Create autos in the new repository for 2024.

[Jacob1010-h]

https://github.com/orgs/Patribots4738/projects/3/views/1?pane=issue&itemId=49752273

[GalexY727]

We are currently waiting for Choreo to update because when it does it will offer event markers that we can use to command subsystems. For now, we can use the raw path to get a moving robot, since we don't have any subsystems that we want to command anyways

[Jacob1010-h]

This issue can be moved to the next sprint

[PatribotsProgramming]

We are currently waiting for Choreo to update I would like to clarify that we don't need to wait for Choreo to update necessarily, we only have to wait to add event markers. Paths should be done by this week because they require no coding knowledge and only need to meet predetermined acceptance criteria.

With that being said... AC:

• All autos should be modular. Their paths should connect and make room for being able to change the next path based at the end of the first part. Example: If you go to get C5 (center line 5, the bottom one), you will either get the piece or not. If you get the piece, come back and shoot it. If not, then go directly to C4.

• Important:

  • In this video, 1678 (the Citrus Circuits) did a sweeping motion to pick up cube in order to prevent turning & successfully placed the piece. On their second piece however, they turned to pick up a cone & on their way to place their piece they hit the barrier. This is why turning in auto isn't a great idea and should generally be avoided unless we are turning slowly and have access to seeing tags to help us double check our position. Here is an example of Jerome before and after learning this idea.
• Be sure that the swerve modules don't hit the piece before the intake does because we don't want to be running over the pieces and not picking them up.
• Use transition/empty waypoints to prepare for event markers, so that we can command things like the intake to start before the robot gets to the desired piece. SC5 is a good example of this behavior.

A subset of the bigger picture has already been created. This includes some paths from c5 to c2, but not the other way around. There should be every possible auto path that connects the pieces in the center (within reason-- there is no reason to go from c1 to c3 and skip c2... okay now that I have typed that out maybe there is a reason to do that if the enemy robot takes c2 and you know they will because of scouting.)

There may be more to add but I'm out of time :o

[Jacob1010-h]

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