Add a feature to make the path continuous

README.md

@@ -3,19 +3,25 @@
 (WIP) An auto creation tool for Ridgebotics 2024
 
 ### Install
+
 ```shell
 git clone https://github.com/astatin3/autoPlanner
 cd autoPlanner
 pip install -r requirements.txt
 python3 ./main.py
 ```
+
 ### Usage:
 
 ##### "Path Editor" Tab:
+
 - Click to add nodes
 - Click on specific points to manipulate paths and nodes
+- Double click on nodes to delete them
+- Double click on control points to make path, and robot movment continuous, while keeping the node clicked the at the same location
 
 ##### "Button editor" Tab:
+
 - Click on specific frames on the timeline to change to that position
 - When selected on a frame, the robot's position in that time should show up.
 - Drag positional keyframes around to speed up and speed down the robot's travel between nodes
@@ -23,8 +29,10 @@ python3 ./main.py
 - In button mode select buttons on the driver and operator controllers.
 
 ##### "Export" Tab:
+
 - Click export, and save to a file
 
 ### Known Bugs:
+
 - Because the variables don't get transferred over yet, you must click on the button editor tab before exporting.
 - The driver controller's movement stick is rotated by 90 degrees (Maybe)

src/pathEditor.py

@@ -101,6 +101,26 @@ def points2rad(center, pos):
   diffY = center[1] - pos[1]
   return -math.atan2(diffY, diffX) - (math.pi/2)
 
+
+
+def smoothPoints(index: int):
+  for i in range(index+1, len(curveEditPoints)):
+    controlPointPos = curveEditPoints[i-1]
+    nodePos = nodes[i]
+    curveEditPoints[i] = (
+      2*nodePos[0] - controlPointPos[0],
+      2*nodePos[1] - controlPointPos[1]
+    )
+  for i in range(0, index):
+    controlPointPos = curveEditPoints[index-i]
+    nodePos = nodes[index-i]
+    curveEditPoints[index-i-1] = (
+      2*nodePos[0] - controlPointPos[0],
+      2*nodePos[1] - controlPointPos[1]
+    )
+
+
+
 class pathEditor:
   name = "Path Editor"
   
@@ -149,6 +169,9 @@ class pathEditor:
     clickType, clickIndex = getElemAt(pos)
     if clickType == -1:
       pass
+    elif clickType == 1:
+      smoothPoints(clickIndex)
+      refresh()
     elif clickType == 0:
         if clickIndex > 0:
           if clickIndex < len(nodes)-1: