Safe close auton done

include/auton.h

@@ -1 +1 @@
-#define AUTON 0
+#define AUTON 2

src/main.cpp

@@ -217,17 +217,12 @@ void skills(void *args) {
 }
 
 void safeCloseAWP(void *args) {
-	imuOrientation.setRotation(135_deg);
-
-	intakeExtensionStateController->sb(deploySequence);
-
-	move(10_in, defaultProfileConstraints, 0.0);
+	imuOrientation.setRotation(-135_deg);
 
-	intakeExtensionStateController->ud();
-	intakeStateController->sb(intakeIntaking);
 	pathFollower->setMotionProfile(safe_close_awp);
 	drivetrainStateController->sb(pathFollower)->wait();
-	pros::Task::delay(15000);
+
+	turnTo(185_deg, 15_s, closest, -4000);
 }
 
 void closeRushMid(void *args) {

static/safe_close_awp.json

@@ -1 +1,102 @@
-{"segments":[{"inverted":true,"stopEnd":false,"paths":[{"x":3.147,"y":0.398},{"x":3.319,"y":0.54},{"x":3.375,"y":0.684},{"x":3.266,"y":0.864}],"constraints":{"velocity":35,"accel":120}}],"commands":[{"t":0.0,"name":"backLeftWingOut"},{"t":0.4,"name":"backLeftWingIn"}]}
+{
+  "startSpeed": 0.0,
+  "endSpeed": 0.0,
+  "segments": [
+    {
+      "inverted": false,
+      "stopEnd": false,
+      "paths": [
+        {
+          "x": 3.242,
+          "y": 0.569
+        },
+        {
+          "x": 3.149,
+          "y": 0.452
+        },
+        {
+          "x": 2.952,
+          "y": 0.35
+        },
+        {
+          "x": 2.763,
+          "y": 0.322
+        }
+      ],
+      "constraints": {
+        "velocity": 30,
+        "accel": 120
+      }
+    },
+    {
+      "inverted": true,
+      "stopEnd": false,
+      "paths": [
+        {
+          "x": 2.76,
+          "y": 0.325
+        },
+        {
+          "x": 3.293,
+          "y": 0.399
+        },
+        {
+          "x": 3.344,
+          "y": 0.778
+        },
+        {
+          "x": 3.321,
+          "y": 1.081
+        }
+      ],
+      "constraints": {
+        "velocity": 30,
+        "accel": 120
+      }
+    },
+    {
+      "inverted": true,
+      "stopEnd": false,
+      "paths": [
+        {
+          "x": 3.319,
+          "y": 1.082
+        },
+        {
+          "x": 3.307,
+          "y": 1.32
+        },
+        {
+          "x": 3.277,
+          "y": 1.535
+        },
+        {
+          "x": 3.272,
+          "y": 1.704
+        }
+      ],
+      "constraints": {
+        "velocity": 30,
+        "accel": 120
+      }
+    }
+  ],
+  "commands": [
+    {
+      "t": 0.0,
+      "name": "outtake"
+    },
+    {
+      "t": 0.86,
+      "name": "backLeftWingOut"
+    },
+    {
+      "t": 1.3,
+      "name": "backLeftWingIn"
+    },
+    {
+      "t": 2.7,
+      "name": "backRightWingOut"
+    }
+  ]
+}