Merge pull request #2 from FRC-4509-MechBulls/state-controller

Basic state controller, seemingly working controls

.gitignore

@@ -178,3 +178,7 @@ logs/
 ctre_sim/
 
 .run/
+
+simgui-ds.json
+
+simgui.json

src/main/deploy/pathplanner/paths/speaker-align-right.path → src/main/deploy/pathplanner/paths/amp-align.path

@@ -3,25 +3,25 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 7.3362253742077455,
-        "y": 4.204399110554713
+        "x": 1.823242000682939,
+        "y": 6.593871363056098
       },
       "prevControl": null,
       "nextControl": {
-        "x": 6.7105151754189265,
-        "y": 4.195330846804151
+        "x": 1.808556318359875,
+        "y": 6.740728186286739
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 6.338716361645861,
-        "y": 4.204399110554713
+        "x": 1.823242000682939,
+        "y": 7.621869125670586
       },
       "prevControl": {
-        "x": 6.647037329164988,
-        "y": 4.204399110554713
+        "x": 1.823242000682939,
+        "y": 6.8582136448712525
       },
       "nextControl": null,
       "isLocked": false,
@@ -38,14 +38,14 @@
     "maxAngularAcceleration": 720.0
   },
   "goalEndState": {
-    "velocity": 0,
-    "rotation": 179.64632684075355,
-    "rotateFast": true
+    "velocity": 0.0,
+    "rotation": 90.0,
+    "rotateFast": false
   },
   "reversed": false,
   "folder": null,
   "previewStartingState": {
-    "rotation": -179.22577983507193,
+    "rotation": 90.0,
     "velocity": 3.0
   },
   "useDefaultConstraints": true