auto paths

# Conflicts:
#	TeamCode/src/main/kotlin/org/firstinspires/ftc/teamcode/opModes/teleOp/MainTeleOp.kt

PathPlanning/src/main/kotlin/com/example/pathplanning/blue/park/BlueParkObservation1.kt

@@ -0,0 +1,39 @@
+package com.example.pathplanning.blue.park
+
+import com.acmerobotics.roadrunner.geometry.Pose2d
+import com.noahbres.meepmeep.MeepMeep
+import com.noahbres.meepmeep.core.toRadians
+import com.noahbres.meepmeep.roadrunner.DefaultBotBuilder
+import java.awt.Image
+import java.io.File
+import java.io.IOException
+import javax.imageio.ImageIO
+
+object BlueParkObservation1 {
+    @JvmStatic
+    fun main(args: Array<String>) {
+        val meepMeep = MeepMeep(800)
+
+        val myBot = DefaultBotBuilder(meepMeep) // Set bot constraints: maxVel, maxAccel, maxAngVel, maxAngAccel, track width
+            .setConstraints(30.0, 30.0, Math.toRadians(180.0), Math.toRadians(170.0), 14.0)
+            .followTrajectorySequence { drive ->
+                drive.trajectorySequenceBuilder(Pose2d(-12.0, 62.0, (270.0).toRadians()))
+                    .strafeRight(48.0)
+                    .build()
+            }
+        var img: Image? = null
+        try {
+            img = ImageIO.read(File("/Users/ishaanghaskadbi/Downloads/field.png"))
+        } catch (_ : IOException)  {
+
+        }
+
+        if (img != null) {
+            meepMeep.setBackground(img)
+                .setDarkMode(true)
+                .setBackgroundAlpha(0.95f)
+                .addEntity(myBot)
+                .start()
+        }
+    }
+}

PathPlanning/src/main/kotlin/com/example/pathplanning/blue/park/BlueParkObservation2.kt

@@ -0,0 +1,39 @@
+package com.example.pathplanning.blue.park
+
+import com.acmerobotics.roadrunner.geometry.Pose2d
+import com.noahbres.meepmeep.MeepMeep
+import com.noahbres.meepmeep.core.toRadians
+import com.noahbres.meepmeep.roadrunner.DefaultBotBuilder
+import java.awt.Image
+import java.io.File
+import java.io.IOException
+import javax.imageio.ImageIO
+
+object BlueParkObservation2 {
+    @JvmStatic
+    fun main(args: Array<String>) {
+        val meepMeep = MeepMeep(800)
+
+        val myBot = DefaultBotBuilder(meepMeep) // Set bot constraints: maxVel, maxAccel, maxAngVel, maxAngAccel, track width
+            .setConstraints(30.0, 30.0, Math.toRadians(180.0), Math.toRadians(170.0), 14.0)
+            .followTrajectorySequence { drive ->
+                drive.trajectorySequenceBuilder(Pose2d(12.0, 62.0, (270.0).toRadians()))
+                    .strafeRight(72.0)
+                    .build()
+            }
+        var img: Image? = null
+        try {
+            img = ImageIO.read(File("/Users/ishaanghaskadbi/Downloads/field.png"))
+        } catch (_ : IOException)  {
+
+        }
+
+        if (img != null) {
+            meepMeep.setBackground(img)
+                .setDarkMode(true)
+                .setBackgroundAlpha(0.95f)
+                .addEntity(myBot)
+                .start()
+        }
+    }
+}

PathPlanning/src/main/kotlin/com/example/pathplanning/blue/park/BlueParkTouchSubmmersible1.kt

@@ -0,0 +1,44 @@
+package com.example.pathplanning.blue.park
+
+import com.acmerobotics.roadrunner.geometry.Pose2d
+import com.noahbres.meepmeep.MeepMeep
+import com.noahbres.meepmeep.core.toRadians
+import com.noahbres.meepmeep.roadrunner.DefaultBotBuilder
+import java.awt.Image
+import java.io.File
+import java.io.IOException
+import javax.imageio.ImageIO
+
+object BlueParkTouchSubmmersible1 {
+
+    @JvmStatic
+    fun main(args: Array<String>) {
+        val meepMeep = MeepMeep(800)
+
+        val myBot = DefaultBotBuilder(meepMeep) // Set bot constraints: maxVel, maxAccel, maxAngVel, maxAngAccel, track width
+            .setConstraints(30.0, 30.0, Math.toRadians(180.0), Math.toRadians(170.0), 14.0)
+            .followTrajectorySequence { drive ->
+                drive.trajectorySequenceBuilder(Pose2d(-12.0, 62.0, (270.0).toRadians()))
+                    .forward(27.0)
+                    .strafeLeft(48.0)
+                    .forward(24.0)
+                    .strafeRight(12.0)
+                    .build()
+            }
+        var img: Image? = null
+        try {
+            img = ImageIO.read(File("/Users/ishaanghaskadbi/Downloads/field.png"))
+        } catch (_ : IOException)  {
+
+        }
+
+        if (img != null) {
+            meepMeep.setBackground(img)
+                .setDarkMode(true)
+                .setBackgroundAlpha(0.95f)
+                .addEntity(myBot)
+                .start()
+        }
+    }
+}
+

