From a490b253113f2b0d8ca8abb016c3850991ae9d9d Mon Sep 17 00:00:00 2001
From: BallisticCrusader <121452254+BallisticCrusader@users.noreply.github.com>
Date: Fri, 24 Jan 2025 10:56:55 -0800
Subject: [PATCH] Added Taxi Auto

Created a taxi path and auto.
---
 src/main/deploy/pathplanner/autos/Taxi.auto | 19 ++++++++
 src/main/deploy/pathplanner/paths/Taxi.path | 54 +++++++++++++++++++++
 2 files changed, 73 insertions(+)
 create mode 100644 src/main/deploy/pathplanner/autos/Taxi.auto
 create mode 100644 src/main/deploy/pathplanner/paths/Taxi.path

diff --git a/src/main/deploy/pathplanner/autos/Taxi.auto b/src/main/deploy/pathplanner/autos/Taxi.auto
new file mode 100644
index 0000000..db06ab4
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/Taxi.auto
@@ -0,0 +1,19 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Taxi"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/Taxi.path b/src/main/deploy/pathplanner/paths/Taxi.path
new file mode 100644
index 0000000..f5b4725
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/Taxi.path
@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 7.576229508196722,
+        "y": 7.273668032786885
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 8.050548646741815,
+        "y": 7.2681295199500715
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 6.137704918032787,
+        "y": 7.273668032786885
+      },
+      "prevControl": {
+        "x": 5.88773585280021,
+        "y": 7.277600770605731
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "useDefaultConstraints": true
+}
\ No newline at end of file