Discuss Refactor Autos Not to Use Autoalign

[Advay17]

Autos are inherently not supposed to be calling something like auto align during an auto routine, as autos should be able to do the same thing statically rather than dynamically. Plus, autos being written entirely in pathplanner allow for a higher level of control, wheras there is a lot less of it in pure auto align.

[Advay17]

Actually, converting this to a discussion, given that some teams do have auto align be integrated into auto(namely 422), so it may be worth considering not changing

[Advay17]

Of course, the reason why they do this is because they have a dynamic auto, making it a lot less useful for them having static paths.

[VMFortress]

Just curious, do you know what is dynamic about their auto? Is it just finding the coral on the ground?

[Advay17]

Essentially yes. IDK if dynamic is the correct term for it(that's just what I call it), but during their auto they automatically path towards either the reef or game pieces on the field, rather than having a static path that does not use game piece data in this regard.

[VMFortress]

It seems like it would be advantageous to not be switching modes during auto. You can really see the delay when it switches from planning a path to auto-align. However that is fixed will be up to you all though.