Added bounce path

Co-Authored-By: Nirvan Bhalala <78400306+nbhalala27@users.noreply.github.com>

PathWeaver/Paths/Bounce

@@ -0,0 +1,11 @@
+X,Y,Tangent X,Tangent Y,Fixed Theta,Name
+1.2685437093345355,-2.2829074276879466,3.048,0.0,true,
+2.258166849191522,-0.6129183791792823,0.11133260323391081,-0.38347896669458226,true,
+2.9818287702119433,-3.1735682535592344,0.5566630161695545,-1.4473238420408423,true,
+4.385856599884042,-3.3405671584101007,0.6556253301552539,1.3731021065515683,true,
+4.596151517103652,-0.8726944533917412,0.20415183442002244,0.00717066557576255,false,
+4.998185917670552,-3.3158265799136757,0.8164390903820147,-1.4163981189203128,true,
+6.408398891966757,-3.4766403401404364,0.9958082844810932,0.8288093796302256,true,
+6.87228473877472,-0.829398441022998,0.12370289248212352,-0.40821954519100667,true,
+7.311430007086258,-1.8561324486246213,0.4858385107411982,-0.5239684308130039,false,
+8.3567194485602,-2.375684597049539,0.6246996070347217,-0.25359092958835294,true,

PathWeaver/pathweaver.json

@@ -4,6 +4,6 @@
   "maxVelocity": 2.3,
   "maxAcceleration": 2.7,
   "wheelBase": 0.648,
-  "gameName": "Slalom Path",
+  "gameName": "Bounce Path",
   "outputDir": ".."
 }

src/main/java/frc4388/robot/RobotContainer.java

@@ -45,6 +45,7 @@ import frc4388.robot.commands.InterruptSubystem;
 import frc4388.robot.commands.auto.AutoPath1FromCenter;
 import frc4388.robot.commands.auto.Barrel;
 import frc4388.robot.commands.auto.BarrelMany;
+import frc4388.robot.commands.auto.Bounce;
 import frc4388.robot.commands.auto.Wait;
 import frc4388.robot.commands.climber.DisengageRachet;
 import frc4388.robot.commands.climber.RunClimberWithTriggers;
@@ -132,6 +133,8 @@ public class RobotContainer {
 
     BarrelMany m_barrelMany;
 
+    Bounce m_bounce;
+
     /**
      * The container for the robot. Contains subsystems, OI devices, and commands.
      */
@@ -311,6 +314,12 @@ public class RobotContainer {
         };
 
         m_barrel = new Barrel(m_robotDrive, buildPaths(barrel));
+
+        String[] bounce = new String[]{
+            "Bounce"
+        };
+
+        m_bounce = new Bounce(m_robotDrive, buildPaths(bounce));
         
         String[] barrelMany = new String[]{
             "BarrelManyWaypoints"
@@ -371,9 +380,11 @@ public class RobotContainer {
             //return m_driveOffLineBackward.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0));
             //return m_fiveBallAutoMiddle.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0));
             //return m_tenBallAutoMiddle.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0));
-            return m_slalom.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0));
+            //return m_slalom.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0));
             //return m_barrel.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0));
             //return m_barrelMany.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0));
+            return m_bounce.andThen(()-> m_robotDrive.tankDriveVelocity(0,0));
+
         } catch (Exception e) {
             System.err.println("ERROR");
         }

src/main/java/frc4388/robot/commands/auto/Bounce.java

@@ -0,0 +1,27 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package frc4388.robot.commands.auto;
+
+import edu.wpi.first.wpilibj2.command.RamseteCommand;
+import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
+import frc4388.robot.subsystems.Drive;
+
+// NOTE:  Consider using this command inline, rather than writing a subclass.  For more
+// information, see:
+// https://docs.wpilib.org/en/latest/docs/software/commandbased/convenience-features.html
+public class Bounce extends SequentialCommandGroup {
+  /**
+   * Creates a new Bounce.
+   */
+  public Bounce(Drive drive, RamseteCommand[] paths) {
+    // Add your commands in the super() call, e.g.
+    // super(new FooCommand(), new BarCommand());
+    addCommands(paths[0]
+    );
+  }
+}