PathPlanning/src/main/kotlin/com/example/pathplanning/blue/park/BlueParkTouchSubmmersible2.kt

@@ -0,0 +1,42 @@
+package com.example.pathplanning.blue.park
+
+import com.acmerobotics.roadrunner.geometry.Pose2d
+import com.noahbres.meepmeep.MeepMeep
+import com.noahbres.meepmeep.core.toRadians
+import com.noahbres.meepmeep.roadrunner.DefaultBotBuilder
+import java.awt.Image
+import java.io.File
+import java.io.IOException
+import javax.imageio.ImageIO
+
+object BlueParkTouchSubmmersible2 {
+    @JvmStatic
+    fun main(args: Array<String>) {
+        val meepMeep = MeepMeep(800)
+
+        val myBot = DefaultBotBuilder(meepMeep) // Set bot constraints: maxVel, maxAccel, maxAngVel, maxAngAccel, track width
+            .setConstraints(30.0, 30.0, Math.toRadians(180.0), Math.toRadians(170.0), 14.0)
+            .followTrajectorySequence { drive ->
+                drive.trajectorySequenceBuilder(Pose2d(12.0, 62.0, (270.0).toRadians()))
+                    .forward(27.0)
+                    .strafeLeft(24.0)
+                    .forward(24.0)
+                    .strafeRight(12.0)
+                    .build()
+            }
+        var img: Image? = null
+        try {
+            img = ImageIO.read(File("/Users/ishaanghaskadbi/Downloads/field.png"))
+        } catch (_ : IOException)  {
+
+        }
+
+        if (img != null) {
+            meepMeep.setBackground(img)
+                .setDarkMode(true)
+                .setBackgroundAlpha(0.95f)
+                .addEntity(myBot)
+                .start()
+        }
+    }
+}

PathPlanning/src/main/kotlin/com/example/pathplanning/red/park/RedParkObservation1.kt

@@ -0,0 +1,39 @@
+package com.example.pathplanning.red.park
+
+import com.acmerobotics.roadrunner.geometry.Pose2d
+import com.noahbres.meepmeep.MeepMeep
+import com.noahbres.meepmeep.core.toRadians
+import com.noahbres.meepmeep.roadrunner.DefaultBotBuilder
+import java.awt.Image
+import java.io.File
+import java.io.IOException
+import javax.imageio.ImageIO
+
+object RedParkObservation1 {
+    @JvmStatic
+    fun main(args: Array<String>) {
+        val meepMeep = MeepMeep(800)
+
+        val myBot = DefaultBotBuilder(meepMeep) // Set bot constraints: maxVel, maxAccel, maxAngVel, maxAngAccel, track width
+            .setConstraints(30.0, 30.0, Math.toRadians(180.0), Math.toRadians(170.0), 14.0)
+            .followTrajectorySequence { drive ->
+                drive.trajectorySequenceBuilder(Pose2d(-12.0, -62.0, (90.0).toRadians()))
+                    .strafeRight(72.0)
+                    .build()
+            }
+        var img: Image? = null
+        try {
+            img = ImageIO.read(File("/Users/ishaanghaskadbi/Downloads/field.png"))
+        } catch (_ : IOException)  {
+
+        }
+
+        if (img != null) {
+            meepMeep.setBackground(img)
+                .setDarkMode(true)
+                .setBackgroundAlpha(0.95f)
+                .addEntity(myBot)
+                .start()
+        }
+    }
+}

PathPlanning/src/main/kotlin/com/example/pathplanning/red/park/RedParkObservation2.kt

@@ -0,0 +1,39 @@
+package com.example.pathplanning.red.park
+
+import com.acmerobotics.roadrunner.geometry.Pose2d
+import com.noahbres.meepmeep.MeepMeep
+import com.noahbres.meepmeep.core.toRadians
+import com.noahbres.meepmeep.roadrunner.DefaultBotBuilder
+import java.awt.Image
+import java.io.File
+import java.io.IOException
+import javax.imageio.ImageIO
+
+object RedParkObservation2 {
+    @JvmStatic
+    fun main(args: Array<String>) {
+        val meepMeep = MeepMeep(800)
+
+        val myBot = DefaultBotBuilder(meepMeep) // Set bot constraints: maxVel, maxAccel, maxAngVel, maxAngAccel, track width
+            .setConstraints(30.0, 30.0, Math.toRadians(180.0), Math.toRadians(170.0), 14.0)
+            .followTrajectorySequence { drive ->
+                drive.trajectorySequenceBuilder(Pose2d(12.0, -62.0, (90.0).toRadians()))
+                    .strafeRight(48.0)
+                    .build()
+            }
+        var img: Image? = null
+        try {
+            img = ImageIO.read(File("/Users/ishaanghaskadbi/Downloads/field.png"))
+        } catch (_ : IOException)  {
+
+        }
+
+        if (img != null) {
+            meepMeep.setBackground(img)
+                .setDarkMode(true)
+                .setBackgroundAlpha(0.95f)
+                .addEntity(myBot)
+                .start()
+        }
+    }
+}

