Rename autos

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

@@ -7,7 +7,7 @@
         {
           "type": "path",
           "data": {
-            "pathName": "Bottom Red Cage to Reef"
+            "pathName": "Cage 1 to Reef"
           }
         },
         {
@@ -19,7 +19,13 @@
         {
           "type": "path",
           "data": {
-            "pathName": "Bottom Reef to Feed"
+            "pathName": "Reef 5 to Top Feed"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "align-feed"
           }
         },
         {
@@ -31,13 +37,13 @@
         {
           "type": "path",
           "data": {
-            "pathName": "Bottom Feed to Reef"
+            "pathName": "Top Feed to Reef 6"
           }
         },
         {
           "type": "named",
           "data": {
-            "name": "place-coral-left-l4"
+            "name": "place-coral-right-l4"
           }
         }
       ]

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

@@ -7,7 +7,7 @@
         {
           "type": "path",
           "data": {
-            "pathName": "Center Red Cage to Reef"
+            "pathName": "Cage 2 to Reef 5"
           }
         },
         {
@@ -19,7 +19,7 @@
         {
           "type": "path",
           "data": {
-            "pathName": "Bottom Reef to Feed"
+            "pathName": "Reef 5 to Top Feed"
           }
         },
         {
@@ -37,7 +37,7 @@
         {
           "type": "path",
           "data": {
-            "pathName": "Bottom Feed to Reef"
+            "pathName": "Top Feed to Reef 6"
           }
         },
         {

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

@@ -7,25 +7,25 @@
         {
           "type": "path",
           "data": {
-            "pathName": "Top Blue Cage to Reef"
+            "pathName": "Cage 3 to Reef"
           }
         },
         {
           "type": "named",
           "data": {
-            "name": "april-allign"
+            "name": "place-coral-right-l4"
-          }
-        },
-        {
-          "type": "named",
-          "data": {
-            "name": "place-coral"
           }
         },
         {
           "type": "path",
           "data": {
-            "pathName": "Top Reef to Feed"
+            "pathName": "Reef 5 to Top Feed"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "align-feed"
           }
         },
         {
@@ -37,19 +37,13 @@
         {
           "type": "path",
           "data": {
-            "pathName": "Top Feed to Reef"
+            "pathName": "Top Feed to Reef 6"
           }
         },
         {
           "type": "named",
           "data": {
-            "name": "april-allign"
+            "name": "place-coral-right-l4"
-          }
-        },
-        {
-          "type": "named",
-          "data": {
-            "name": "place-coral"
           }
         }
       ]

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

@@ -7,7 +7,7 @@
         {
           "type": "path",
           "data": {
-            "pathName": "Top Blue Cage to Reef"
+            "pathName": "Cage 4 to Reef"
           }
         },
         {
@@ -19,7 +19,13 @@
         {
           "type": "path",
           "data": {
-            "pathName": "Top Reef to Feed"
+            "pathName": "Reef 3 to Bottom Feed"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "align-feed"
           }
         },
         {
@@ -31,7 +37,7 @@
         {
           "type": "path",
           "data": {
-            "pathName": "Top Feed to Reef"
+            "pathName": "Bottom Feed to Reef 2"
           }
         },
         {

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

@@ -0,0 +1,55 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Cage 5 to Reef"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "place-coral-left-l4"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Reef 3 to Bottom Feed"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "align-feed"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "grab-coral"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Bottom Feed to Reef 2"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "place-coral-left-l4"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}

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

@@ -0,0 +1,55 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Cage 6 to Reef"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "place-coral-left-l4"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Reef 3 to Bottom Feed"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "align-feed"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "grab-coral"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Bottom Feed to Reef 2"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "place-coral-left-l4"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}

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

@@ -0,0 +1,55 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Center Barge to Reef 4"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "place-coral-left-l4"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Reef 4 to Bottom Feed"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "align-feed"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "grab-coral"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Bottom Feed to Reef 2"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "place-coral-left-l4"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}

