auto cont

src/main/deploy/pathplanner/autos/2 Coral Cage 1.auto

@@ -31,7 +31,7 @@
         {
           "type": "named",
           "data": {
-            "name": "align-feed"
+            "name": "feed-driveback"
           }
         },
         {
@@ -49,13 +49,25 @@
         {
           "type": "named",
           "data": {
-            "name": "await-coral"
+            "name": "place-coral-right-l4"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Reef 6 to Top Feed"
           }
         },
         {
           "type": "named",
           "data": {
-            "name": "place-coral-right-l4"
+            "name": "feed-driveback"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "grab-coral"
           }
         }
       ]

src/main/deploy/pathplanner/autos/2 Coral Cage 2.auto

@@ -4,6 +4,12 @@
     "type": "sequential",
     "data": {
       "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "prepare-l4"
+          }
+        },
         {
           "type": "path",
           "data": {
@@ -25,7 +31,7 @@
         {
           "type": "named",
           "data": {
-            "name": "align-feed"
+            "name": "feed-driveback"
           }
         },
         {
@@ -45,6 +51,24 @@
           "data": {
             "name": "place-coral-left-l4"
           }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Reef 6 to Top Feed"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "feed-driveback"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "grab-coral"
+          }
         }
       ]
     }

src/main/deploy/pathplanner/autos/2 Coral Cage 3.auto

@@ -4,6 +4,12 @@
     "type": "sequential",
     "data": {
       "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "prepare-l4"
+          }
+        },
         {
           "type": "path",
           "data": {
@@ -25,7 +31,7 @@
         {
           "type": "named",
           "data": {
-            "name": "align-feed"
+            "name": "feed-driveback"
           }
         },
         {
@@ -45,6 +51,24 @@
           "data": {
             "name": "place-coral-right-l4"
           }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Reef 6 to Top Feed"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "feed-driveback"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "grab-coral"
+          }
         }
       ]
     }

src/main/deploy/pathplanner/autos/2 Coral Cage 4.auto

@@ -4,6 +4,12 @@
     "type": "sequential",
     "data": {
       "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "prepare-l4"
+          }
+        },
         {
           "type": "path",
           "data": {
@@ -25,7 +31,7 @@
         {
           "type": "named",
           "data": {
-            "name": "align-feed"
+            "name": "feed-driveback"
           }
         },
         {
@@ -45,6 +51,24 @@
           "data": {
             "name": "place-coral-left-l4"
           }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Reef 2 to Bottom Feed"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "feed-driveback"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "grab-coral"
+          }
         }
       ]
     }

src/main/deploy/pathplanner/autos/2 Coral Cage 5.auto

@@ -31,7 +31,7 @@
         {
           "type": "named",
           "data": {
-            "name": "align-feed"
+            "name": "feed-driveback"
           }
         },
         {
@@ -49,13 +49,25 @@
         {
           "type": "named",
           "data": {
-            "name": "await-coral"
+            "name": "place-coral-left-l4"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Reef 2 to Bottom Feed"
           }
         },
         {
           "type": "named",
           "data": {
-            "name": "place-coral-left-l4"
+            "name": "feed-driveback"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "grab-coral"
           }
         }
       ]

src/main/deploy/pathplanner/autos/2 Coral Cage 6.auto

@@ -4,6 +4,12 @@
     "type": "sequential",
     "data": {
       "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "prepare-l4"
+          }
+        },
         {
           "type": "path",
           "data": {
@@ -25,7 +31,7 @@
         {
           "type": "named",
           "data": {
-            "name": "align-feed"
+            "name": "feed-driveback"
           }
         },
         {
@@ -45,6 +51,24 @@
           "data": {
             "name": "place-coral-left-l4"
           }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Reef 2 to Bottom Feed"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "feed-driveback"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "grab-coral"
+          }
         }
       ]
     }

src/main/deploy/pathplanner/autos/2 Coral Center Barge Bottom.auto

@@ -4,10 +4,16 @@
     "type": "sequential",
     "data": {
       "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "prepare-l4"
+          }
+        },
         {
           "type": "path",
           "data": {
-            "pathName": "Center Barge to Reef 4"
+            "pathName": "Center Barge to Reef 4 Left"
           }
         },
         {
@@ -25,7 +31,7 @@
         {
           "type": "named",
           "data": {
-            "name": "align-feed"
+            "name": "feed-driveback"
           }
         },
         {
@@ -45,6 +51,24 @@
           "data": {
             "name": "place-coral-left-l4"
           }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Reef 2 to Bottom Feed"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "feed-driveback"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "grab-coral"
+          }
         }
       ]
     }

