Merge branch 'master' of https://github.com/fairviewrobotics/2020-robot-code

Author: edwardwawrzynek

PathWeaver/PathWeaver/Groups/Main

@@ -0,0 +1,4 @@
+X,Y,Tangent X,Tangent Y,Fixed Theta,Name
+0.785134818779641,-2.4491953082746205,3.048,0.0,true,
+3.9256439357052786,-0.9691852646659866,3.012461901832824,0.9257114703175879,false,
+10.0502383438093,-0.7285332250548269,5.871909766512307,0.012032601980558,true,

PathWeaver/PathWeaver/Paths/AutoRemainder

@@ -0,0 +1,8 @@
+{
+  "lengthUnit": "Meter",
+  "maxVelocity": 3.0,
+  "maxAcceleration": 3.0,
+  "wheelBase": 0.558,
+  "gameName": "Infinite Recharge",
+  "outputDir": ""
+}

PathWeaver/PathWeaver/pathweaver.json

@@ -36,6 +36,7 @@ class Constants {
         val kShooterSpeed = 1.0 * kShooterDir
         val kShooterReverseSpeed = -0.3 * kShooterDir
         val kGateSpeed = 1.0 * kGateDir
+        val kGateRSpeed = -0.5 * kGateDir
         val kGateLoadSpeed = 0.5 * kGateDir
         val kIntakeSpeed = 1.0 * kIntakeDir
         val kIntake2Speed = 0.85

src/main/kotlin/frc/robot/Constants.kt

@@ -254,6 +254,13 @@ class RobotContainer {
     }
 
     fun getAutonomousCommand(): Command {
+        if (gate.isBallTriggered()) {
+            return pathPlanningCommand("paths/") // update
+        } else{
+            return pathPlanningCommand("paths/")
+        }
+        
+
         // Return the selected command
         return m_autoCommandChooser.selected
     }

src/main/kotlin/frc/robot/RobotContainer.kt

@@ -49,7 +49,7 @@ class CompositeShoot(val intakeSubsystem: IntakeSubsystem, val indexerSubsystem:
                 gateSubsystem.setSpeed(0.0)
             }
         } else {
-            gateSubsystem.setSpeed(0.0)
+            gateSubsystem.setSpeed(Constants.kGateRSpeed)
         }
     }