Debug autos

src/main/deploy/pathplanner/autos/Stupid auto.auto

@@ -0,0 +1,31 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Stupid auto 1"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Stupid auto 2"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Stupid auto 3"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}

src/main/deploy/pathplanner/paths/Bottom Blue Cage to Reef.path

@@ -42,13 +42,13 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": -122.12499844038754
+    "rotation": 60.35013649242443
   },
   "reversed": false,
   "folder": null,
   "idealStartingState": {
     "velocity": 0,
-    "rotation": 178.97696981133208
+    "rotation": 0.0
   },
   "useDefaultConstraints": true
 }

src/main/deploy/pathplanner/paths/Bottom Feed to Reef.path

@@ -42,13 +42,13 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": 59.82647997035557
+    "rotation": -121.27770286686648
   },
   "reversed": false,
   "folder": null,
   "idealStartingState": {
     "velocity": 0,
-    "rotation": 54.32359177813805
+    "rotation": -126.57303097851931
   },
   "useDefaultConstraints": true
 }

src/main/deploy/pathplanner/paths/Bottom Red Cage to Reef.path

@@ -42,13 +42,13 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": 121.75948008481289
+    "rotation": -57.4259428654274
   },
   "reversed": false,
   "folder": null,
   "idealStartingState": {
     "velocity": 0,
-    "rotation": 179.30130561701642
+    "rotation": -0.9548412538721401
   },
   "useDefaultConstraints": true
 }

src/main/deploy/pathplanner/paths/Bottom Reef to Feed.path

@@ -42,13 +42,13 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": 54.0394828033551
+    "rotation": -123.50343698241421
   },
   "reversed": false,
   "folder": null,
   "idealStartingState": {
     "velocity": 0,
-    "rotation": 119.16761337957772
+    "rotation": -59.036243467926624
   },
   "useDefaultConstraints": true
 }

src/main/deploy/pathplanner/paths/Center Barge to Reef.path

@@ -42,13 +42,13 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": 179.65844947344297
+    "rotation": 0.5456575934157175
   },
   "reversed": false,
   "folder": null,
   "idealStartingState": {
     "velocity": 0,
-    "rotation": 180.0
+    "rotation": 0.0
   },
   "useDefaultConstraints": true
 }

src/main/deploy/pathplanner/paths/Center Blue Cage to Reef.path

@@ -16,12 +16,12 @@
     },
     {
       "anchor": {
-        "x": 5.197222222222222,
-        "y": 5.52929292929293
+        "x": 5.268371212121212,
+        "y": 5.417487373737374
       },
       "prevControl": {
-        "x": 6.234912180385907,
-        "y": 5.781923450986739
+        "x": 6.306061170284897,
+        "y": 5.670117895431184
       },
       "nextControl": null,
       "isLocked": false,
@@ -42,13 +42,13 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": -121.60750224624891
+    "rotation": 60.851928154286895
   },
   "reversed": false,
   "folder": null,
   "idealStartingState": {
     "velocity": 0,
-    "rotation": 179.44374777291927
+    "rotation": 1.1457628387483283
   },
   "useDefaultConstraints": true
 }

src/main/deploy/pathplanner/paths/Center Red Cage to Reef.path

@@ -42,13 +42,13 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": 118.92642583525368
+    "rotation": -62.35402463626126
   },
   "reversed": false,
   "folder": null,
   "idealStartingState": {
     "velocity": 0,
-    "rotation": 180.0
+    "rotation": 1.97493401088202
   },
   "useDefaultConstraints": true
 }

src/main/deploy/pathplanner/paths/Center Reef to Bottom Feed.path

@@ -42,13 +42,13 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": 50.964487101253106
+    "rotation": -124.91183021661
   },
   "reversed": false,
   "folder": null,
   "idealStartingState": {
     "velocity": 0,
-    "rotation": -178.99491399474581
+    "rotation": -1.6365770416167795
   },
   "useDefaultConstraints": true
 }

src/main/deploy/pathplanner/paths/Center Reef to Feed.path

@@ -25,7 +25,7 @@
       },
       "nextControl": {
         "x": 3.388005050505051,
-        "y": 6.11881313131313
+        "y": 6.1188131313131295
       },
       "isLocked": false,
       "linkedName": null
@@ -58,13 +58,13 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": -52.30575953331084
+    "rotation": 126.3843518158359
   },
   "reversed": false,
   "folder": null,
   "idealStartingState": {
     "velocity": 0,
-    "rotation": -177.95459151111288
+    "rotation": 0.0
   },
   "useDefaultConstraints": true
 }

