prep for goto avoiding stuff

src/main/kotlin/frc/lib/FieldPositions.kt

@@ -5,6 +5,8 @@ import java.util.function.Supplier
 
 //for clarity, blue is the pose of the field element on the blue side, and red is the same but on the red side
 data class FieldLocation(val red: Pose2d, val blue: Pose2d)
+data class Obstacle(val location: FieldLocation, val radiusMeters: Double)
+
 object FieldPositions {
     val speakerCenter = FieldLocation(Pose2d(15.256, 5.547868, 0.0.rotation2dFromDeg()),
             Pose2d(1.6096, 5.547868, 180.0.rotation2dFromDeg()))
@@ -34,7 +36,9 @@ object FieldPositions {
         Pose2d(16.185134, 0.883666, 120.0.rotation2dFromDeg())
     )
 
+    //obstacles do need to be iterated through, but they do not need to have names
+    val obstacles:Array<Obstacle> = arrayOf(
+        //list obstacles here...
+    )
 
-    //todo: source, all of the rings
-    //val source = FieldLocation
 }

src/main/kotlin/frc/robot/RobotContainer.kt

@@ -65,6 +65,12 @@ class RobotContainer {
             else
                 goal.blue
 
+        //if theres a obstacle in the way:
+        //find a point that fixes that
+        //return 2 goto(), one to midpoint and one to endpoint
+        //this will be hard to do because start position is determined at runtime
+        //everything else should be easy enough
+
         return SwerveAutoDrive(
             to,
             Pose2d(0.1, 0.1, 10.0.rotation2dFromDeg()),