<commit_before>package main.java.org.usfirst.frc.team4215.robot;


import com.ctre.CANTalon;
import jaci.pathfinder.Pathfinder;
import jaci.pathfinder.Trajectory;
import jaci.pathfinder.Waypoint;
import jaci.pathfinder.modifiers.TankModifier;


/**
 * This class defines each autonomous path and configures it.
 * IMPORTANT: Make sure that when autonomous is initialized both configuration and trajectory are set to null, or else the config and trajectory will not be initialized!
 * 
 * @author <NAME>
 *
 */
public class Pathmaker {
	
	private double dt = .01;
	private double MAX_VELOCITY;
	private double MAX_ACCELERATION;
	private double MAX_JERK;
	private Waypoint[] auto;
	private Trajectory.Config configuration;
	private Trajectory trajectory;
	private TankModifier modifier;
	
	
	/**
	 * This method must be used at the beginning of Autonomous for the Pathmaker code to work.
	 * @author <NAME>
	 */
	public void pathmInit(){
		Trajectory.Config configuration = null;
		Trajectory trajectory = null;
		TankModifier modifier = null;
	}
	/**
	 * This method creates the configuration based on certain parameters. 
	 * If you wish to get the configuration use the getConfig method instead.
	 * @author <NAME>
	 * @param dt
	 * @param MAX_VELOCITY
	 * @param MAX_ACCELERATION
	 * @param MAX_JERK
	 * @return config(Don't use)
	 */
	public Trajectory.Config config(double dt, double MAX_VELOCITY, double MAX_ACCELERATION, double MAX_JERK){
        Trajectory.Config config = new Trajectory.Config(Trajectory.FitMethod.HERMITE_QUINTIC,
        		Trajectory.Config.SAMPLES_HIGH, dt, MAX_VELOCITY, MAX_ACCELERATION, MAX_JERK);
        return config;

	}
	
	Waypoint[] auto1 = new Waypoint[]{
			//new Waypoint(x, y, Pathfinder.d2r(theta))
	};
	
	Waypoint[] auto2 = new Waypoint[]{
			//new Waypoint(x, y, Pathfinder.d2r(theta))
	};
	
	Waypoint[] auto3 = new Waypoint[]{
			//new Waypoint(x, y, Pathfinder.d2r(theta))
	};
	
	/**
	 * This method gets the trajectory if it has already been generated or generates it if necessary.
	 * @author <NAME>
	 * @param auto
	 * @param config

	 * @return Trajectory
	 */
	public Trajectory getTrajectory(Waypoint[] auto, Trajectory.Config config){
		if (trajectory == null){
			trajectory = Pathfinder.generate(auto, config);
			return trajectory;
		} else {
			return trajectory;
		}
	}
	<commit_msg>Really Weru dropped the FBomb<commit_after>package main.java.org.usfirst.frc.team4215.robot;


import com.ctre.CANTalon;
import jaci.pathfinder.Pathfinder;
import jaci.pathfinder.Trajectory;
import jaci.pathfinder.Waypoint;
import jaci.pathfinder.modifiers.TankModifier;


/**
 * This class defines each autonomous path and configures it.
 * IMPORTANT: Make sure that when autonomous is initialized both configuration and trajectory are set to null, or else the config and trajectory will not be initialized!
 * 
 * @author <NAME>
 *
 */
public class Pathmaker {
	
	private double dt = .01;
	private double MAX_VELOCITY;
	private double MAX_ACCELERATION;
	private double MAX_JERK;
	private Waypoint[] auto;
	private Trajectory.Config configuration;
	private Trajectory trajectory;
	private TankModifier modifier;
	
	
	/**
	 * This method must be used at the beginning of Autonomous for the Pathmaker code to work.
	 * @author <NAME>
	 */
	public void pathmInit(){
		Trajectory.Config configuration = null;
		Trajectory trajectory = null;
		TankModifier modifier = null;
	}
	/**
	 * This method creates the configuration based on certain parameters. 
	 * If you wish to get the configuration use the getConfig method instead.
	 * @author <NAME>
	 * @param dt
	 * @param MAX_VELOCITY
	 * @param MAX_ACCELERATION
	 * @param MAX_JERK
	 * @return config(Don't use)
	 */
	public Trajectory.Config config(double dt, double MAX_VELOCITY, double MAX_ACCELERATION, double MAX_JERK){
        Trajectory.Config config = new Trajectory.Config(Trajectory.FitMethod.HERMITE_QUINTIC,
        		Trajectory.Config.SAMPLES_HIGH, dt, MAX_VELOCITY, MAX_ACCELERATION, MAX_JERK);
        return config;

	}
	
	//x and y correspond to meters
	Waypoint[] auto1 = new Waypoint[]{
			//new Waypoint(x, y, Pathfinder.d2r(theta))
	};
	
	Waypoint[] auto2 = new Waypoint[]{
			//new Waypoint(x, y, Pathfinder.d2r(theta))
	};
	
	Waypoint[] auto3 = new Waypoint[]{
			//new Waypoint(x, y, Pathfinder.d2r(theta))
	};
	
	/**
	 * This method gets the trajectory if it has already been generated or generates it if necessary.
	 * @author <NAME>
	 * @param auto
	 * @param config

	 * @return Trajectory
	 */
	public Trajectory getTrajectory(Waypoint[] auto, Trajectory.Config config){
		if (trajectory == null){
			trajectory = Pathfinder.generate(auto, config);
			return trajectory;
		} else {
			return trajectory;
		}
	}
	
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