functional pathplanner... needs autos.

src/main/deploy/pathplanner/paths/Example Path.path

@@ -3,13 +3,13 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 2.780674342105263,
-        "y": 5.112253289473684
+        "x": 2.415049342105263,
+        "y": 4.785115131578947
       },
       "prevControl": null,
       "nextControl": {
-        "x": 2.7421875,
-        "y": 6.016694078947369
+        "x": 2.905756578947368,
+        "y": 4.794736842105262
       },
       "isLocked": false,
       "linkedName": null
@@ -20,8 +20,8 @@
         "y": 5.862746710526316
       },
       "prevControl": {
-        "x": 3.5794407894736837,
-        "y": 5.862746710526316
+        "x": 3.0693256578947365,
+        "y": 5.872368421052631
       },
       "nextControl": null,
       "isLocked": false,
@@ -48,7 +48,7 @@
   "folder": null,
   "idealStartingState": {
     "velocity": 0,
-    "rotation": 132.26189909327812
+    "rotation": -2.4366482468102095
   },
   "useDefaultConstraints": true
 }

src/main/java/frc4388/robot/Constants.java

@@ -103,7 +103,8 @@ public final class Constants {
 
         public static final Trim POINTLESS_TRIM = new Trim("Pointless Trim", Double.MAX_VALUE, Double.MIN_VALUE, 1.d, 10);
 
-        private static final class ModuleSpecificConstants {
+        private static final class ModuleSpecificConstants { //2025
+            //Front Left
             private static final Angle FRONT_LEFT_ENCODER_OFFSET = Rotations.of(0.229736328125);
             private static final boolean FRONT_LEFT_DRIVE_MOTOR_INVERTED = true;
             private static final boolean FRONT_LEFT_STEER_MOTOR_INVERTED = true;

src/main/java/frc4388/robot/subsystems/SwerveDrive.java

@@ -74,7 +74,7 @@ public class SwerveDrive extends Subsystem {
         AutoBuilder.configure(
 			      () -> {
                     var pose = swerveDriveTrain.samplePoseAt(Utils.getCurrentTimeSeconds()).orElse(new Pose2d());
-                    pose = new Pose2d(pose.getX(), pose.getY(), pose.getRotation().times(-1));
+                    // pose = new Pose2d(pose.getX(), pose.getY(), pose.getRotation().times(-1));
                     return pose;//getRotation().times(-1)
                   }, // Robot pose supplier
 			      swerveDriveTrain::resetPose, // Method to reset odometry (will be called if your auto has a starting pose)