Added safety point to help avoid bad starting positions

thedropbears · Mar 15, 2024 · ec2665f · ec2665f
1 parent 94a2f6c
commit ec2665f
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Showing 2 changed files with 13 additions and 2 deletions.
diff --git a/autonomous/autonomous.py b/autonomous/autonomous.py
@@ -176,7 +176,12 @@ class Centre5Centre4(AutoBase):
     def __init__(self) -> None:
         note_paths = [
             Path(
-                [PathPositions.avoid_stage_S, NotePositions.Centre5], face_target=False
+                [
+                    PathPositions.avoid_starting_faults,
+                    PathPositions.avoid_stage_S,
+                    NotePositions.Centre5,
+                ],
+                face_target=False,
             ),
             Path(
                 [
@@ -213,7 +218,12 @@ class Centre5Centre4Centre3(AutoBase):
     def __init__(self) -> None:
         note_paths = [
             Path(
-                [PathPositions.avoid_stage_S, NotePositions.Centre5], face_target=False
+                [
+                    PathPositions.avoid_starting_faults,
+                    PathPositions.avoid_stage_S,
+                    NotePositions.Centre5,
+                ],
+                face_target=False,
             ),
             Path(
                 [

diff --git a/utilities/position.py b/utilities/position.py
@@ -93,3 +93,4 @@ class PathPositions:
     stage_transition_S_entry = Translation2d(13.0, 2.5)
     avoid_wall = Translation2d(10.80, 6.55)
     avoid_stage_S = Translation2d(10.66, 1.40)
+    avoid_starting_faults = Translation2d(14.429, 2.946)