commit 09e8da9069a1e0de4d72ec054ac2cca4dca568ef
author Henry Speiser <henry@speiser.net> Mon Mar 14 20:58:45 2022 -0700
committer Austin Schuh <austin.linux@gmail.com> Wed Mar 16 19:38:53 2022 -0700
tree 053363fe87a530e12499a0500c0f01c22f764688
parent eb9ec5d4c676c079b6bd76390bff9772cf287825

5 ball auto for SFR

1. Shoot the first ball at the start, and drive in a half circle
   like motion picking up the 2 balls in the top right of the field,
   returning to around the same shot distance in the starting zone
   and shoot the 2 balls we have
2. Drive straight back to the human player station and pick up the
   ball that is laying there and pick one up from the human player
3. Drive back to the same position it was in just before and shoot

The drive time of this auto is around 10.6 seconds.
Keep in mind that number is without the time to shoot.

Change-Id: I2eef6b9a881951756cee771125f064024547cc18
Signed-off-by: Henry Speiser <henry@speiser.net>

y2022/actors/auto_splines.h

diff --git a/y2022/actors/auto_splines.h b/y2022/actors/auto_splines.h
index 4d532f4..546710c 100644
--- a/y2022/actors/auto_splines.h
+++ b/y2022/actors/auto_splines.h
@@ -22,15 +22,11 @@
       : test_spline_(aos::JsonFileToFlatbuffer<frc971::MultiSpline>(
             "splines/test_spline.json")),
         spline_1_(aos::JsonFileToFlatbuffer<frc971::MultiSpline>(
-            "splines/spline_1.json")),
+            "splines/spline_5_ball_1.json")),
         spline_2_(aos::JsonFileToFlatbuffer<frc971::MultiSpline>(
-            "splines/spline_2.json")),
+            "splines/spline_5_ball_2.json")),
         spline_3_(aos::JsonFileToFlatbuffer<frc971::MultiSpline>(
-            "splines/spline_3.json")),
-        spline_4_(aos::JsonFileToFlatbuffer<frc971::MultiSpline>(
-            "splines/spline_4.json")),
-        spline_5_(aos::JsonFileToFlatbuffer<frc971::MultiSpline>(
-            "splines/spline_5.json")) {}
+            "splines/spline_5_ball_3.json")){}
 
   static flatbuffers::Offset<frc971::MultiSpline> BasicSSpline(
       aos::Sender<frc971::control_loops::drivetrain::Goal>::Builder *builder);
@@ -54,22 +50,12 @@
       aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
           *builder,
       aos::Alliance alliance);
-  flatbuffers::Offset<frc971::MultiSpline> Spline4(
-      aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
-          *builder,
-      aos::Alliance alliance);
-  flatbuffers::Offset<frc971::MultiSpline> Spline5(
-      aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
-          *builder,
-      aos::Alliance alliance);
 
  private:
   aos::FlatbufferDetachedBuffer<frc971::MultiSpline> test_spline_;
   aos::FlatbufferDetachedBuffer<frc971::MultiSpline> spline_1_;
   aos::FlatbufferDetachedBuffer<frc971::MultiSpline> spline_2_;
   aos::FlatbufferDetachedBuffer<frc971::MultiSpline> spline_3_;
-  aos::FlatbufferDetachedBuffer<frc971::MultiSpline> spline_4_;
-  aos::FlatbufferDetachedBuffer<frc971::MultiSpline> spline_5_;
 };
 
 }  // namespace actors