auto align setpoints

src/main/deploy/pathplanner/paths/New Path.path

@@ -16,12 +16,12 @@
     },
     {
       "anchor": {
-        "x": 3.4559075342465753,
-        "y": 3.123458904109589
+        "x": 12.272,
+        "y": 2.975
       },
       "prevControl": {
-        "x": 2.4559075342465753,
-        "y": 3.123458904109589
+        "x": 10.940715672291898,
+        "y": 2.975
       },
       "nextControl": null,
       "isLocked": false,
@@ -30,7 +30,18 @@
   ],
   "rotationTargets": [],
   "constraintZones": [],
-  "pointTowardsZones": [],
+  "pointTowardsZones": [
+    {
+      "fieldPosition": {
+        "x": 0.4,
+        "y": 5.5
+      },
+      "rotationOffset": 0.0,
+      "minWaypointRelativePos": 0.15,
+      "maxWaypointRelativePos": 0.4,
+      "name": "Point Towards Zone"
+    }
+  ],
   "eventMarkers": [],
   "globalConstraints": {
     "maxVelocity": 4.0,
@@ -42,7 +53,7 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": 57.80426606528677
+    "rotation": 59.99999999999999
   },
   "reversed": false,
   "folder": null,

src/main/deploy/pathplanner/settings.json

@@ -9,7 +9,7 @@
   "defaultMaxAngVel": 540.0,
   "defaultMaxAngAccel": 720.0,
   "defaultNominalVoltage": 12.0,
-  "robotMass": 48.35,
+  "robotMass": 53.0,
   "robotMOI": 6.883,
   "robotTrackwidth": 0.546,
   "driveWheelRadius": 0.038,