Auto path refinement

autonomous/multi_algae_auto.py

@@ -7,12 +7,12 @@ class CentreAuto(AutoBase):
     def __init__(self):
         super().__init__(
             [
-                "StartToAlgaeGH",
-                "AlgaeGHToShoot",
-                "ShootToAlgaeIJ",
-                "AlgaeIJToShoot",
-                "ShootToAlgaeEF",
-                "AlgaeEFToShoot",
+                "StartToAlgaeGH",  # Seems good
+                "AlgaeGHToShoot",  # Slight wiggle, rotates while moving but seems not major issue
+                "ShootToAlgaeIJ",  # Goes outwards and takes a wide path while spinning
+                "AlgaeIJToShoot",  # Spins right at the end of its path and moves fastest there
+                "ShootToAlgaeEF",  # Slow long path, spins whole way, could perhaps start slow and spin fast, then speed up, slow down for the sharp corner
+                "AlgaeEFToShoot",  # Funny backward spin at beginning, could perhaps spin the whole way while nearly stationary at end of sharp bend, then move to translational goal
             ]
         )
 
@@ -59,3 +59,35 @@ def __init__(self):
                 "AlgaeKLToShootKL",
             ]
         )
+
+
+class RefinedQuickCentre(AutoBase):
+    MODE_NAME = "FAST REFINED Quick Centre GH>IJ>KL"
+
+    def __init__(self):
+        super().__init__(
+            [
+                "StartToAlgaeGH",
+                "RefinedAlgaeGHToShootGH",
+                "RefinedShootGHToAlgaeIJ",
+                "RefinedAlgaeIJToShootIJ",
+                "RefinedShootIJToAlgaeKL",
+                "RefinedAlgaeKLToShootKL",
+            ]
+        )
+
+
+class RefinedQuickCentreSlow(AutoBase):
+    MODE_NAME = "SLOW(ed) REFINED Quick Centre GH>IJ>KL"
+
+    def __init__(self):
+        super().__init__(
+            [
+                "StartToAlgaeGH",
+                "SlowedAlgaeGHToShootGH",
+                "SlowedShootGHToAlgaeIJ",
+                "RefinedAlgaeIJToShootIJ",
+                "RefinedShootIJToAlgaeKL",
+                "RefinedAlgaeKLToShootKL",
+            ]
+        )