commit b5f118385e3fe17c27cf2ae7430c81a83a155f2f
author James Kuszmaul <jabukuszmaul+collab@gmail.com> Fri Mar 15 22:30:59 2024 -0700
committer James Kuszmaul <jabukuszmaul+collab@gmail.com> Sat Mar 16 12:07:06 2024 -0700
tree 8492565d0e7719b1113398d674b22e7928cd5f44
parent 0338ec3db82b1f07de1e630974cbe59aefbbf1a9

Add SFR 4/5-piece auto

This brings in the 5 piece auto as it existed at the end of SFR.

Note: This squashes multiple commits worth of work.

Change-Id: Ia0bca787647cba9620be40d27d8d1e424d567b03
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>

y2024/autonomous/auto_splines.cc

diff --git a/y2024/autonomous/auto_splines.cc b/y2024/autonomous/auto_splines.cc
index 5d2c10f..66b1b28 100644
--- a/y2024/autonomous/auto_splines.cc
+++ b/y2024/autonomous/auto_splines.cc
@@ -18,7 +18,7 @@
   // For 2024: The field is mirrored across the center line, and is not
   // rotationally symmetric. As such, we only flip the X coordinates when
   // changing side of the field.
-  if (alliance == aos::Alliance::kBlue) {
+  if (alliance == aos::Alliance::kRed) {
     for (size_t ii = 0; ii < spline_x->size(); ++ii) {
       spline_x->Mutate(ii, -spline_x->Get(ii));
     }
@@ -121,4 +121,63 @@
   return FixSpline(builder, multispline_builder.Finish(), alliance);
 }
 
+flatbuffers::Offset<frc971::MultiSpline>
+AutonomousSplines::MobilityAndShootSpline(
+    aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
+        *builder,
+    aos::Alliance alliance) {
+  return FixSpline(builder,
+                   aos::CopyFlatBuffer<frc971::MultiSpline>(
+                       mobility_and_shoot_spline_, builder->fbb()),
+                   alliance);
+}
+
+flatbuffers::Offset<frc971::MultiSpline> AutonomousSplines::FourPieceSpline1(
+    aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
+        *builder,
+    aos::Alliance alliance) {
+  return FixSpline(builder,
+                   aos::CopyFlatBuffer<frc971::MultiSpline>(
+                       four_piece_spline_1_, builder->fbb()),
+                   alliance);
+}
+flatbuffers::Offset<frc971::MultiSpline> AutonomousSplines::FourPieceSpline2(
+    aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
+        *builder,
+    aos::Alliance alliance) {
+  return FixSpline(builder,
+                   aos::CopyFlatBuffer<frc971::MultiSpline>(
+                       four_piece_spline_2_, builder->fbb()),
+                   alliance);
+}
+flatbuffers::Offset<frc971::MultiSpline> AutonomousSplines::FourPieceSpline3(
+    aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
+        *builder,
+    aos::Alliance alliance) {
+  return FixSpline(builder,
+                   aos::CopyFlatBuffer<frc971::MultiSpline>(
+                       four_piece_spline_3_, builder->fbb()),
+                   alliance);
+}
+
+flatbuffers::Offset<frc971::MultiSpline> AutonomousSplines::FourPieceSpline4(
+    aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
+        *builder,
+    aos::Alliance alliance) {
+  return FixSpline(builder,
+                   aos::CopyFlatBuffer<frc971::MultiSpline>(
+                       four_piece_spline_4_, builder->fbb()),
+                   alliance);
+}
+
+flatbuffers::Offset<frc971::MultiSpline> AutonomousSplines::FourPieceSpline5(
+    aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
+        *builder,
+    aos::Alliance alliance) {
+  return FixSpline(builder,
+                   aos::CopyFlatBuffer<frc971::MultiSpline>(
+                       four_piece_spline_5_, builder->fbb()),
+                   alliance);
+}
+
 }  // namespace y2024::autonomous