From 24205ab99e834d6057bfcb6b9b2ebee70306f80e Mon Sep 17 00:00:00 2001
From: Mason Vogt <mvog2501@mpsedu.org>
Date: Sat, 30 Mar 2024 22:29:43 -0500
Subject: [PATCH] [Robot] Made autos easier to align

---
 .../pathplanner/autos/Amp Standard.auto       |  6 +++---
 .../pathplanner/autos/Source Standard.auto    |  6 +++---
 .../pathplanner/paths/Amp Start Standard.path | 10 +++++-----
 .../paths/Source Start Standard.path          | 20 +++++++++----------
 .../com/swrobotics/robot/RobotContainer.java  |  1 -
 5 files changed, 21 insertions(+), 22 deletions(-)

diff --git a/Robot/src/main/deploy/pathplanner/autos/Amp Standard.auto b/Robot/src/main/deploy/pathplanner/autos/Amp Standard.auto
index 7b6da49..60c4762 100644
--- a/Robot/src/main/deploy/pathplanner/autos/Amp Standard.auto	
+++ b/Robot/src/main/deploy/pathplanner/autos/Amp Standard.auto	
@@ -2,10 +2,10 @@
   "version": 1.0,
   "startingPose": {
     "position": {
-      "x": 1.2991794154609702,
-      "y": 6.737082927847566
+      "x": 1.4076040330792177,
+      "y": 6.501863470968227
     },
-    "rotation": -136.30933403146403
+    "rotation": 180.0
   },
   "command": {
     "type": "sequential",
diff --git a/Robot/src/main/deploy/pathplanner/autos/Source Standard.auto b/Robot/src/main/deploy/pathplanner/autos/Source Standard.auto
index d57fd78..807ae94 100644
--- a/Robot/src/main/deploy/pathplanner/autos/Source Standard.auto	
+++ b/Robot/src/main/deploy/pathplanner/autos/Source Standard.auto	
@@ -2,10 +2,10 @@
   "version": 1.0,
   "startingPose": {
     "position": {
-      "x": 1.2796798990272578,
-      "y": 4.32889264828411
+      "x": 1.407720094244745,
+      "y": 4.59350280539662
     },
-    "rotation": 134.2986105099582
+    "rotation": 180.0
   },
   "command": {
     "type": "sequential",
diff --git a/Robot/src/main/deploy/pathplanner/paths/Amp Start Standard.path b/Robot/src/main/deploy/pathplanner/paths/Amp Start Standard.path
index 3dc928d..dd00e49 100644
--- a/Robot/src/main/deploy/pathplanner/paths/Amp Start Standard.path	
+++ b/Robot/src/main/deploy/pathplanner/paths/Amp Start Standard.path	
@@ -3,13 +3,13 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 1.2991794154609702,
-        "y": 6.737082927847566
+        "x": 1.4076040330792177,
+        "y": 6.501863470968227
       },
       "prevControl": null,
       "nextControl": {
-        "x": 1.7671678098700632,
-        "y": 6.844330268232984
+        "x": 1.8755875765107892,
+        "y": 6.609131977057278
       },
       "isLocked": false,
       "linkedName": null
@@ -45,7 +45,7 @@
   "reversed": false,
   "folder": "Amp",
   "previewStartingState": {
-    "rotation": -137.1565626747148,
+    "rotation": 180.0,
     "velocity": 0
   },
   "useDefaultConstraints": false
diff --git a/Robot/src/main/deploy/pathplanner/paths/Source Start Standard.path b/Robot/src/main/deploy/pathplanner/paths/Source Start Standard.path
index 96cb214..096191e 100644
--- a/Robot/src/main/deploy/pathplanner/paths/Source Start Standard.path	
+++ b/Robot/src/main/deploy/pathplanner/paths/Source Start Standard.path	
@@ -3,25 +3,25 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 1.2796798990272578,
-        "y": 4.32889264828411
+        "x": 1.407720094244745,
+        "y": 4.59350280539662
       },
       "prevControl": null,
       "nextControl": {
-        "x": 1.5721726455329406,
-        "y": 4.845629833777482
+        "x": 1.7095824797561336,
+        "y": 4.289415849488453
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 2.361903061098285,
-        "y": 4.4361399886695265
+        "x": 2.313000848986035,
+        "y": 4.149085996179173
       },
       "prevControl": {
-        "x": 1.8256663591711995,
-        "y": 4.855379591994339
+        "x": 1.8966889508351727,
+        "y": 4.046177437085702
       },
       "nextControl": null,
       "isLocked": false,
@@ -39,13 +39,13 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": 147.17145820858747,
+    "rotation": 179.04515874612775,
     "rotateFast": true
   },
   "reversed": false,
   "folder": "Source",
   "previewStartingState": {
-    "rotation": 130.85537625889575,
+    "rotation": 180.0,
     "velocity": 0
   },
   "useDefaultConstraints": true
diff --git a/Robot/src/main/java/com/swrobotics/robot/RobotContainer.java b/Robot/src/main/java/com/swrobotics/robot/RobotContainer.java
index 8cb9374..f78c13b 100644
--- a/Robot/src/main/java/com/swrobotics/robot/RobotContainer.java
+++ b/Robot/src/main/java/com/swrobotics/robot/RobotContainer.java
@@ -186,7 +186,6 @@ private static List<AutoEntry> buildPathPlannerAutos() {
 
         List<PathPlannerAuto> options = new ArrayList<>();
         for (String autoName : autoNames) {
-            System.out.println(autoName);
             PathPlannerAuto auto = new PathPlannerAuto(autoName);
 
             options.add(auto);