From 3785d56aeb74d817c2ec6dae85eccfa1caa8526c Mon Sep 17 00:00:00 2001
From: OakvilleDynamicsProgrammer
 <159196208+OakvilleDynamicsProgrammer@users.noreply.github.com>
Date: Sat, 5 Oct 2024 11:36:37 -0500
Subject: [PATCH] GRC COMP AFTER QUAL MATCHES - GS

---
 .../deploy/pathplanner/autos/D-1-AMP.auto     |  2 +-
 .../pathplanner/paths/D Leave Zone.path       |  8 +--
 .../paths/D Source Leave Zone.path            | 16 +++---
 .../deploy/pathplanner/paths/D-1-AMP.path     | 32 +++++++++---
 .../deploy/pathplanner/paths/D-Amp-2.path     | 52 +++++++++++++++++++
 5 files changed, 89 insertions(+), 21 deletions(-)
 create mode 100644 src/main/deploy/pathplanner/paths/D-Amp-2.path

diff --git a/src/main/deploy/pathplanner/autos/D-1-AMP.auto b/src/main/deploy/pathplanner/autos/D-1-AMP.auto
index 46af32b..f7932dc 100644
--- a/src/main/deploy/pathplanner/autos/D-1-AMP.auto
+++ b/src/main/deploy/pathplanner/autos/D-1-AMP.auto
@@ -14,7 +14,7 @@
         {
           "type": "path",
           "data": {
-            "pathName": "D-1-AMP"
+            "pathName": "D-Amp-2"
           }
         },
         {
diff --git a/src/main/deploy/pathplanner/paths/D Leave Zone.path b/src/main/deploy/pathplanner/paths/D Leave Zone.path
index b0cb208..c235ed9 100644
--- a/src/main/deploy/pathplanner/paths/D Leave Zone.path	
+++ b/src/main/deploy/pathplanner/paths/D Leave Zone.path	
@@ -16,12 +16,12 @@
     },
     {
       "anchor": {
-        "x": 6.3791720379055485,
-        "y": 7.0
+        "x": 2.901389921808818,
+        "y": 6.306595917812039
       },
       "prevControl": {
-        "x": 4.960858660945727,
-        "y": 6.889464428895746
+        "x": 1.4830765448489962,
+        "y": 6.196060346707785
       },
       "nextControl": null,
       "isLocked": false,
diff --git a/src/main/deploy/pathplanner/paths/D Source Leave Zone.path b/src/main/deploy/pathplanner/paths/D Source Leave Zone.path
index ed36772..238686e 100644
--- a/src/main/deploy/pathplanner/paths/D Source Leave Zone.path	
+++ b/src/main/deploy/pathplanner/paths/D Source Leave Zone.path	
@@ -3,25 +3,25 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 1.9169897697665406,
-        "y": 1.792603115355015
+        "x": 0.9520185680935184,
+        "y": 1.5983136116624606
       },
       "prevControl": null,
       "nextControl": {
-        "x": 2.916989769766542,
-        "y": 1.792603115355015
+        "x": 1.9520185680935191,
+        "y": 1.5983136116624606
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 6.644701026285374,
-        "y": 1.3004030393338768
+        "x": 3.756263738056059,
+        "y": 0.81467928010249
       },
       "prevControl": {
-        "x": 5.644701026285374,
-        "y": 1.3004030393338768
+        "x": 2.756263738056059,
+        "y": 0.81467928010249
       },
       "nextControl": null,
       "isLocked": false,
diff --git a/src/main/deploy/pathplanner/paths/D-1-AMP.path b/src/main/deploy/pathplanner/paths/D-1-AMP.path
index 8f0b58d..3b714ca 100644
--- a/src/main/deploy/pathplanner/paths/D-1-AMP.path
+++ b/src/main/deploy/pathplanner/paths/D-1-AMP.path
@@ -3,25 +3,41 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 2.0,
-        "y": 7.0
+        "x": 1.2823107243708616,
+        "y": 6.41669330323782
       },
       "prevControl": null,
       "nextControl": {
-        "x": 3.0,
-        "y": 7.0
+        "x": 2.2823107243708582,
+        "y": 6.41669330323782
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 1.8068923843407594,
-        "y": 7.783196145875455
+        "x": 1.8457502850792704,
+        "y": 7.51766715749563
       },
       "prevControl": {
-        "x": 0.8068923843407594,
-        "y": 7.783196145875455
+        "x": 0.9579957536303425,
+        "y": 7.977984321950629
+      },
+      "nextControl": {
+        "x": 2.5451924983724674,
+        "y": 7.154993417269528
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 1.8457502850792704,
+        "y": 7.51766715749563
+      },
+      "prevControl": {
+        "x": 2.34575028507927,
+        "y": 7.51766715749563
       },
       "nextControl": null,
       "isLocked": false,
diff --git a/src/main/deploy/pathplanner/paths/D-Amp-2.path b/src/main/deploy/pathplanner/paths/D-Amp-2.path
new file mode 100644
index 0000000..93847fb
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/D-Amp-2.path
@@ -0,0 +1,52 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 1.2110712396835914,
+        "y": 6.37783540249931
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 2.2110712396835854,
+        "y": 6.37783540249931
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 1.8327976514997666,
+        "y": 7.5759540086033965
+      },
+      "prevControl": {
+        "x": 1.8263213347100147,
+        "y": 8.04872513425528
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": -90.0,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": null,
+  "previewStartingState": {
+    "rotation": 0,
+    "velocity": 0
+  },
+  "useDefaultConstraints": true
+}
\ No newline at end of file