From 60f7f59a7038bd504dc53a119298ad6bc0f72940 Mon Sep 17 00:00:00 2001
From: Michael Kennedy <34204085+mlists@users.noreply.github.com>
Date: Thu, 14 Mar 2024 14:02:50 +1100
Subject: [PATCH] Reorder and reroute our southern autonomous paths

---
 autonomous/autonomous.py | 40 +++++++++++++++++++---------------------
 1 file changed, 19 insertions(+), 21 deletions(-)

diff --git a/autonomous/autonomous.py b/autonomous/autonomous.py
index f24b7a03..746e6abf 100644
--- a/autonomous/autonomous.py
+++ b/autonomous/autonomous.py
@@ -169,33 +169,31 @@ def __init__(self) -> None:
         super().__init__(note_paths, shoot_paths, start_pose)
 
 
-class Centre3Centre5(AutoBase):
+class Centre5Centre4(AutoBase):
     # Stay in the south of the field to avoid interfering with allies using the close notes
-    MODE_NAME = "3 notes: centre 3, centre 5"
+    MODE_NAME = "3 notes: centre 5, centre 4"
 
     def __init__(self) -> None:
         note_paths = [
+            Path([NotePositions.Centre5], face_target=False),
             Path(
                 [
-                    PathPositions.stage_transition_S_entry,
-                    PathPositions.stage_transition_S,
-                    NotePositions.Centre3,
+                    PathPositions.avoid_stage_S,
+                    NotePositions.Centre4,
                 ],
                 face_target=False,
             ),
-            Path([NotePositions.Centre5], face_target=False),
         ]
 
         shoot_paths = [
+            Path([ShootingPositions.source_side], face_target=True),
             Path(
                 [
-                    PathPositions.stage_transition_S,
-                    PathPositions.stage_transition_S_entry,
+                    PathPositions.avoid_stage_S,
                     ShootingPositions.source_side,
                 ],
                 face_target=True,
             ),
-            Path([ShootingPositions.source_side], face_target=True),
         ]
         sim_start_pos = Translation2d(15.4, 2.94)
         rotation = rotation_to_red_speaker(sim_start_pos)
@@ -203,47 +201,47 @@ def __init__(self) -> None:
         super().__init__(note_paths, shoot_paths, sim_start_pose)
 
 
-class Centre3Centre4Centre5(AutoBase):
+class Centre5Centre4Centre3(AutoBase):
     # Stay in the south of the field to avoid interfering with allies using the close notes
-    MODE_NAME = "4 notes: centre 3, centre 4, centre 5"
+    MODE_NAME = "4 notes: centre 5, centre 4, centre 3"
 
     def __init__(self) -> None:
         note_paths = [
+            Path([NotePositions.Centre5], face_target=False),
             Path(
                 [
-                    PathPositions.stage_transition_S_entry,
-                    PathPositions.stage_transition_S,
-                    NotePositions.Centre3,
+                    PathPositions.avoid_stage_S,
+                    NotePositions.Centre4,
                 ],
                 face_target=False,
             ),
             Path(
                 [
-                    PathPositions.avoid_stage_S,
-                    NotePositions.Centre4,
+                    PathPositions.stage_transition_S_entry,
+                    PathPositions.stage_transition_S,
+                    NotePositions.Centre3,
                 ],
                 face_target=False,
             ),
-            Path([NotePositions.Centre5], face_target=False),
         ]
 
         shoot_paths = [
+            Path([ShootingPositions.source_side], face_target=True),
             Path(
                 [
-                    PathPositions.stage_transition_S,
-                    PathPositions.stage_transition_S_entry,
+                    PathPositions.avoid_stage_S,
                     ShootingPositions.source_side,
                 ],
                 face_target=True,
             ),
             Path(
                 [
-                    PathPositions.avoid_stage_S,
+                    PathPositions.stage_transition_S,
+                    PathPositions.stage_transition_S_entry,
                     ShootingPositions.source_side,
                 ],
                 face_target=True,
             ),
-            Path([ShootingPositions.source_side], face_target=True),
         ]
         sim_start_pos = Translation2d(15.4, 2.94)
         rotation = rotation_to_red_speaker(sim_start_pos)