src/main/deploy/pathplanner/paths/Stupid auto 1.path

@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 6.081502525252525,
+        "y": 7.267361111111111
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 4.871969696969696,
+        "y": 8.070328282828283
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 6.081502525252525,
+        "y": 5.10239898989899
+      },
+      "prevControl": {
+        "x": 4.821148989898989,
+        "y": 5.10239898989899
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "useDefaultConstraints": true
+}

src/main/deploy/pathplanner/paths/Stupid auto 2.path

@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 6.101830808080808,
+        "y": 5.041414141414141
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 7.10183080808081,
+        "y": 5.041414141414141
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 7.585795454545455,
+        "y": 6.149305555555555
+      },
+      "prevControl": {
+        "x": 8.175315656565658,
+        "y": 5.295517676767678
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "useDefaultConstraints": true
+}

src/main/deploy/pathplanner/paths/Stupid auto 3.path

@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 7.585795454545455,
+        "y": 6.200126262626262
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 7.778914141414141,
+        "y": 7.033585858585859
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 6.081502525252525,
+        "y": 7.32834595959596
+      },
+      "prevControl": {
+        "x": 7.595959595959596,
+        "y": 7.724747474747475
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "useDefaultConstraints": true
+}

src/main/deploy/pathplanner/paths/Taxi.path

@@ -42,13 +42,13 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": 179.47479945510887
+    "rotation": -1.9251837083231407
   },
   "reversed": false,
   "folder": null,
   "idealStartingState": {
     "velocity": 0,
-    "rotation": 177.6140559696112
+    "rotation": -1.1306909512379957
   },
   "useDefaultConstraints": true
 }

src/main/deploy/pathplanner/paths/Top Blue Cage to Reef.path

@@ -42,13 +42,13 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": -120.0183674276091
+    "rotation": 60.255118703057796
   },
   "reversed": false,
   "folder": null,
   "idealStartingState": {
     "velocity": 0,
-    "rotation": 179.30972280213487
+    "rotation": -2.223961240385466
   },
   "useDefaultConstraints": true
 }

src/main/deploy/pathplanner/paths/Top Feed to Reef.path

@@ -3,25 +3,25 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 1.263699494949495,
-        "y": 7.135227272727272
+        "x": 1.0807449494949497,
+        "y": 6.972601010101011
       },
       "prevControl": null,
       "nextControl": {
-        "x": 1.6862557056350642,
-        "y": 6.8478211564289
+        "x": 2.0869949494949496,
+        "y": 6.291603535353536
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 3.6217803030303033,
-        "y": 5.417487373737374
+        "x": 3.764078282828282,
+        "y": 5.24469696969697
       },
       "prevControl": {
-        "x": 3.111746968518841,
-        "y": 5.776730048021274
+        "x": 2.9836492542425197,
+        "y": 5.685899280282051
       },
       "nextControl": null,
       "isLocked": false,
@@ -42,13 +42,13 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": -60.228308784269046
+    "rotation": 121.34521414171566
   },
   "reversed": false,
   "folder": null,
   "idealStartingState": {
     "velocity": 0,
-    "rotation": -55.124671655397854
+    "rotation": 124.23611780915067
   },
   "useDefaultConstraints": true
 }

src/main/deploy/pathplanner/paths/Top Red Cage to Reef.path

@@ -42,13 +42,13 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": 120.25643716352924
+    "rotation": -54.659893078442295
   },
   "reversed": false,
   "folder": null,
   "idealStartingState": {
     "velocity": 0,
-    "rotation": -179.06080905426438
+    "rotation": 0.0
   },
   "useDefaultConstraints": true
 }

src/main/deploy/pathplanner/paths/Top Reef to Feed.path

@@ -16,12 +16,12 @@
     },
     {
       "anchor": {
-        "x": 1.192550505050505,
-        "y": 7.0234217171717175
+        "x": 1.2230429292929292,
+        "y": 7.003093434343434
       },
       "prevControl": {
-        "x": 0.9300747161944047,
-        "y": 7.106516384157039
+        "x": 0.960567140436829,
+        "y": 7.086188101328755
       },
       "nextControl": null,
       "isLocked": false,
@@ -42,13 +42,13 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": -52.56142842766699
+    "rotation": 126.86989764584399
   },
   "reversed": false,
   "folder": null,
   "idealStartingState": {
     "velocity": 0,
-    "rotation": -121.75948008481281
+    "rotation": 57.21571913413089
   },
   "useDefaultConstraints": true
 }

src/main/deploy/pathplanner/settings.json

@@ -16,7 +16,7 @@
   "driveGearing": 5.143,
   "maxDriveSpeed": 5.45,
   "driveMotorType": "krakenX60",
-  "driveCurrentLimit": 60.0,
+  "driveCurrentLimit": 40.0,
   "wheelCOF": 1.2,
   "flModuleX": 0.273,
   "flModuleY": 0.273,