PathPlanning/src/main/kotlin/com/example/pathplanning/red/park/RedParkTouchSubmmersible1.kt

@@ -0,0 +1,42 @@
+package com.example.pathplanning.red.park
+
+import com.acmerobotics.roadrunner.geometry.Pose2d
+import com.noahbres.meepmeep.MeepMeep
+import com.noahbres.meepmeep.core.toRadians
+import com.noahbres.meepmeep.roadrunner.DefaultBotBuilder
+import java.awt.Image
+import java.io.File
+import java.io.IOException
+import javax.imageio.ImageIO
+
+object RedParkTouchSubmmersible1 {
+    @JvmStatic
+    fun main(args: Array<String>) {
+        val meepMeep = MeepMeep(800)
+
+        val myBot = DefaultBotBuilder(meepMeep) // Set bot constraints: maxVel, maxAccel, maxAngVel, maxAngAccel, track width
+            .setConstraints(30.0, 30.0, Math.toRadians(180.0), Math.toRadians(170.0), 14.0)
+            .followTrajectorySequence { drive ->
+                drive.trajectorySequenceBuilder(Pose2d(-12.0, -62.0, (90.0).toRadians()))
+                    .forward(27.0)
+                    .strafeLeft(24.0)
+                    .forward(24.0)
+                    .strafeRight(12.0)
+                    .build()
+            }
+        var img: Image? = null
+        try {
+            img = ImageIO.read(File("/Users/ishaanghaskadbi/Downloads/field.png"))
+        } catch (_ : IOException)  {
+
+        }
+
+        if (img != null) {
+            meepMeep.setBackground(img)
+                .setDarkMode(true)
+                .setBackgroundAlpha(0.95f)
+                .addEntity(myBot)
+                .start()
+        }
+    }
+}

PathPlanning/src/main/kotlin/com/example/pathplanning/red/park/RedParkTouchSubmmersible2.kt

@@ -0,0 +1,42 @@
+package com.example.pathplanning.red.park
+
+import com.acmerobotics.roadrunner.geometry.Pose2d
+import com.noahbres.meepmeep.MeepMeep
+import com.noahbres.meepmeep.core.toRadians
+import com.noahbres.meepmeep.roadrunner.DefaultBotBuilder
+import java.awt.Image
+import java.io.File
+import java.io.IOException
+import javax.imageio.ImageIO
+
+object RedParkTouchSubmmersible2 {
+    @JvmStatic
+    fun main(args: Array<String>) {
+        val meepMeep = MeepMeep(800)
+
+        val myBot = DefaultBotBuilder(meepMeep) // Set bot constraints: maxVel, maxAccel, maxAngVel, maxAngAccel, track width
+            .setConstraints(30.0, 30.0, Math.toRadians(180.0), Math.toRadians(170.0), 14.0)
+            .followTrajectorySequence { drive ->
+                drive.trajectorySequenceBuilder(Pose2d(12.0, -62.0, (90.0).toRadians()))
+                    .forward(27.0)
+                    .strafeLeft(48.0)
+                    .forward(24.0)
+                    .strafeRight(12.0)
+                    .build()
+            }
+        var img: Image? = null
+        try {
+            img = ImageIO.read(File("/Users/ishaanghaskadbi/Downloads/field.png"))
+        } catch (_ : IOException)  {
+
+        }
+
+        if (img != null) {
+            meepMeep.setBackground(img)
+                .setDarkMode(true)
+                .setBackgroundAlpha(0.95f)
+                .addEntity(myBot)
+                .start()
+        }
+    }
+}

TeamCode/src/main/kotlin/org/firstinspires/ftc/teamcode/opModes/teleOp/MainTeleOp.kt

@@ -58,6 +58,8 @@ class MainTeleOp : CommandOpMode() {
 
         //operator.getGamepadButton(GamepadKeys.Button.DPAD_UP).whileHeld(spinUpCommand)
         // operator.getGamepadButton(GamepadKeys.Button.DPAD_DOWN).whileHeld(spinDownCommand)
+        operator.getGamepadButton(GamepadKeys.Button.DPAD_UP).whileHeld(spinUpCommand)
+        operator.getGamepadButton(GamepadKeys.Button.DPAD_DOWN).whileHeld(spinDownCommand)
         operator.getGamepadButton(GamepadKeys.Button.RIGHT_BUMPER).whileHeld(armUpCommand)
         operator.getGamepadButton(GamepadKeys.Button.LEFT_BUMPER).whileHeld(armDownCommand)