From 62b6c163169ab5d26b1857c3ca848b727987e980 Mon Sep 17 00:00:00 2001
From: robotics1 <troy@scds.org>
Date: Wed, 30 Oct 2024 19:09:08 -0700
Subject: [PATCH] Aditya's sample code - validated to work with 3 specimen plus
 parking NO ERRORS!!!

---
 .../ftc/teamcode/BlueBasketAuto.java          | 27 +++++--------------
 1 file changed, 6 insertions(+), 21 deletions(-)

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/BlueBasketAuto.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/BlueBasketAuto.java
index e03d466..2e01711 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/BlueBasketAuto.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/BlueBasketAuto.java
@@ -80,14 +80,14 @@ public class BlueBasketAuto extends OpMode {
                         // Line 4
                         new BezierLine(
                                 new Point(28.000, 121.500, Point.CARTESIAN),
-                                new Point(18.000, 130.179, Point.CARTESIAN)
+                                new Point(15.750, 126.321, Point.CARTESIAN)
                         )
                 )
                 .setConstantHeadingInterpolation(Math.toRadians(0))
                 .addPath(
                         // Line 5
                         new BezierCurve(
-                                new Point(18.000, 130.179, Point.CARTESIAN),
+                                new Point(15.750, 126.321, Point.CARTESIAN),
                                 new Point(59.000, 102.500, Point.CARTESIAN),
                                 new Point(68.700, 130.500, Point.CARTESIAN)
                         )
@@ -97,14 +97,14 @@ public class BlueBasketAuto extends OpMode {
                         // Line 6
                         new BezierLine(
                                 new Point(68.700, 130.500, Point.CARTESIAN),
-                                new Point(18.000, 130.339, Point.CARTESIAN)
+                                new Point(22.661, 130.821, Point.CARTESIAN)
                         )
                 )
                 .setConstantHeadingInterpolation(Math.toRadians(0))
                 .addPath(
                         // Line 7
                         new BezierCurve(
-                                new Point(18.000, 130.339, Point.CARTESIAN),
+                                new Point(22.661, 130.821, Point.CARTESIAN),
                                 new Point(49.018, 121.179, Point.CARTESIAN),
                                 new Point(63.804, 135.321, Point.CARTESIAN)
                         )
@@ -114,29 +114,14 @@ public class BlueBasketAuto extends OpMode {
                         // Line 8
                         new BezierLine(
                                 new Point(63.804, 135.321, Point.CARTESIAN),
-                                new Point(53.036, 135.161, Point.CARTESIAN)
+                                new Point(26.679, 135.964, Point.CARTESIAN)
                         )
                 )
                 .setConstantHeadingInterpolation(Math.toRadians(0))
                 .addPath(
                         // Line 9
                         new BezierLine(
-                                new Point(53.036, 135.161, Point.CARTESIAN),
-                                new Point(18.643, 135.000, Point.CARTESIAN)
-                        )
-                )
-                .setConstantHeadingInterpolation(Math.toRadians(0))
-                .addPath(
-                        // Line 10
-                        new BezierLine(
-                                new Point(18.643, 135.000, Point.CARTESIAN),
-                                new Point(72.300, 97.400, Point.CARTESIAN)
-                        )
-                )
-                .addPath(
-                        // Line 9
-                        new BezierLine(
-                                new Point(18.643, 135.000, Point.CARTESIAN),
+                                new Point(26.679, 135.964, Point.CARTESIAN),
                                 new Point(83.250, 95.464, Point.CARTESIAN)
                         )
                 )