..284eeb9
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/F to source-side shot.path	
@@ -0,0 +1,52 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 8.28,
+        "y": 4.1
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 7.062149537026346,
+        "y": 1.5167813517445219
+      },
+      "isLocked": false,
+      "linkedName": "F Note"
+    },
+    {
+      "anchor": {
+        "x": 2.0,
+        "y": 3.610224674994805
+      },
+      "prevControl": {
+        "x": 3.604544299997691,
+        "y": 0.29851986976701333
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": "Source-side angle shot"
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 5.2,
+    "maxAcceleration": 5.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": -36.0,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": "Source Side",
+  "previewStartingState": {
+    "rotation": 35.0,
+    "velocity": 0
+  },
+  "useDefaultConstraints": false
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/Source-side shot to F.path b/src/main/deploy/pathplanner/paths/Source-side shot to F.path
new file mode 100644
index 0000000..ce04fde
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/Source-side shot to F.path	
@@ -0,0 +1,68 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 2.0,
+        "y": 3.610224674994805
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 3.2918102329943486,
+        "y": 1.6741677848293097
+      },
+      "isLocked": false,
+      "linkedName": "Source-side angle shot"
+    },
+    {
+      "anchor": {
+        "x": 3.9300858626225312,
+        "y": 3.166630432833967
+      },
+      "prevControl": {
+        "x": 3.250503372646664,
+        "y": 2.621246790552412
+      },
+      "nextControl": {
+        "x": 4.760378465300759,
+        "y": 3.832963086319733
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 8.28,
+        "y": 4.1
+      },
+      "prevControl": {
+        "x": 4.114208443085939,
+        "y": 4.141362415104079
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": "F Note"
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 4.0,
+    "maxAcceleration": 3.4,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 0.0,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": "Source Side",
+  "previewStartingState": {
+    "rotation": -45.0,
+    "velocity": 0
+  },
+  "useDefaultConstraints": false
+}
\ No newline at end of file