Add a three piece auto which takes center notes
Signed-off-by: Maxwell Henderson <mxwhenderson@gmail.com>
Change-Id: Ib8f263e81bbf89e0d4fcf8d4248f63f1e41e7e39
diff --git a/y2024/autonomous/auto_splines.cc b/y2024/autonomous/auto_splines.cc
index 66b1b28..9e52648 100644
--- a/y2024/autonomous/auto_splines.cc
+++ b/y2024/autonomous/auto_splines.cc
@@ -180,4 +180,47 @@
alliance);
}
+flatbuffers::Offset<frc971::MultiSpline>
+AutonomousSplines::TwoPieceStealSpline1(
+ aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
+ *builder,
+ aos::Alliance alliance) {
+ return FixSpline(builder,
+ aos::CopyFlatBuffer<frc971::MultiSpline>(
+ two_piece_steal_spline_1_, builder->fbb()),
+ alliance);
+}
+
+flatbuffers::Offset<frc971::MultiSpline>
+AutonomousSplines::TwoPieceStealSpline2(
+ aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
+ *builder,
+ aos::Alliance alliance) {
+ return FixSpline(builder,
+ aos::CopyFlatBuffer<frc971::MultiSpline>(
+ two_piece_steal_spline_2_, builder->fbb()),
+ alliance);
+}
+flatbuffers::Offset<frc971::MultiSpline>
+AutonomousSplines::TwoPieceStealSpline3(
+ aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
+ *builder,
+ aos::Alliance alliance) {
+ return FixSpline(builder,
+ aos::CopyFlatBuffer<frc971::MultiSpline>(
+ two_piece_steal_spline_3_, builder->fbb()),
+ alliance);
+}
+
+flatbuffers::Offset<frc971::MultiSpline>
+AutonomousSplines::TwoPieceStealSpline4(
+ aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
+ *builder,
+ aos::Alliance alliance) {
+ return FixSpline(builder,
+ aos::CopyFlatBuffer<frc971::MultiSpline>(
+ two_piece_steal_spline_4_, builder->fbb()),
+ alliance);
+}
+
} // namespace y2024::autonomous