Adding new paths

Define Variables

Go to the top of AutoPaths.java and add your variables. For each new path, you want:

• A PathChain (the path itself)
• Two Poses
• One or two Headings

Add Angles

If your angle already exists, skip this step.

In the generatePaths() method, add your angle. Make sure it's a double and in radians. If you want your angle to change based on alliance, you have two options:

1. Use the flipHeading180Degrees() method

If your angle perfectly mirrors 180 degrees across alliances, then use this. flipHeading180Degrees() takes in a value in degrees and outputs it (flipped if red) in radians.

Ex:

double myAngle;

myAngle = flipHeading180Degrees(90);

If blue, myAngle will be 1/2 pi radians (90 degrees). If red, myAngle will be 2/3 pi radians (270 degrees).

2. Use an if-else

Ex:

if (alliance == Alliance.BLUE) {
            closeShootAngle = Math.toRadians(135);        
} else {
            closeShootAngle = Math.toRadians(50);         
}

Add Poses

Add your poses! Self explanatory:

myPose = flipOverCenter(new Pose(54.25, 88.75, someAngle));

If the pose should stay the same regardless of alliance, don't use flipOverCenter. Your default value should be for the Blue Alliance.

Generate the PathChain

myPath = generatePath(pose1, pose2);

Pretty simple! You can limit speed by using generatePathWithVelocityConstraint() and generate a curved PathChain with generatePathCurve(). Follow the JavaDoc instructions

That's it! Now you can use the path in any Auto!