From a90f7908c5c901ecca0907f4cf66a2624c6c1d77 Mon Sep 17 00:00:00 2001
From: ILIK3T0C0D3 <142553597+ILIK3T0C0D3@users.noreply.github.com>
Date: Sat, 15 Feb 2025 13:49:24 -0800
Subject: [PATCH] Cross The Line Middle

Simple Middle Auto that crosses the start line.
---
 .../autos/Middle Cross The Line.auto          | 19 +++++++
 .../paths/Middle Start Cross The Line.path    | 54 +++++++++++++++++++
 src/main/java/frc/robot/RobotContainer.java   |  2 +-
 3 files changed, 74 insertions(+), 1 deletion(-)
 create mode 100644 src/main/deploy/pathplanner/autos/Middle Cross The Line.auto
 create mode 100644 src/main/deploy/pathplanner/paths/Middle Start Cross The Line.path

diff --git a/src/main/deploy/pathplanner/autos/Middle Cross The Line.auto b/src/main/deploy/pathplanner/autos/Middle Cross The Line.auto
new file mode 100644
index 0000000..f2d1c9d
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/Middle Cross The Line.auto	
@@ -0,0 +1,19 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Middle Start Cross The Line"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/Middle Start Cross The Line.path b/src/main/deploy/pathplanner/paths/Middle Start Cross The Line.path
new file mode 100644
index 0000000..2d84a0e
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/Middle Start Cross The Line.path	
@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 7.152226027397259,
+        "y": 4.0926155821917805
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 6.902226027397259,
+        "y": 4.0926155821917805
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 6.86673801369863,
+        "y": 4.0926155821917805
+      },
+      "prevControl": {
+        "x": 7.11673801369863,
+        "y": 4.0926155821917805
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 180.0
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 180.0
+  },
+  "useDefaultConstraints": true
+}
\ No newline at end of file
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index d01b225..8d346a7 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -88,7 +88,7 @@ public RobotContainer() {
       );
 
       m_chooser.setDefaultOption("Empty Auto", new PathPlannerAuto("Empty Auto"));
-      m_chooser.addOption("Some Auto", new PathPlannerAuto("Some Auto"));
+      m_chooser.addOption("Middle Cross The Line", new PathPlannerAuto("Middle Cross The Line"));
       SmartDashboard.putData(m_chooser);
   }