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

@@ -7,25 +7,25 @@
         {
           "type": "path",
           "data": {
-            "pathName": "Center Barge to Reef"
+            "pathName": "Center Barge to Reef 4"
           }
         },
         {
           "type": "named",
           "data": {
-            "name": "april-allign"
+            "name": "place-coral-right-l4"
-          }
-        },
-        {
-          "type": "named",
-          "data": {
-            "name": "place-coral"
           }
         },
         {
           "type": "path",
           "data": {
-            "pathName": "Center Reef to Feed"
+            "pathName": "Reef 4 to Top Feed"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "align-feed"
           }
         },
         {
@@ -37,19 +37,13 @@
         {
           "type": "path",
           "data": {
-            "pathName": "Top Feed to Reef"
+            "pathName": "Top Feed to Reef 6"
           }
         },
         {
           "type": "named",
           "data": {
-            "name": "april-allign"
+            "name": "place-coral-right-l4"
-          }
-        },
-        {
-          "type": "named",
-          "data": {
-            "name": "place-coral"
           }
         }
       ]

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

@@ -0,0 +1,91 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Cage 5 to Reef"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "place-coral-right-l4"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Reef 3 to Bottom Feed"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "align-feed"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "grab-coral"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Bottom Feed to Reef 2"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "place-coral-right-l4"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Reef 2 to Bottom Feed"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "align-feed"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "grab-coral"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Bottom Feed to Reef 2"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "place-coral-left-l4"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Reef 2 to Bottom Feed"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}

src/main/deploy/pathplanner/autos/Blue Bottom Cage.auto

@@ -1,61 +0,0 @@
-{
-  "version": "2025.0",
-  "command": {
-    "type": "sequential",
-    "data": {
-      "commands": [
-        {
-          "type": "path",
-          "data": {
-            "pathName": "Bottom 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/autos/Blue Center Cage.auto

@@ -1,61 +0,0 @@
-{
-  "version": "2025.0",
-  "command": {
-    "type": "sequential",
-    "data": {
-      "commands": [
-        {
-          "type": "path",
-          "data": {
-            "pathName": "Center 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/autos/Center Barge Bottom.auto

@@ -1,61 +0,0 @@
-{
-  "version": "2025.0",
-  "command": {
-    "type": "sequential",
-    "data": {
-      "commands": [
-        {
-          "type": "path",
-          "data": {
-            "pathName": "Center Barge to Reef"
-          }
-        },
-        {
-          "type": "named",
-          "data": {
-            "name": "april-allign"
-          }
-        },
-        {
-          "type": "named",
-          "data": {
-            "name": "place-coral"
-          }
-        },
-        {
-          "type": "path",
-          "data": {
-            "pathName": "Center Reef to Bottom Feed"
-          }
-        },
-        {
-          "type": "named",
-          "data": {
-            "name": "grab-coral"
-          }
-        },
-        {
-          "type": "path",
-          "data": {
-            "pathName": "Bottom 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/autos/Line-up-no-arm.auto

@@ -1,25 +0,0 @@
-{
-  "version": "2025.0",
-  "command": {
-    "type": "sequential",
-    "data": {
-      "commands": [
-        {
-          "type": "path",
-          "data": {
-            "pathName": "Top Blue Cage to Reef"
-          }
-        },
-        {
-          "type": "named",
-          "data": {
-            "name": "place-coral-left-l4"
-          }
-        }
-      ]
-    }
-  },
-  "resetOdom": true,
-  "folder": null,
-  "choreoAuto": false
-}

src/main/deploy/pathplanner/autos/Red Top Cage.auto

@@ -1,61 +0,0 @@
-{
-  "version": "2025.0",
-  "command": {
-    "type": "sequential",
-    "data": {
-      "commands": [
-        {
-          "type": "path",
-          "data": {
-            "pathName": "Top Red Cage to Reef"
-          }
-        },
-        {
-          "type": "named",
-          "data": {
-            "name": "april-allign"
-          }
-        },
-        {
-          "type": "named",
-          "data": {
-            "name": "place-coral"
-          }
-        },
-        {
-          "type": "path",
-          "data": {
-            "pathName": "Bottom Reef to Feed"
-          }
-        },
-        {
-          "type": "named",
-          "data": {
-            "name": "grab-coral"
-          }
-        },
-        {
-          "type": "path",
-          "data": {
-            "pathName": "Bottom 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/Bottom Feed to Reef 2.path

@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 1.0603125,
+        "y": 1.0390625
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 2.3463856916648673,
+        "y": 1.797152889765366
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 3.680625,
+        "y": 2.635625
+      },
+      "prevControl": {
+        "x": 2.741625910703272,
+        "y": 2.050875079374932
+      },
+      "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": 59.28109573597083
+  },
+  "reversed": false,
+  "folder": "Bottom Feed to Reef",
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 53.32565033042684
+  },
+  "useDefaultConstraints": true
+}

