Create new path starting at selected waypoint

Author: lhvy

src/main/java/edu/wpi/first/pathweaver/MainController.java

@@ -14,6 +14,7 @@
 import javafx.beans.value.ObservableValue;
 import javafx.fxml.FXML;
 import javafx.fxml.FXMLLoader;
+import javafx.geometry.Point2D;
 import javafx.scene.Scene;
 import javafx.scene.control.*;
 import javafx.scene.input.KeyCode;
@@ -335,9 +336,16 @@ private void duplicate() {
   private void createPath() {
     String name = MainIOUtil.getValidFileName(pathDirectory, "Unnamed", ".path");
     MainIOUtil.addChild(pathRoot, name);
-    Path newPath = new WpilibPath(name);
-    // The default path defaults to FEET
-    newPath.convertUnit(PathUnits.FOOT, ProjectPreferences.getInstance().getValues().getLengthUnit());
+    Path newPath;
+    Waypoint currentWaypoint = CurrentSelections.getCurWaypoint();
+    if (currentWaypoint == null) { // have nothing selected
+      newPath = new WpilibPath(name);
+      // The default path defaults to FEET
+      newPath.convertUnit(PathUnits.FOOT, ProjectPreferences.getInstance().getValues().getLengthUnit());
+    } else {
+      newPath = new WpilibPath(new Point2D(currentWaypoint.getX(), currentWaypoint.getY()), new Point2D(8, -4),
+          new Point2D(currentWaypoint.getTangentX(), currentWaypoint.getTangentY()), new Point2D(0, 1), name);
+    }
     SaveManager.getInstance().saveChange(newPath);
   }
 

src/main/java/edu/wpi/first/pathweaver/path/wpilib/WpilibPath.java

@@ -169,7 +169,7 @@ public WpilibPath(String name) {
      * @param endTangent    The ending tangent vector of new path
      * @param name          The string name to assign path, also used for naming exported files
      */
-    private WpilibPath(Point2D startPos, Point2D endPos, Point2D startTangent, Point2D endTangent, String name) {
+    public WpilibPath(Point2D startPos, Point2D endPos, Point2D startTangent, Point2D endTangent, String name) {
         this(List.of(new Waypoint(startPos, startTangent, true, false), new Waypoint(endPos, endTangent, true, false)), name);
     }