src/main/deploy/pathplanner/autos/2 Coral Center Barge Top.auto

@@ -4,10 +4,16 @@
     "type": "sequential",
     "data": {
       "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "prepare-l4"
+          }
+        },
         {
           "type": "path",
           "data": {
-            "pathName": "Center Barge to Reef 4"
+            "pathName": "Center Barge to Reef 4 Right"
           }
         },
         {
@@ -25,7 +31,7 @@
         {
           "type": "named",
           "data": {
-            "name": "align-feed"
+            "name": "feed-driveback"
           }
         },
         {
@@ -45,6 +51,24 @@
           "data": {
             "name": "place-coral-right-l4"
           }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Reef 6 to Top Feed"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "feed-driveback"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "grab-coral"
+          }
         }
       ]
     }

src/main/deploy/pathplanner/autos/3 Coral Cage 4.auto

@@ -28,6 +28,12 @@
             "pathName": "Reef 3 to Bottom Feed"
           }
         },
+        {
+          "type": "named",
+          "data": {
+            "name": "feed-driveback"
+          }
+        },
         {
           "type": "named",
           "data": {
@@ -52,6 +58,12 @@
             "pathName": "Reef 2 to Bottom Feed"
           }
         },
+        {
+          "type": "named",
+          "data": {
+            "name": "feed-driveback"
+          }
+        },
         {
           "type": "named",
           "data": {
@@ -75,6 +87,18 @@
           "data": {
             "pathName": "Reef 2 to Bottom Feed"
           }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "feed-driveback"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "grab-coral"
+          }
         }
       ]
     }

src/main/deploy/pathplanner/autos/3 Coral Cage 5.auto

@@ -28,6 +28,12 @@
             "pathName": "Reef 3 to Bottom Feed"
           }
         },
+        {
+          "type": "named",
+          "data": {
+            "name": "feed-driveback"
+          }
+        },
         {
           "type": "named",
           "data": {
@@ -52,6 +58,12 @@
             "pathName": "Reef 2 to Bottom Feed"
           }
         },
+        {
+          "type": "named",
+          "data": {
+            "name": "feed-driveback"
+          }
+        },
         {
           "type": "named",
           "data": {
@@ -75,6 +87,18 @@
           "data": {
             "pathName": "Reef 2 to Bottom Feed"
           }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "feed-driveback"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "grab-coral"
+          }
         }
       ]
     }

src/main/deploy/pathplanner/autos/New Auto.auto

@@ -0,0 +1,61 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Cage 1 to Reef"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Cage 2 to Reef 5"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Cage 3 to Reef"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Cage 4 to Reef"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Cage 5 to Reef"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Cage 6 to Reef"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Center Barge to Reef 4 Left"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Center Barge to Reef 4 Right"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}

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

@@ -5,9 +5,9 @@
     "data": {
       "commands": [
         {
-          "type": "path",
+          "type": "named",
           "data": {
-            "pathName": "Taxi"
+            "name": "taxi"
           }
         }
       ]

src/main/deploy/pathplanner/paths/Bottom Feed to Reef 2.path

@@ -3,25 +3,25 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 1.0807449494949497,
+        "x": 1.3040625,
-        "y": 1.0875631313131315
+        "y": 1.3559375
       },
       "prevControl": null,
       "nextControl": {
-        "x": 2.3668181411598166,
+        "x": 2.590135691664867,
-        "y": 1.8456535210784974
+        "y": 2.114027889765366
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 3.680625,
+        "x": 3.5221875,
-        "y": 2.635625
+        "y": 2.3675
       },
       "prevControl": {
-        "x": 2.741625910703272,
+        "x": 2.5831884107032717,
-        "y": 2.050875079374932
+        "y": 1.782750079374932
       },
       "nextControl": null,
       "isLocked": false,
@@ -48,7 +48,7 @@
   "folder": "Bottom Feed to Reef",
   "idealStartingState": {
     "velocity": 0,
-    "rotation": 53.32565033042684
+    "rotation": 53.426969021480645
   },
   "useDefaultConstraints": true
 }

