From e9cef36ed608ca3c069eddf4f40fdb4a6ca8b864 Mon Sep 17 00:00:00 2001
From: PatribotsProgramming <olivermcushman@gmail.com>
Date: Wed, 23 Oct 2024 18:13:20 -0700
Subject: [PATCH] man this op robot thing is real hard!

---
 .../pathplanner/autos/S W2 S C3-5 S DEF.auto  | 76 -------------------
 src/main/deploy/pathplanner/paths/CA2 W2.path |  8 +-
 src/main/deploy/pathplanner/paths/P CA1.path  |  2 +-
 src/main/deploy/pathplanner/paths/P CA2.path  |  8 +-
 src/main/deploy/pathplanner/paths/W2 C3.path  | 10 +--
 5 files changed, 14 insertions(+), 90 deletions(-)

diff --git a/src/main/deploy/pathplanner/autos/S W2 S C3-5 S DEF.auto b/src/main/deploy/pathplanner/autos/S W2 S C3-5 S DEF.auto
index 63cd2a00..b2dd6554 100644
--- a/src/main/deploy/pathplanner/autos/S W2 S C3-5 S DEF.auto	
+++ b/src/main/deploy/pathplanner/autos/S W2 S C3-5 S DEF.auto	
@@ -54,82 +54,6 @@
               }
             ]
           }
-        },
-        {
-          "type": "deadline",
-          "data": {
-            "commands": [
-              {
-                "type": "path",
-                "data": {
-                  "pathName": "W2 C3"
-                }
-              },
-              {
-                "type": "sequential",
-                "data": {
-                  "commands": [
-                    {
-                      "type": "named",
-                      "data": {
-                        "name": "StopAll"
-                      }
-                    },
-                    {
-                      "type": "wait",
-                      "data": {
-                        "waitTime": 1.0
-                      }
-                    },
-                    {
-                      "type": "named",
-                      "data": {
-                        "name": "ToIndexer"
-                      }
-                    }
-                  ]
-                }
-              }
-            ]
-          }
-        },
-        {
-          "type": "deadline",
-          "data": {
-            "commands": [
-              {
-                "type": "path",
-                "data": {
-                  "pathName": "C3 M"
-                }
-              },
-              {
-                "type": "sequential",
-                "data": {
-                  "commands": [
-                    {
-                      "type": "named",
-                      "data": {
-                        "name": "StopIntake"
-                      }
-                    },
-                    {
-                      "type": "named",
-                      "data": {
-                        "name": "ToIndexer"
-                      }
-                    }
-                  ]
-                }
-              },
-              {
-                "type": "named",
-                "data": {
-                  "name": "PrepareSWD"
-                }
-              }
-            ]
-          }
         }
       ]
     }
diff --git a/src/main/deploy/pathplanner/paths/CA2 W2.path b/src/main/deploy/pathplanner/paths/CA2 W2.path
index c1f5efa4..e2f20db2 100644
--- a/src/main/deploy/pathplanner/paths/CA2 W2.path	
+++ b/src/main/deploy/pathplanner/paths/CA2 W2.path	
@@ -3,12 +3,12 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 2.180663101343949,
+        "x": 2.051802334703099,
         "y": 5.572415049000463
       },
       "prevControl": null,
       "nextControl": {
-        "x": 2.435610195089068,
+        "x": 2.306749428448218,
         "y": 5.56513084632203
       },
       "isLocked": false,
@@ -50,7 +50,7 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 2.54,
+    "maxVelocity": 5.0,
     "maxAcceleration": 3.5,
     "maxAngularVelocity": 1137.21,
     "maxAngularAcceleration": 1492.9
@@ -66,5 +66,5 @@
     "rotation": 180.0,
     "velocity": 0
   },
-  "useDefaultConstraints": false
+  "useDefaultConstraints": true
 }
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/P CA1.path b/src/main/deploy/pathplanner/paths/P CA1.path
index 2addd198..f8374052 100644
--- a/src/main/deploy/pathplanner/paths/P CA1.path	
+++ b/src/main/deploy/pathplanner/paths/P CA1.path	
@@ -38,7 +38,7 @@
     "maxAngularAcceleration": 1492.9
   },
   "goalEndState": {
-    "velocity": 0.5,
+    "velocity": 0.0,
     "rotation": -144.37209270857915,
     "rotateFast": false
   },
diff --git a/src/main/deploy/pathplanner/paths/P CA2.path b/src/main/deploy/pathplanner/paths/P CA2.path
index 7ffaef8e..ee05ca43 100644
--- a/src/main/deploy/pathplanner/paths/P CA2.path	
+++ b/src/main/deploy/pathplanner/paths/P CA2.path	
@@ -16,11 +16,11 @@
     },
     {
       "anchor": {
-        "x": 2.180663101343949,
+        "x": 2.051802334703099,
         "y": 5.572415049000463
       },
       "prevControl": {
-        "x": 1.6146970147047643,
+        "x": 1.4858362480639145,
         "y": 5.565624690571415
       },
       "nextControl": null,
@@ -32,7 +32,7 @@
   "constraintZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 2.54,
+    "maxVelocity": 5.0,
     "maxAcceleration": 3.5,
     "maxAngularVelocity": 1137.21,
     "maxAngularAcceleration": 1492.9
@@ -48,5 +48,5 @@
     "rotation": 180.0,
     "velocity": 0
   },
-  "useDefaultConstraints": false
+  "useDefaultConstraints": true
 }
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/W2 C3.path b/src/main/deploy/pathplanner/paths/W2 C3.path
index 9d001d64..69fd95ce 100644
--- a/src/main/deploy/pathplanner/paths/W2 C3.path	
+++ b/src/main/deploy/pathplanner/paths/W2 C3.path	
@@ -8,8 +8,8 @@
       },
       "prevControl": null,
       "nextControl": {
-        "x": 7.198276073971502,
-        "y": 2.4991028046572223
+        "x": 5.7875591928074,
+        "y": 3.7006243484669565
       },
       "isLocked": false,
       "linkedName": "W2"
@@ -20,8 +20,8 @@
         "y": 4.095455268178173
       },
       "prevControl": {
-        "x": 7.887059903152064,
-        "y": 6.04003375748687
+        "x": 6.79469113574461,
+        "y": 4.251033666118688
       },
       "nextControl": null,
       "isLocked": false,
@@ -39,7 +39,7 @@
   },
   "goalEndState": {
     "velocity": 0.0,
-    "rotation": 111.44077429233252,
+    "rotation": 179.70097830393772,
     "rotateFast": false
   },
   "reversed": false,