From fed445b1712d5f1cbf508a6538ebe1fe6f39f7f4 Mon Sep 17 00:00:00 2001
From: carlos <carlos@riv.as>
Date: Thu, 23 Jan 2025 16:28:30 -0800
Subject: [PATCH] Fixed floor position issue

---
 .../ftc/teamcode/PreLoadedBlueBasketAuto.java | 78 ++-----------------
 1 file changed, 5 insertions(+), 73 deletions(-)

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/PreLoadedBlueBasketAuto.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/PreLoadedBlueBasketAuto.java
index 9a15b57..8934107 100644
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/PreLoadedBlueBasketAuto.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/PreLoadedBlueBasketAuto.java
@@ -13,7 +13,7 @@ import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.BezierLine;
 import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.PathChain;
 import org.firstinspires.ftc.teamcode.pedroPathing.pathGeneration.Point;
 
-@Autonomous(name = "Pre Loaded Blue Basket Auto", group = "Competition")
+@Autonomous(name = "Specimen Test", group = "Competition")
 public class PreLoadedBlueBasketAuto extends OpMode {
     private Telemetry telemetryA;
 
@@ -21,7 +21,7 @@ public class PreLoadedBlueBasketAuto extends OpMode {
 
     private PathChain path;
 
-    private final Pose startPose = new Pose(7.875, 89.357);
+    private final Pose startPose = new Pose(8, 55);
 
     @Override
     public void init() {
@@ -35,79 +35,11 @@ public class PreLoadedBlueBasketAuto extends OpMode {
                 .addPath(
                         // Line 1
                         new BezierLine(
-                                new Point(8.036, 89.196, Point.CARTESIAN),
-                                new Point(10.125, 126.804, Point.CARTESIAN)
+                                new Point(8, 55, Point.CARTESIAN),
+                                new Point(24, 21, Point.CARTESIAN)
                         )
                 )
-                .setConstantHeadingInterpolation(Math.toRadians(0))
-                .addPath(
-                        // Line 2
-                        new BezierCurve(
-                                new Point(10.125, 126.804, Point.CARTESIAN),
-                                new Point(37.607, 90.000, Point.CARTESIAN),
-                                new Point(62.357, 119.893, Point.CARTESIAN)
-                        )
-                )
-                .setConstantHeadingInterpolation(Math.toRadians(0))
-                .addPath(
-                        // Line 3
-                        new BezierCurve(
-                                new Point(62.357, 119.893, Point.CARTESIAN),
-                                new Point(33.750, 112.500, Point.CARTESIAN),
-                                new Point(15.107, 130.661, Point.CARTESIAN)
-                        )
-                )
-                .setConstantHeadingInterpolation(Math.toRadians(0))
-                .addPath(
-                        // Line 4
-                        new BezierCurve(
-                                new Point(15.107, 130.661, Point.CARTESIAN),
-                                new Point(58.821, 103.018, Point.CARTESIAN),
-                                new Point(59.625, 126.964, Point.CARTESIAN)
-                        )
-                )
-                .setConstantHeadingInterpolation(Math.toRadians(0))
-                .addPath(
-                        // Line 5
-                        new BezierLine(
-                                new Point(59.625, 126.964, Point.CARTESIAN),
-                                new Point(15.107, 130.339, Point.CARTESIAN)
-                        )
-                )
-                .setConstantHeadingInterpolation(Math.toRadians(0))
-                .addPath(
-                        // Line 6
-                        new BezierLine(
-                                new Point(15.107, 130.339, Point.CARTESIAN),
-                                new Point(59.625, 126.964, Point.CARTESIAN)
-                        )
-                )
-                .setConstantHeadingInterpolation(Math.toRadians(0))
-                .addPath(
-                        // Line 7
-                        new BezierLine(
-                                new Point(59.625, 126.964, Point.CARTESIAN),
-                                new Point(57.857, 133.071, Point.CARTESIAN)
-                        )
-                )
-                .setConstantHeadingInterpolation(Math.toRadians(0))
-                .addPath(
-                        // Line 8
-                        new BezierLine(
-                                new Point(57.857, 133.071, Point.CARTESIAN),
-                                new Point(18.964, 134.679, Point.CARTESIAN)
-                        )
-                )
-                .setConstantHeadingInterpolation(Math.toRadians(0))
-                .addPath(
-                        // Line 9
-                        new BezierCurve(
-                                new Point(18.964, 134.679, Point.CARTESIAN),
-                                new Point(84.536, 131.786, Point.CARTESIAN),
-                                new Point(80.036, 96.429, Point.CARTESIAN)
-                        )
-                )
-                .setLinearHeadingInterpolation(Math.toRadians(0), Math.toRadians(270)).build();
+                .setLinearHeadingInterpolation(Math.toRadians(0), Math.toRadians(-180)).build();
         follower.followPath(path);
 
         telemetryA = new MultipleTelemetry(this.telemetry, FtcDashboard.getInstance().getTelemetry());