commit ef687157a8a2d5bc3c119b2e13c58d8b6a577f73
author Filip Kujawa <filip.j.kujawa@gmail.com> Tue Nov 14 22:11:32 2023 -0800
committer Filip Kujawa <filip.j.kujawa@gmail.com> Wed Nov 15 22:28:54 2023 -0800
tree 861adb93a43d0bad5f54d038fd9c94a4b5db7410
parent 271c9974a87c2877511115b48bd83ebc23eff819

Add 3rd Robot Auto

- 3 Cube (High, mid, low) cable side  tested at MTTD
- 1 Cube middle with mobility over charge untested
- 1 High Cube tested at MTTD

Signed-off-by: Filip Kujawa <filip.j.kujawa@gmail.com>
Change-Id: Ia4db6bea9559fe77f5fca6e866179ef866f37715

y2023_bot3/autonomous/auto_splines.h

diff --git a/y2023_bot3/autonomous/auto_splines.h b/y2023_bot3/autonomous/auto_splines.h
index 0c9d92f..daa39b7 100644
--- a/y2023_bot3/autonomous/auto_splines.h
+++ b/y2023_bot3/autonomous/auto_splines.h
@@ -1,5 +1,5 @@
-#ifndef Y2023_AUTONOMOUS_AUTO_SPLINES_H_
-#define Y2023_AUTONOMOUS_AUTO_SPLINES_H_
+#ifndef Y2023_BOT3_AUTONOMOUS_AUTO_SPLINES_H_
+#define Y2023_BOT3_AUTONOMOUS_AUTO_SPLINES_H_
 
 #include "aos/events/event_loop.h"
 #include "aos/flatbuffer_merge.h"
@@ -20,7 +20,17 @@
  public:
   AutonomousSplines()
       : test_spline_(aos::JsonFileToFlatbuffer<frc971::MultiSpline>(
-            "splines/test_spline.json")) {}
+            "splines/test_spline.json")),
+        spline_1_(aos::JsonFileToFlatbuffer<frc971::MultiSpline>(
+            "splines/charged_up.0.json")),
+        spline_2_(aos::JsonFileToFlatbuffer<frc971::MultiSpline>(
+            "splines/charged_up.1.json")),
+        spline_3_(aos::JsonFileToFlatbuffer<frc971::MultiSpline>(
+            "splines/charged_up.2.json")),
+        spline_4_(aos::JsonFileToFlatbuffer<frc971::MultiSpline>(
+            "splines/charged_up.3.json")),
+        spline_middle_1_(aos::JsonFileToFlatbuffer<frc971::MultiSpline>(
+            "splines/charged_up_middle.0.json")) {}
   static flatbuffers::Offset<frc971::MultiSpline> BasicSSpline(
       aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
           *builder,
@@ -34,9 +44,34 @@
       aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
           *builder,
       aos::Alliance alliance);
+  flatbuffers::Offset<frc971::MultiSpline> Spline1(
+      aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
+          *builder,
+      aos::Alliance alliance);
+  flatbuffers::Offset<frc971::MultiSpline> Spline2(
+      aos::Sender<frc971::control_loops::drivetrain::SplineGoal>::Builder
+          *builder,
+      aos::Alliance alliance);
+  flatbuffers::Offset<frc971::MultiSpline> Spline3(
+      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> SplineMiddle1(
+      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_middle_1_;
 };
 
 }  // namespace autonomous