Added BarrelStart boilerplate (NOT WORKING)

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

PathWeaver/Paths/BarrelStart

@@ -0,0 +1,14 @@
+X,Y,Tangent X,Tangent Y,Fixed Theta,Name
+1.1943219738452617,-2.286,1.0,0.0,true,
+3.396233460027056,-2.2025005475745667,1.6761741931327716,0.12370289248212352,true,
+4.466263479997423,-3.0436802164530046,0.15462861560265395,-1.1071408877150035,true,
+3.618898666494878,-3.6374541003671967,-1.2555843586935511,0.21029491721960936,true,
+3.4951957740127546,-2.530313212652193,1.2184734909489143,0.8226242350061197,true,
+6.105326805385555,-2.208685692198673,1.5215455775301168,0.4824412806802809,true,
+6.847544160278296,-1.5035792050505696,0.08040688011338037,0.6679956194034656,true,
+6.1362525285060885,-0.8788795980158475,-1.261769503317658,0.012370289248212263,true,
+5.4868123429749405,-1.7757255685112412,0.42058983443921694,-0.9030311151194992,true,
+6.760952135540809,-3.3405671584101007,1.7689513624943638,-0.7174767763963148,true,
+8.096943374347742,-3.3900483154029506,0.6061441731624058,0.4824412806802809,true,
+8.053647361978998,-2.4375360432906006,-0.7360322102686343,0.5690333054177668,true,
+5.598144946208851,-2.190130258326354,-5.115114604135798,0.06803659086516767,true,

PathWeaver/Paths/Unnamed.path

@@ -1,3 +0,0 @@
-X,Y,Tangent X,Tangent Y,Fixed Theta,Name
-1.3489505894479157,-2.3385737293049025,3.048,0.0,true,
-3.934341042324292,-2.456091477162919,1.0100439348064159,0.07854151903626949,false,

PathWeaver/pathweaver.json

@@ -1,8 +1,8 @@
 {
   "lengthUnit": "Meter",
   "exportUnit": "Always Meters",
-  "maxVelocity": 2.3,
+  "maxVelocity": 2.4,
-  "maxAcceleration": 2.7,
+  "maxAcceleration": 2.6,
   "wheelBase": 0.648,
   "gameName": "Barrel Racing Path",
   "outputDir": ".."

src/main/deploy/paths/DriveOffLineBackward.wpilib.json

@@ -1 +1 @@
-[{"time":0.0,"velocity":0.0,"acceleration":2.7,"pose":{"translation":{"x":3.2,"y":-2.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.3042903097250923,"velocity":0.8215838362577492,"acceleration":2.7,"pose":{"translation":{"x":3.325,"y":-2.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.43033148291193524,"velocity":1.161895003862225,"acceleration":-2.7,"pose":{"translation":{"x":3.45,"y":-2.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.5563726560987782,"velocity":0.8215838362577492,"acceleration":-2.7,"pose":{"translation":{"x":3.575,"y":-2.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.8606629658238705,"velocity":0.0,"acceleration":-2.7,"pose":{"translation":{"x":3.7,"y":-2.3},"rotation":{"radians":0.0}},"curvature":0.0}]
+[{"time":0.0,"velocity":0.0,"acceleration":2.6000000000000005,"pose":{"translation":{"x":3.2,"y":-2.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.3100868364730211,"velocity":0.806225774829855,"acceleration":2.6000000000000005,"pose":{"translation":{"x":3.325,"y":-2.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.43852900965351455,"velocity":1.140175425099138,"acceleration":-2.6000000000000005,"pose":{"translation":{"x":3.45,"y":-2.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.566971182834008,"velocity":0.806225774829855,"acceleration":-2.6000000000000005,"pose":{"translation":{"x":3.575,"y":-2.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.8770580193070292,"velocity":0.0,"acceleration":-2.6000000000000005,"pose":{"translation":{"x":3.7,"y":-2.3},"rotation":{"radians":0.0}},"curvature":0.0}]

src/main/deploy/paths/DriveOffLineForward.wpilib.json

@@ -1 +1 @@
-[{"time":0.0,"velocity":0.0,"acceleration":2.7,"pose":{"translation":{"x":3.2,"y":-2.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.3042903097250923,"velocity":0.8215838362577492,"acceleration":2.7,"pose":{"translation":{"x":3.325,"y":-2.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.43033148291193524,"velocity":1.161895003862225,"acceleration":-2.7,"pose":{"translation":{"x":3.45,"y":-2.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.5563726560987782,"velocity":0.8215838362577492,"acceleration":-2.7,"pose":{"translation":{"x":3.575,"y":-2.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.8606629658238705,"velocity":0.0,"acceleration":-2.7,"pose":{"translation":{"x":3.7,"y":-2.3},"rotation":{"radians":0.0}},"curvature":0.0}]
+[{"time":0.0,"velocity":0.0,"acceleration":2.6000000000000005,"pose":{"translation":{"x":3.2,"y":-2.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.3100868364730211,"velocity":0.806225774829855,"acceleration":2.6000000000000005,"pose":{"translation":{"x":3.325,"y":-2.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.43852900965351455,"velocity":1.140175425099138,"acceleration":-2.6000000000000005,"pose":{"translation":{"x":3.45,"y":-2.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.566971182834008,"velocity":0.806225774829855,"acceleration":-2.6000000000000005,"pose":{"translation":{"x":3.575,"y":-2.3},"rotation":{"radians":0.0}},"curvature":0.0},{"time":0.8770580193070292,"velocity":0.0,"acceleration":-2.6000000000000005,"pose":{"translation":{"x":3.7,"y":-2.3},"rotation":{"radians":0.0}},"curvature":0.0}]

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

@@ -46,6 +46,7 @@ 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.BarrelStart;
 import frc4388.robot.commands.auto.Wait;
 import frc4388.robot.commands.climber.DisengageRachet;
 import frc4388.robot.commands.climber.RunClimberWithTriggers;
@@ -131,6 +132,8 @@ public class RobotContainer {
 
     Barrel m_barrel;
 
+    BarrelStart m_barrelStart;
+
     BarrelMany m_barrelMany;
 
     SequentialTesting m_sequentialTesting;
@@ -318,6 +321,12 @@ public class RobotContainer {
 
         m_barrel = new Barrel(m_robotDrive, buildPaths(barrel));
 
+        String[] barrelStart = new String[]{
+            "BarrelStart"
+        };
+
+        m_barrelStart = new BarrelStart(m_robotDrive, buildPaths(barrelStart));
+        
         String[] barrelMany = new String[]{
             "BarrelManyWaypoints"
         };
@@ -384,7 +393,8 @@ public class RobotContainer {
             //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_barrel.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0));
+            //return m_barrel.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0));
+            return m_barrelStart.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0));
             //return m_barrelMany.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0));
             //return m_sequentialTesting.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0));
 

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

@@ -0,0 +1,28 @@
+/*----------------------------------------------------------------------------*/
+/* 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 BarrelStart extends SequentialCommandGroup {
+  /**
+   * Creates a new BarrelStart.
+   */
+  public BarrelStart(Drive drive, RamseteCommand[] paths) {
+    // Add your commands in the super() call, e.g.
+    // super(new FooCommand(), new BarCommand());
+    addCommands(
+      paths[0]
+    );
+  }
+}