From 78c57c9411d290a6b778bac8cf7d9938d472aca1 Mon Sep 17 00:00:00 2001
From: PGgit08 <peter.mty8@gmail.com>
Date: Sat, 16 Mar 2024 08:44:16 -0400
Subject: [PATCH] added pose reset to autons

---
 .../deploy/pathplanner/autos/Pose Reset.auto   | 18 ++++++++++++++++++
 .../deploy/pathplanner/paths/get mid c.path    |  2 +-
 src/main/java/frc/robot/RobotContainer.java    |  1 +
 3 files changed, 20 insertions(+), 1 deletion(-)
 create mode 100644 src/main/deploy/pathplanner/autos/Pose Reset.auto

diff --git a/src/main/deploy/pathplanner/autos/Pose Reset.auto b/src/main/deploy/pathplanner/autos/Pose Reset.auto
new file mode 100644
index 0000000..e53eefc
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/Pose Reset.auto	
@@ -0,0 +1,18 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 0.8093860062363999,
+      "y": 7.074963437676163
+    },
+    "rotation": 179.3839400916008
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": []
+    }
+  },
+  "folder": null,
+  "choreoAuto": false
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/get mid c.path b/src/main/deploy/pathplanner/paths/get mid c.path
index 696ffc8..d1e665b 100644
--- a/src/main/deploy/pathplanner/paths/get mid c.path	
+++ b/src/main/deploy/pathplanner/paths/get mid c.path	
@@ -32,7 +32,7 @@
   "constraintZones": [
     {
       "name": "New Constraints Zone",
-      "minWaypointRelativePos": 0.7,
+      "minWaypointRelativePos": 0.9,
       "maxWaypointRelativePos": 1.0,
       "constraints": {
         "maxVelocity": 1.0,
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index cd46110..1a0a506 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -124,6 +124,7 @@ public RobotContainer() {
     UtilFuncs.ShootFast(_swerveSubsystem::speakerDistance);
 
     _autonChooser = AutoBuilder.buildAutoChooser();
+
     SmartDashboard.putData("AUTON CHOOSER", _autonChooser);
   }