From e7fbc840cebbdcd33a63fe55fa1a04489bfb4699 Mon Sep 17 00:00:00 2001
From: NRGProgrammer <programming@nrg948.com>
Date: Thu, 21 Mar 2024 21:17:33 -0700
Subject: [PATCH] Created Mid Source Sweep auto routine.

---
 .pathplanner/settings.json                    |   4 +-
 .../pathplanner/autos/Mid Source Sweep.auto   | 151 ++++++++++++++++++
 .../Subwoofer Side to Mid Source Note.path    |  92 +++++++++++
 3 files changed, 246 insertions(+), 1 deletion(-)
 create mode 100644 src/main/deploy/pathplanner/autos/Mid Source Sweep.auto
 create mode 100644 src/main/deploy/pathplanner/paths/Subwoofer Side to Mid Source Note.path

diff --git a/.pathplanner/settings.json b/.pathplanner/settings.json
index 10c96ec..06c4cd2 100644
--- a/.pathplanner/settings.json
+++ b/.pathplanner/settings.json
@@ -7,8 +7,10 @@
     "Drive Out",
     "Mid Amp Sweep",
     "Miscellaneous",
+    "Mid Source Sweep",
     "Source Sweep",
-    "Spike Sweep"
+    "Spike Sweep",
+    "The MOP"
   ],
   "autoFolders": [],
   "defaultMaxVel": 3.0,
diff --git a/src/main/deploy/pathplanner/autos/Mid Source Sweep.auto b/src/main/deploy/pathplanner/autos/Mid Source Sweep.auto
new file mode 100644
index 0000000..d6e60c2
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/Mid Source Sweep.auto	
@@ -0,0 +1,151 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 0.74,
+      "y": 4.37
+    },
+    "rotation": -58.70990544835478
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "ShootSubwooferShot"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Subwoofer Side to Mid Source Note"
+          }
+        },
+        {
+          "type": "race",
+          "data": {
+            "commands": [
+              {
+                "type": "named",
+                "data": {
+                  "name": "IntakeUntilNoteDetected"
+                }
+              },
+              {
+                "type": "wait",
+                "data": {
+                  "waitTime": 2.0
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Mid Source Note to Source Farshot"
+          }
+        },
+        {
+          "type": "parallel",
+          "data": {
+            "commands": [
+              {
+                "type": "named",
+                "data": {
+                  "name": "AutoOrientToSpeaker"
+                }
+              },
+              {
+                "type": "race",
+                "data": {
+                  "commands": [
+                    {
+                      "type": "named",
+                      "data": {
+                        "name": "SetShooterContinuous"
+                      }
+                    },
+                    {
+                      "type": "wait",
+                      "data": {
+                        "waitTime": 2.0
+                      }
+                    }
+                  ]
+                }
+              },
+              {
+                "type": "race",
+                "data": {
+                  "commands": [
+                    {
+                      "type": "wait",
+                      "data": {
+                        "waitTime": 1.5
+                      }
+                    },
+                    {
+                      "type": "named",
+                      "data": {
+                        "name": "ShootAtCurrentRPM"
+                      }
+                    }
+                  ]
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Source Farshot to Source Note"
+          }
+        },
+        {
+          "type": "race",
+          "data": {
+            "commands": [
+              {
+                "type": "wait",
+                "data": {
+                  "waitTime": 2.0
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "IntakeUntilNoteDetectedNoAutoCentering"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Source Note to Source Farshot"
+          }
+        },
+        {
+          "type": "parallel",
+          "data": {
+            "commands": [
+              {
+                "type": "named",
+                "data": {
+                  "name": "DisableAutoOrientationMode"
+                }
+              }
+            ]
+          }
+        }
+      ]
+    }
+  },
+  "folder": null,
+  "choreoAuto": false
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/Subwoofer Side to Mid Source Note.path b/src/main/deploy/pathplanner/paths/Subwoofer Side to Mid Source Note.path
new file mode 100644
index 0000000..e953df5
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/Subwoofer Side to Mid Source Note.path	
@@ -0,0 +1,92 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 0.74,
+        "y": 4.37
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 1.1367330622701963,
+        "y": 2.955764486592587
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 5.147381694254483,
+        "y": 1.6293260067436164
+      },
+      "prevControl": {
+        "x": 3.5219561540185147,
+        "y": 1.6293260067436164
+      },
+      "nextControl": {
+        "x": 6.494708969061704,
+        "y": 1.6293260067436164
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 8.21,
+        "y": 2.4
+      },
+      "prevControl": {
+        "x": 7.654037089244662,
+        "y": 2.0157687134712696
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 1.1,
+      "rotationDegrees": 0.0,
+      "rotateFast": false
+    }
+  ],
+  "constraintZones": [],
+  "eventMarkers": [
+    {
+      "name": "Intake",
+      "waypointRelativePos": 0,
+      "command": {
+        "type": "sequential",
+        "data": {
+          "commands": [
+            {
+              "type": "named",
+              "data": {
+                "name": "IntakeUntilNoteDetectedNoAutoCentering"
+              }
+            }
+          ]
+        }
+      }
+    }
+  ],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 24.95645435977526,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": "Mid Source Sweep",
+  "previewStartingState": {
+    "rotation": -62.747370745004204,
+    "velocity": 0
+  },
+  "useDefaultConstraints": true
+}
\ No newline at end of file