From 620c2c3e6ebfb2b9e742b9cd48ae7f2e66e32538 Mon Sep 17 00:00:00 2001
From: pep233 <yibai14651@gmail.com>
Date: Wed, 27 Mar 2024 17:36:31 -0700
Subject: [PATCH] changed heading for shooting

---
 .../autos/Start 1 1st Ring Yes Auto.auto      |  4 +-
 .../autos/Start 1 3rd Pickup Yes Auto.auto    | 60 ++++++++++++-------
 .../pathplanner/paths/3 start shoot.path      |  2 +-
 3 files changed, 40 insertions(+), 26 deletions(-)

diff --git a/src/main/deploy/pathplanner/autos/Start 1 1st Ring Yes Auto.auto b/src/main/deploy/pathplanner/autos/Start 1 1st Ring Yes Auto.auto
index a145176..2850a21 100644
--- a/src/main/deploy/pathplanner/autos/Start 1 1st Ring Yes Auto.auto	
+++ b/src/main/deploy/pathplanner/autos/Start 1 1st Ring Yes Auto.auto	
@@ -24,7 +24,7 @@
               {
                 "type": "path",
                 "data": {
-                  "pathName": "3 start shoot"
+                  "pathName": "ring#3-speaker"
                 }
               },
               {
@@ -73,7 +73,7 @@
               {
                 "type": "path",
                 "data": {
-                  "pathName": "Ring 1 shoot"
+                  "pathName": "ring#1-speaker"
                 }
               },
               {
diff --git a/src/main/deploy/pathplanner/autos/Start 1 3rd Pickup Yes Auto.auto b/src/main/deploy/pathplanner/autos/Start 1 3rd Pickup Yes Auto.auto
index 1b58b5e..1cf465f 100644
--- a/src/main/deploy/pathplanner/autos/Start 1 3rd Pickup Yes Auto.auto	
+++ b/src/main/deploy/pathplanner/autos/Start 1 3rd Pickup Yes Auto.auto	
@@ -24,21 +24,28 @@
           }
         },
         {
-          "type": "path",
+          "type": "parallel",
           "data": {
-            "pathName": "3 start shoot"
-          }
-        },
-        {
-          "type": "named",
-          "data": {
-            "name": "aim"
+            "commands": [
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "3 start shoot"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "aim"
+                }
+              }
+            ]
           }
         },
         {
           "type": "path",
           "data": {
-            "pathName": "Ring 3 Shoot"
+            "pathName": "ring#3-speaker"
           }
         },
         {
@@ -54,21 +61,28 @@
           }
         },
         {
-          "type": "named",
-          "data": {
-            "name": "stopShooter"
-          }
-        },
-        {
-          "type": "named",
-          "data": {
-            "name": "stopIntake"
-          }
-        },
-        {
-          "type": "path",
+          "type": "parallel",
           "data": {
-            "pathName": "Ring 8 Pickup"
+            "commands": [
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "Ring 8 Pickup"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "stopShooter"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "stopIntake"
+                }
+              }
+            ]
           }
         },
         {
diff --git a/src/main/deploy/pathplanner/paths/3 start shoot.path b/src/main/deploy/pathplanner/paths/3 start shoot.path
index 3d0d4b6..c6415df 100644
--- a/src/main/deploy/pathplanner/paths/3 start shoot.path	
+++ b/src/main/deploy/pathplanner/paths/3 start shoot.path	
@@ -39,7 +39,7 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": -178.9222593434949,
+    "rotation": -0.32039333898793143,
     "rotateFast": false
   },
   "reversed": false,