From 562274c8015087436010b742f8299d2c1be6bf8d Mon Sep 17 00:00:00 2001
From: Nilesh Agarwalla <nilesh@alum.mit.edu>
Date: Sun, 24 Mar 2024 13:21:39 -0400
Subject: [PATCH] Center Sweep Auto

---
 .../autos/1-Note (Podium) P Center Sweep.auto |  37 ++++++
 .../paths/P to 8 Center Sweep.path            | 122 ++++++++++++++++++
 2 files changed, 159 insertions(+)
 create mode 100644 src/main/deploy/pathplanner/autos/1-Note (Podium) P Center Sweep.auto
 create mode 100644 src/main/deploy/pathplanner/paths/P to 8 Center Sweep.path

diff --git a/src/main/deploy/pathplanner/autos/1-Note (Podium) P Center Sweep.auto b/src/main/deploy/pathplanner/autos/1-Note (Podium) P Center Sweep.auto
new file mode 100644
index 00000000..166b827d
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/1-Note (Podium) P Center Sweep.auto	
@@ -0,0 +1,37 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 0.75,
+      "y": 4.45
+    },
+    "rotation": -60.0
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "Score from P (Subwoofer Podium-Side)"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Turn off Shooter and Intake"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "P to 8 Center Sweep"
+          }
+        }
+      ]
+    }
+  },
+  "folder": null,
+  "choreoAuto": false
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/P to 8 Center Sweep.path b/src/main/deploy/pathplanner/paths/P to 8 Center Sweep.path
new file mode 100644
index 00000000..89d7d70a
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/P to 8 Center Sweep.path	
@@ -0,0 +1,122 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 0.75,
+        "y": 4.45
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 0.7617341550472575,
+        "y": 2.6174529542041545
+      },
+      "isLocked": false,
+      "linkedName": "\"P\" Subwoofer (Podium)"
+    },
+    {
+      "anchor": {
+        "x": 7.816843352984952,
+        "y": 0.785663676590511
+      },
+      "prevControl": {
+        "x": 6.816843352984952,
+        "y": 0.785663676590511
+      },
+      "nextControl": {
+        "x": 8.816843352984952,
+        "y": 0.785663676590511
+      },
+      "isLocked": false,
+      "linkedName": "\"1\" Wing Podium Note"
+    },
+    {
+      "anchor": {
+        "x": 8.206778694259144,
+        "y": 2.544906844199654
+      },
+      "prevControl": {
+        "x": 8.511811023622048,
+        "y": 1.6652852603950823
+      },
+      "nextControl": {
+        "x": 7.9017463648962405,
+        "y": 3.4245284280042254
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 8.23398348551083,
+        "y": 4.45831049556836
+      },
+      "prevControl": {
+        "x": 8.067864925203535,
+        "y": 3.9414194617862925
+      },
+      "nextControl": {
+        "x": 8.400102045818125,
+        "y": 4.975201529350427
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 8.433485288023208,
+        "y": 6.1903488719258135
+      },
+      "prevControl": {
+        "x": 8.416793666920666,
+        "y": 5.58277520063812
+      },
+      "nextControl": {
+        "x": 8.45017690912575,
+        "y": 6.797922543213507
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 7.961935572993954,
+        "y": 7.251335730741637
+      },
+      "prevControl": {
+        "x": 8.501935572993954,
+        "y": 7.251335730741637
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 0.55,
+      "rotationDegrees": 180.0,
+      "rotateFast": true
+    }
+  ],
+  "constraintZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 4.0,
+    "maxAcceleration": 2.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 180.0,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": null,
+  "previewStartingState": {
+    "rotation": -60.92861841213601,
+    "velocity": 0
+  },
+  "useDefaultConstraints": true
+}
\ No newline at end of file