From 73c0f137add61b5c2b087352c7c7b8a005b26b7e Mon Sep 17 00:00:00 2001
From: robotics1 <troy@scds.org>
Date: Mon, 27 Jan 2025 15:53:21 -0800
Subject: [PATCH] Working three samples in bucket auto with touching low bar
 park

---
 .../ftc/teamcode/cometbots/paths/CometBotDriveV2.java      | 2 +-
 .../ftc/teamcode/cometbots/paths/HighBasketPath6.java      | 7 ++++---
 2 files changed, 5 insertions(+), 4 deletions(-)

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/paths/CometBotDriveV2.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/paths/CometBotDriveV2.java
index 10285a1..afed453 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/paths/CometBotDriveV2.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/paths/CometBotDriveV2.java
@@ -118,6 +118,7 @@ public class CometBotDriveV2 extends OpMode {
                 moveToPark();
                 break;
             case 99:
+                wrist.toTravelPosition();
                 break;
             default:
                 telemetry.addLine("default");
@@ -133,7 +134,6 @@ public class CometBotDriveV2 extends OpMode {
     public void moveToPark() {
         if (runtime.seconds() > 26) {
             path6.moveToBasketPath6(follower);
-            wrist.toTravelPosition();
             state = 99;
         }
     }
diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/paths/HighBasketPath6.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/paths/HighBasketPath6.java
index f342229..b61c773 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/paths/HighBasketPath6.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/cometbots/paths/HighBasketPath6.java
@@ -22,9 +22,10 @@ public class HighBasketPath6 {
         builder
                 .addPath(
                         // Line 1
-                        new BezierLine(
-                                new Point(27.000, 128.500, Point.CARTESIAN),
-                                new Point(104.00, 100.00, Point.CARTESIAN)
+                        new BezierCurve(
+                                new Point(27.000, 128.000, Point.CARTESIAN),
+                                new Point(80.000, 130.000, Point.CARTESIAN),
+                                new Point(100.000, 118.000, Point.CARTESIAN)
                         )
                 )
                 .setLinearHeadingInterpolation(Math.toRadians(0), Math.toRadians(270));