commit 0e20378628dc55e1c0a2ebc05ab7c5ccdef19600
author milind-u <milind.upadhyay@gmail.com> Sat Oct 30 21:57:20 2021 -0700
committer Milind Upadhyay <milind.upadhyay@gmail.com> Mon Nov 08 09:39:05 2021 -0700
tree a78a55f993c6985aae19e0b58a7584b9a9ac9ca8
parent 39955c2e0e7e03d3ca3387b576d3917a7d289df2

Improve infinite recharge auto

New autonomous described in y2020/actors/splines/README.md

We are getting mostly 3's now!  The robot starts centered on the right
side of the target, and with the back bumper on the line.

Signed-off-by: milind-u <milind.upadhyay@gmail.com>
Signed-off-by: Austin Schuh <austin.linux@gmail.com>
Change-Id: Ib4dbe71551c344eeabc1912c908962a5cf8daa88

y2020/actors/auto_splines.h

diff --git a/y2020/actors/auto_splines.h b/y2020/actors/auto_splines.h
index bdaef75..2dd99b7 100644
--- a/y2020/actors/auto_splines.h
+++ b/y2020/actors/auto_splines.h
@@ -25,6 +25,8 @@
             "splines/target_aligned_1.json")),
         target_aligned_2_(aos::JsonFileToFlatbuffer<frc971::MultiSpline>(
             "splines/target_aligned_2.json")),
+        target_aligned_3_(aos::JsonFileToFlatbuffer<frc971::MultiSpline>(
+            "splines/target_aligned_3.json")),
         target_offset_1_(aos::JsonFileToFlatbuffer<frc971::MultiSpline>(
             "splines/target_offset_1.json")),
         target_offset_2_(aos::JsonFileToFlatbuffer<frc971::MultiSpline>(
@@ -53,6 +55,10 @@
       aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
           *builder,
       aos::Alliance alliance);
+  flatbuffers::Offset<frc971::MultiSpline> TargetAligned3(
+      aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
+          *builder,
+      aos::Alliance alliance);
   flatbuffers::Offset<frc971::MultiSpline> TargetOffset1(
       aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
           *builder) {
@@ -70,6 +76,7 @@
   aos::FlatbufferDetachedBuffer<frc971::MultiSpline> test_spline_;
   aos::FlatbufferDetachedBuffer<frc971::MultiSpline> target_aligned_1_;
   aos::FlatbufferDetachedBuffer<frc971::MultiSpline> target_aligned_2_;
+  aos::FlatbufferDetachedBuffer<frc971::MultiSpline> target_aligned_3_;
   aos::FlatbufferDetachedBuffer<frc971::MultiSpline> target_offset_1_;
   aos::FlatbufferDetachedBuffer<frc971::MultiSpline> target_offset_2_;
 };