From 1fb60f02856bb7f4257f7a94c91410c02eebd2ca Mon Sep 17 00:00:00 2001
From: samuel desharnais <samdes330@gmail.com>
Date: Fri, 23 Feb 2024 13:58:38 -0500
Subject: [PATCH]

---
 src/main/deploy/pathplanner/autos/B.H.3.auto | 12 +++++++++---
 src/main/deploy/pathplanner/paths/3.1.path   |  4 ++--
 src/main/deploy/pathplanner/paths/3.2.path   |  2 +-
 3 files changed, 12 insertions(+), 6 deletions(-)

diff --git a/src/main/deploy/pathplanner/autos/B.H.3.auto b/src/main/deploy/pathplanner/autos/B.H.3.auto
index 1cd0347..3b22cd1 100644
--- a/src/main/deploy/pathplanner/autos/B.H.3.auto
+++ b/src/main/deploy/pathplanner/autos/B.H.3.auto
@@ -31,7 +31,7 @@
           }
         },
         {
-          "type": "sequential",
+          "type": "parallel",
           "data": {
             "commands": [
               {
@@ -47,7 +47,7 @@
                     {
                       "type": "wait",
                       "data": {
-                        "waitTime": 3.0
+                        "waitTime": 5.0
                       }
                     },
                     {
@@ -63,9 +63,15 @@
           }
         },
         {
-          "type": "deadline",
+          "type": "sequential",
           "data": {
             "commands": [
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "3.2"
+                }
+              },
               {
                 "type": "wait",
                 "data": {
diff --git a/src/main/deploy/pathplanner/paths/3.1.path b/src/main/deploy/pathplanner/paths/3.1.path
index 9a6ccc4..b97ee72 100644
--- a/src/main/deploy/pathplanner/paths/3.1.path
+++ b/src/main/deploy/pathplanner/paths/3.1.path
@@ -47,7 +47,7 @@
   "rotationTargets": [
     {
       "waypointRelativePos": 1,
-      "rotationDegrees": 88.14313308607203,
+      "rotationDegrees": 63.796091869811974,
       "rotateFast": false
     }
   ],
@@ -61,7 +61,7 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": 1.0428148069731844,
+    "rotation": -20.5806705905413,
     "rotateFast": false
   },
   "reversed": false,
diff --git a/src/main/deploy/pathplanner/paths/3.2.path b/src/main/deploy/pathplanner/paths/3.2.path
index 422f580..fc41907 100644
--- a/src/main/deploy/pathplanner/paths/3.2.path
+++ b/src/main/deploy/pathplanner/paths/3.2.path
@@ -39,7 +39,7 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": -120.9841650982781,
+    "rotation": 149.12800064001866,
     "rotateFast": false
   },
   "reversed": false,