Created New Autos

src/main/deploy/pathplanner/autos/Mira's Auto.auto

@@ -0,0 +1,61 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Top Blue Cage to Reef"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "april-allign"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "place-coral"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Top Reef to Feed"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "grab-coral"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Top Feed to Reef"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "april-allign"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "place-coral"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}

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

@@ -3,25 +3,25 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 15.106960227272728,
-        "y": 2.120426136363636
+        "x": 7.565467171717171,
+        "y": 4.045328282828282
       },
       "prevControl": null,
       "nextControl": {
-        "x": 15.101585096858368,
-        "y": 2.396686756913594
+        "x": 8.114457611671098,
+        "y": 4.043616195025507
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 15.106960227272728,
-        "y": 4.005056818181817
+        "x": 5.979861111111112,
+        "y": 4.045328282828282
       },
       "prevControl": {
-        "x": 15.10799254912145,
-        "y": 3.6525397317875603
+        "x": 5.5035379766577375,
+        "y": 4.0462802990619195
       },
       "nextControl": null,
       "isLocked": false,
@@ -42,13 +42,13 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": -179.09061955080082
+    "rotation": 179.65844947344297
   },
   "reversed": false,
   "folder": null,
   "idealStartingState": {
     "velocity": 0,
-    "rotation": 178.99491399474587
+    "rotation": 180.0
   },
   "useDefaultConstraints": true
 }

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

@@ -3,25 +3,25 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 7.576229508196722,
-        "y": 7.273668032786885
+        "x": 7.565467171717171,
+        "y": 7.348674242424242
       },
       "prevControl": null,
       "nextControl": {
-        "x": 8.050548646741815,
-        "y": 7.2681295199500715
+        "x": 7.8906231049309685,
+        "y": 7.339915637757156
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 6.137704918032787,
-        "y": 7.273668032786885
+        "x": 6.305113636363636,
+        "y": 7.348674242424242
       },
       "prevControl": {
-        "x": 5.88773585280021,
-        "y": 7.277600770605731
+        "x": 5.928529040722133,
+        "y": 7.353679406601922
       },
       "nextControl": null,
       "isLocked": false,
@@ -42,13 +42,13 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": 0.0
+    "rotation": 179.47479945510887
   },
   "reversed": false,
   "folder": null,
   "idealStartingState": {
     "velocity": 0,
-    "rotation": 0.0
+    "rotation": 177.6140559696112
   },
   "useDefaultConstraints": true
 }

src/main/java/frc4388/robot/RobotContainer.java

@@ -30,6 +30,8 @@ import edu.wpi.first.wpilibj2.command.button.Trigger;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.InstantCommand;
 import edu.wpi.first.wpilibj2.command.RunCommand;
+import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
+import edu.wpi.first.wpilibj2.command.WaitCommand;
 import edu.wpi.first.wpilibj2.command.Commands;
 
 // Autos
@@ -100,6 +102,21 @@ public class RobotContainer {
            new VirtualController[]{getVirtualDriverController(), getVirtualOperatorController()},
            true, false);
     private Command AutoGotoPosition = new GotoPositionCommand(m_robotSwerveDrive, m_vision);
+
+    private Command placeCoral = new SequentialCommandGroup(
+        new InstantCommand(() -> System.out.println("Placing Some Coral")),
+        new WaitCommand(3)
+    );
+
+    private Command aprilAlign = new SequentialCommandGroup(
+        new InstantCommand(() -> System.out.println("Aligning...")),
+        new WaitCommand(1)
+    );
+
+    private Command grabCoral = new SequentialCommandGroup(
+        new InstantCommand(() -> System.out.println("Yoinking some coral...")),
+        new WaitCommand(2)
+    );
     
     /**
      * The container for the robot. Contains subsystems, OI devices, and commands.
@@ -107,6 +124,9 @@ public class RobotContainer {
     public RobotContainer() {
         
         NamedCommands.registerCommand("AutoGotoPosition", AutoGotoPosition);
+        NamedCommands.registerCommand("april-allign", aprilAlign);
+        NamedCommands.registerCommand("place-coral", placeCoral);
+        NamedCommands.registerCommand("grab-coral", grabCoral);
 
         configureButtonBindings();        
         configureVirtualButtonBindings();