src/main/deploy/pathplanner/paths/Cage 1 to Reef.path

@@ -3,25 +3,25 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 7.575631313131314,
+        "x": 6.9834375,
-        "y": 7.287689393939393
+        "y": 7.1084375
       },
       "prevControl": null,
       "nextControl": {
-        "x": 5.8378125,
+        "x": 5.594062500000001,
-        "y": 6.9378125
+        "y": 6.7671875
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 5.344772727272727,
+        "x": 5.2528125,
-        "y": 5.391107954545454
+        "y": 5.7434375
       },
       "prevControl": {
-        "x": 5.630625,
+        "x": 5.50875,
-        "y": 5.5728125
+        "y": 6.145625
       },
       "nextControl": null,
       "isLocked": false,
@@ -42,13 +42,13 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": -122.99770510121631
+    "rotation": -118.81079374297312
   },
   "reversed": false,
   "folder": "Barge to Reef",
   "idealStartingState": {
     "velocity": 0,
-    "rotation": 180.0
+    "rotation": -115.9743939624313
   },
   "useDefaultConstraints": true
 }

src/main/deploy/pathplanner/paths/Cage 2 to Reef 5.path

@@ -3,25 +3,25 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 7.575631313127491,
+        "x": 7.0078125,
-        "y": 6.139141414136251
+        "y": 6.0725
       },
       "prevControl": null,
       "nextControl": {
-        "x": 6.451471554401174,
+        "x": 6.3984375,
-        "y": 5.958542570253511
+        "y": 6.291875
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 5.268371212121212,
+        "x": 5.265,
-        "y": 5.417487373737374
+        "y": 5.73125
       },
       "prevControl": {
         "x": 5.8621875,
-        "y": 6.12125
+        "y": 6.194375
       },
       "nextControl": null,
       "isLocked": false,
@@ -42,13 +42,13 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": -120.86136963407526
+    "rotation": -120.52970589993409
   },
   "reversed": false,
   "folder": "Barge to Reef",
   "idealStartingState": {
     "velocity": 0,
-    "rotation": -179.99261564513898
+    "rotation": -123.4533094540727
   },
   "useDefaultConstraints": true
 }

src/main/deploy/pathplanner/paths/Cage 3 to Reef.path

@@ -3,25 +3,25 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 7.616287878787879,
+        "x": 6.9590625,
-        "y": 5.092234848484848
+        "y": 4.9878124999999995
       },
       "prevControl": null,
       "nextControl": {
-        "x": 7.366483068336041,
+        "x": 6.709257689548163,
-        "y": 5.1021119267533175
+        "y": 4.997689578268469
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 5.31375,
+        "x": 5.2528125,
-        "y": 5.43875
+        "y": 5.7434375
       },
       "prevControl": {
-        "x": 5.7403125,
+        "x": 5.728125,
-        "y": 5.6215625
+        "y": 5.6703125
       },
       "nextControl": null,
       "isLocked": false,
@@ -48,7 +48,7 @@
   "folder": "Barge to Reef",
   "idealStartingState": {
     "velocity": 0,
-    "rotation": 179.34296858150984
+    "rotation": -124.91940201245771
   },
   "useDefaultConstraints": true
 }

src/main/deploy/pathplanner/paths/Cage 4 to Reef.path

@@ -3,25 +3,25 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 7.006439393939393,
+        "x": 6.97125,
-        "y": 3.1508838383838382
+        "y": 3.244999999999999
       },
       "prevControl": null,
       "nextControl": {
-        "x": 6.498232323232323,
+        "x": 6.166875,
-        "y": 2.480050505050505
+        "y": 2.9159374999999996
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 5.349684343434343,
+        "x": 5.2771875,
-        "y": 2.6934974747474745
+        "y": 2.27
       },
       "prevControl": {
-        "x": 5.979861111111112,
+        "x": 6.1059375,
-        "y": 1.992171717171717
+        "y": 2.5625000000000004
       },
       "nextControl": null,
       "isLocked": false,
@@ -42,13 +42,13 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": 123.49004753500587
+    "rotation": 120.96375653207355
   },
   "reversed": false,
   "folder": "Barge to Reef",
   "idealStartingState": {
     "velocity": 0,
-    "rotation": 124.11447294534119
+    "rotation": 118.9091836511478
   },
   "useDefaultConstraints": true
 }

src/main/deploy/pathplanner/paths/Cage 5 to Reef.path

@@ -53,7 +53,7 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": 124.8244891569568
+    "rotation": 122.79876573246848
   },
   "reversed": false,
   "folder": "Barge to Reef",

