From 243a59cfa74eae137e1283da11724cefda037582 Mon Sep 17 00:00:00 2001
From: Cherriae <zeruiz@nycstudents.net>
Date: Tue, 29 Oct 2024 15:14:13 -0400
Subject: [PATCH] tour auton paths

---
 src/main/deploy/pathplanner/autos/Tour.auto   | 37 ++++++++++
 .../pathplanner/paths/Reverse Tour Drive.path | 49 +++++++++++++
 .../deploy/pathplanner/paths/Tour Drive.path  | 73 +++++++++++++++++++
 3 files changed, 159 insertions(+)
 create mode 100644 src/main/deploy/pathplanner/autos/Tour.auto
 create mode 100644 src/main/deploy/pathplanner/paths/Reverse Tour Drive.path
 create mode 100644 src/main/deploy/pathplanner/paths/Tour Drive.path

diff --git a/src/main/deploy/pathplanner/autos/Tour.auto b/src/main/deploy/pathplanner/autos/Tour.auto
new file mode 100644
index 0000000..724bd9f
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/Tour.auto
@@ -0,0 +1,37 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 1.3274844567707151,
+      "y": 5.574556013976893
+    },
+    "rotation": 180.0
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Tour Drive"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "actuateInFast"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Reverse Tour Drive"
+          }
+        }
+      ]
+    }
+  },
+  "folder": null,
+  "choreoAuto": false
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/Reverse Tour Drive.path b/src/main/deploy/pathplanner/paths/Reverse Tour Drive.path
new file mode 100644
index 0000000..388d384
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/Reverse Tour Drive.path	
@@ -0,0 +1,49 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 4.15,
+        "y": 5.57
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 4.307159953959547,
+        "y": 5.560755296825909
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 1.33,
+        "y": 5.57
+      },
+      "prevControl": {
+        "x": 1.5428290499246664,
+        "y": 5.57
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 4.6,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 450.0,
+    "maxAngularAcceleration": 360.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 0.0,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": null,
+  "previewStartingState": null,
+  "useDefaultConstraints": false
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/Tour Drive.path b/src/main/deploy/pathplanner/paths/Tour Drive.path
new file mode 100644
index 0000000..b837ef7
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/Tour Drive.path	
@@ -0,0 +1,73 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 1.3274844567707151,
+        "y": 5.574556013976893
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 1.4846444107302628,
+        "y": 5.565311310802802
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 4.147118924868479,
+        "y": 5.574556013976893
+      },
+      "prevControl": {
+        "x": 3.9344907518643852,
+        "y": 5.565311310802802
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 0.5,
+      "rotationDegrees": 180.0,
+      "rotateFast": false
+    }
+  ],
+  "constraintZones": [],
+  "eventMarkers": [
+    {
+      "name": "New Event Marker",
+      "waypointRelativePos": 0.5,
+      "command": {
+        "type": "sequential",
+        "data": {
+          "commands": [
+            {
+              "type": "named",
+              "data": {
+                "name": "actuateOut"
+              }
+            }
+          ]
+        }
+      }
+    }
+  ],
+  "globalConstraints": {
+    "maxVelocity": 4.6,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 450.0,
+    "maxAngularAcceleration": 360.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": -178.99491399474581,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": null,
+  "previewStartingState": null,
+  "useDefaultConstraints": false
+}
\ No newline at end of file