Choreo and Autonomous

1. Paths: 

   1. You can create multiple paths in the same choreo files

   2. It is a best practice to make your paths pieces of an auto

   3. All your paths should be either right or left, they can be mirrored in the code

   4. The code handles alliance swaps

2. This button generates the most optimal path with your given waypoints and constraints:

   1. You MUST press this if you need code

   2. Ctrl+G (Windows) or Cmd+G (Mac)

3. Variables:

   1. These can be values for constraints, or waypoints

   2. This allows for consistency across paths

4. Constraints Menu:

   1. Allows you to enable and disable constraints

   2. Allows editing of the constraints ranges and values

5. Waypoints:

   1. Pose Waypoints: Position + Heading

   2. Translation Waypoints: Position

   3. Empty Waypoints: Position, the path generation treats these as a 'suggestion'

   4. Paths can be split at waypoints

      1. Splits the path at an index that can be referenced in the code (first index is zero)

      2. Helpful in code for things such as terrain traversal, or if the robot needs to take an action mid path

6. Constraints:

   1. Can be used to limit velocity, acceleration, and where the robot can go

   2. Can be applied on a specific range of waypoints, or the entire path

   3. Many applications

7. Event Markers:

   1. Signifies an event in the code such as:

      1. Intake start

      2. Shoot

   2. They do not actually change anything

8. Gradient:

   1. By default, it signifies velocity

   2. It can be changed to show multiple things

Allows for you to customize the robot for more accurate paths and code generation

1. Create a choreo folder in the deploy folder of the code

2. Click the three lines in the top left

3. Save project as

4. Save in the choreo folder

5. These must be committed, just like normal code

Once paths are in the code, the automatically update on YOUR computer when you click the generate button (they need to be re-committed)

This auto (illegal as of champs):

1. Shoots preload

2. Delays

3. Crosses the bump

4. Runs the intake while the robot traverses the neutral zone

5. Follows choreo path right infront of opponents hub to steal their balls

6. Shoots a cycle

7. Goes to the depot

8. Shoots depot balls

1. Create a file with the auto name

2. Instantiate all the paths as AutoTrajectory objects

3. Create a start position

4. Create a prepRoutine

5. Reset the pose

6. Use commands to combine robot actions with the paths

It's pretty simple for now, just follow the formula above

Once the autos are in the selector, RobotContainer.java gets the selected auto and sends it to Robot.java