src/main/deploy/pathplanner/paths/Cage 6 to Reef.path

@@ -16,12 +16,12 @@
     },
     {
       "anchor": {
-        "x": 5.3015625,
+        "x": 5.2771875,
-        "y": 2.6234375
+        "y": 2.294375
       },
       "prevControl": {
-        "x": 5.624116161616161,
+        "x": 5.599741161616161,
-        "y": 2.205618686868687
+        "y": 1.876556186868687
       },
       "nextControl": null,
       "isLocked": false,

src/main/deploy/pathplanner/paths/Center Barge to Reef 4 Left.path

@@ -3,25 +3,25 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 7.565467171717171,
+        "x": 7.1296875,
-        "y": 4.045328282828282
+        "y": 4.0493749999999995
       },
       "prevControl": null,
       "nextControl": {
-        "x": 7.269289772727273,
+        "x": 6.833510101010102,
-        "y": 4.064886363636362
+        "y": 4.06893308080808
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 6.1059375,
+        "x": 6.3496875,
-        "y": 4.045328282828282
+        "y": 3.8421874999999996
       },
       "prevControl": {
-        "x": 6.35555109493404,
+        "x": 6.599301094934041,
-        "y": 4.031433923393444
+        "y": 3.8282931405651617
       },
       "nextControl": null,
       "isLocked": false,

src/main/deploy/pathplanner/paths/Center Barge to Reef 4 Right.path

@@ -3,25 +3,25 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 7.565467171717171,
+        "x": 7.1053125,
-        "y": 7.348674242424242
+        "y": 4.061562499999999
       },
       "prevControl": null,
       "nextControl": {
-        "x": 7.8906231049309685,
+        "x": 6.809135101010102,
-        "y": 7.339915637757156
+        "y": 4.081120580808079
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 6.0571875,
+        "x": 6.3496875,
-        "y": 7.348674242424242
+        "y": 4.195625
       },
       "prevControl": {
-        "x": 6.306992295436264,
+        "x": 6.599301094934041,
-        "y": 7.338796784398704
+        "y": 4.181730640565162
       },
       "nextControl": null,
       "isLocked": false,
@@ -42,13 +42,13 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": 179.5653636269807
+    "rotation": -179.96096735022735
   },
   "reversed": false,
-  "folder": null,
+  "folder": "Barge to Reef",
   "idealStartingState": {
     "velocity": 0,
-    "rotation": -179.85896618052556
+    "rotation": -179.2890804030095
   },
   "useDefaultConstraints": true
 }

src/main/deploy/pathplanner/paths/Reef 2 to Bottom Feed.path

@@ -3,25 +3,25 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 3.749318181818182,
+        "x": 3.5221875,
-        "y": 2.868295454545454
+        "y": 2.4040625
       },
       "prevControl": null,
       "nextControl": {
-        "x": 3.093244949494949,
+        "x": 2.866114267676767,
-        "y": 2.2869318181818175
+        "y": 1.8226988636363637
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 1.3246843434343436,
+        "x": 1.3284375,
-        "y": 1.5347853535353522
+        "y": 1.3803125
       },
       "prevControl": {
-        "x": 1.802550505050505,
+        "x": 1.8063036616161614,
-        "y": 2.1992045454545446
+        "y": 2.0447316919191922
       },
       "nextControl": null,
       "isLocked": false,

src/main/deploy/pathplanner/paths/Reef 3 to Bottom Feed.path

@@ -3,25 +3,25 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 5.268371212121212,
+        "x": 5.3015625,
-        "y": 2.4597222222222217
+        "y": 2.2821875
       },
       "prevControl": null,
       "nextControl": {
-        "x": 4.670075757575758,
+        "x": 4.703267045454546,
-        "y": 1.2531597222222217
+        "y": 1.075625
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 1.286335227272727,
+        "x": 1.31625,
-        "y": 1.2828125
+        "y": 1.3559375
       },
       "prevControl": {
-        "x": 1.9715309343434337,
+        "x": 2.0014457070707063,
-        "y": 2.5205176767676765
+        "y": 2.5936426767676766
       },
       "nextControl": null,
       "isLocked": false,

src/main/deploy/pathplanner/paths/Reef 4 to Bottom Feed.path

@@ -3,25 +3,25 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 6.1059375,
+        "x": 6.3984375,
-        "y": 4.0249999999999995
+        "y": 3.854374999999999
       },
       "prevControl": null,
       "nextControl": {
-        "x": 7.264857954545455,
+        "x": 7.557357954545456,
-        "y": 2.244517045454545
+        "y": 2.073892045454545
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 1.1090625,
+        "x": 1.3040625,
-        "y": 1.0146875
+        "y": 1.368125
       },
       "prevControl": {
-        "x": 1.9500000000000002,
+        "x": 2.1450000000000005,
-        "y": 2.1115625000000002
+        "y": 2.4650000000000007
       },
       "nextControl": null,
       "isLocked": false,

src/main/deploy/pathplanner/paths/Reef 4 to Top Feed.path

@@ -3,25 +3,25 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 6.1059375,
+        "x": 6.4228125,
-        "y": 4.037187499999999
+        "y": 4.195625
       },
       "prevControl": null,
       "nextControl": {
-        "x": 7.1784375,
+        "x": 7.0809375,
-        "y": 6.4015625
+        "y": 6.535625
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 1.121401515151515,
+        "x": 1.291875,
-        "y": 7.003093434343434
+        "y": 6.7428125
       },
       "prevControl": {
-        "x": 1.7184374999999998,
+        "x": 1.8889109848484849,
-        "y": 5.999375
+        "y": 5.739094065656566
       },
       "nextControl": null,
       "isLocked": false,
@@ -48,7 +48,7 @@
   "folder": "Reef to Top Feed",
   "idealStartingState": {
     "velocity": 0,
-    "rotation": 179.1574757392596
+    "rotation": 178.9390883097358
   },
   "useDefaultConstraints": true
 }

src/main/deploy/pathplanner/paths/Reef 5 to Top Feed.path

@@ -3,25 +3,25 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 5.284943181818181,
+        "x": 5.3015625,
-        "y": 5.401079545454545
+        "y": 5.755625
       },
       "prevControl": null,
       "nextControl": {
-        "x": 4.996875,
+        "x": 5.013494318181819,
-        "y": 6.8525
+        "y": 7.207045454545455
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 1.2230429292929292,
+        "x": 1.2796875,
-        "y": 7.003093434343434
+        "y": 6.730625
       },
       "prevControl": {
-        "x": 2.34,
+        "x": 2.3966445707070707,
-        "y": 5.5484375
+        "y": 5.275969065656566
       },
       "nextControl": null,
       "isLocked": false,

src/main/deploy/pathplanner/paths/Reef 6 to Top Feed.path

@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 3.485625,
+        "y": 5.6459375
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 2.5593749999999997,
+        "y": 6.389374999999999
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 1.31625,
+        "y": 6.730625
+      },
+      "prevControl": {
+        "x": 1.9132859848484847,
+        "y": 5.726906565656566
+      },
+      "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": -53.93780932479242
+  },
+  "reversed": false,
+  "folder": "Reef to Top Feed",
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": -58.96173664449721
+  },
+  "useDefaultConstraints": true
+}

src/main/deploy/pathplanner/paths/Top Feed to Reef 6.path

@@ -3,25 +3,25 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 1.116818181818182,
+        "x": 1.31625,
-        "y": 6.956647727272727
+        "y": 6.730625
       },
       "prevControl": null,
       "nextControl": {
-        "x": 2.123068181818182,
+        "x": 2.3225000000000002,
-        "y": 6.275650252525252
+        "y": 6.049627525252525
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 3.6196875,
+        "x": 3.5465625,
-        "y": 5.35122159090909
+        "y": 5.706875
       },
       "prevControl": {
-        "x": 2.8392584714142375,
+        "x": 2.7661334714142374,
-        "y": 5.792423901494171
+        "y": 6.148077310585081
       },
       "nextControl": null,
       "isLocked": false,

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

@@ -388,6 +388,11 @@ public class RobotContainer {
      * The container for the robot. Contains subsystems, OI devices, and commands.
      */
     public RobotContainer() {
+        NamedCommands.registerCommand("taxi", new SequentialCommandGroup(
+            new MoveForTimeCommand(m_robotSwerveDrive, 
+                new Translation2d(0, -1), 
+                new Translation2d(), 1000, true
+        ), new InstantCommand(()-> {m_robotSwerveDrive.softStop();} , m_robotSwerveDrive)));
 
         NamedCommands.registerCommand("grab-coral", waitFeedStation.asProxy());
         NamedCommands.registerCommand("await-coral", new waitFeedCoral(m_robotElevator));