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

@@ -1,54 +0,0 @@
-{
-  "version": "2025.0",
-  "waypoints": [
-    {
-      "anchor": {
-        "x": 1.3145202020202018,
-        "y": 0.9655934343434341
-      },
-      "prevControl": null,
-      "nextControl": {
-        "x": 2.4125846006173957,
-        "y": 1.7771562346874141
-      },
-      "isLocked": false,
-      "linkedName": null
-    },
-    {
-      "anchor": {
-        "x": 3.5997443181818185,
-        "y": 2.6888068181818174
-      },
-      "prevControl": {
-        "x": 2.6837095087024796,
-        "y": 1.9835311238550895
-      },
-      "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": 56.633633998940475
-  },
-  "reversed": false,
-  "folder": null,
-  "idealStartingState": {
-    "velocity": 0,
-    "rotation": 53.446462811652175
-  },
-  "useDefaultConstraints": true
-}

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

@@ -8,8 +8,8 @@
       },
       "prevControl": null,
       "nextControl": {
-        "x": 6.599873737373737,
+        "x": 5.8378125,
-        "y": 8.029671717171716
+        "y": 6.9378125
       },
       "isLocked": false,
       "linkedName": null
@@ -20,8 +20,8 @@
         "y": 5.391107954545454
       },
       "prevControl": {
-        "x": 5.121161616161616,
+        "x": 5.630625,
-        "y": 5.00487058080808
+        "y": 5.5728125
       },
       "nextControl": null,
       "isLocked": false,
@@ -45,7 +45,7 @@
     "rotation": -122.99770510121631
   },
   "reversed": false,
-  "folder": null,
+  "folder": "Barge to Reef",
   "idealStartingState": {
     "velocity": 0,
     "rotation": 180.0

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

@@ -8,8 +8,8 @@
       },
       "prevControl": null,
       "nextControl": {
-        "x": 6.3210457316672,
+        "x": 6.451471554401174,
-        "y": 6.004686892287159
+        "y": 5.958542570253511
       },
       "isLocked": false,
       "linkedName": null
@@ -20,8 +20,8 @@
         "y": 5.417487373737374
       },
       "prevControl": {
-        "x": 6.306061170284897,
+        "x": 5.8621875,
-        "y": 5.670117895431184
+        "y": 6.12125
       },
       "nextControl": null,
       "isLocked": false,
@@ -45,7 +45,7 @@
     "rotation": -120.86136963407526
   },
   "reversed": false,
-  "folder": null,
+  "folder": "Barge to Reef",
   "idealStartingState": {
     "velocity": 0,
     "rotation": -179.99261564513898

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

@@ -8,20 +8,20 @@
       },
       "prevControl": null,
       "nextControl": {
-        "x": 8.269913357759823,
+        "x": 7.366483068336041,
-        "y": 5.035328772529629
+        "y": 5.1021119267533175
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 5.370012626262627,
+        "x": 5.31375,
-        "y": 5.346338383838384
+        "y": 5.43875
       },
       "prevControl": {
-        "x": 4.997649306769947,
+        "x": 5.7403125,
-        "y": 5.369630479499745
+        "y": 5.6215625
       },
       "nextControl": null,
       "isLocked": false,
@@ -45,7 +45,7 @@
     "rotation": -121.26879518614867
   },
   "reversed": false,
-  "folder": null,
+  "folder": "Barge to Reef",
   "idealStartingState": {
     "velocity": 0,
     "rotation": 179.34296858150984

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

@@ -8,8 +8,8 @@
       },
       "prevControl": null,
       "nextControl": {
-        "x": 7.319147727272727,
+        "x": 6.2521875,
-        "y": 2.3198579545454536
+        "y": 2.6234375000000005
       },
       "isLocked": false,
       "linkedName": null
@@ -20,8 +20,8 @@
         "y": 2.6934974747474745
       },
       "prevControl": {
-        "x": 6.401761363636364,
+        "x": 5.630625,
-        "y": 1.5819602272727276
+        "y": 2.148125
       },
       "nextControl": null,
       "isLocked": false,
@@ -45,7 +45,7 @@
     "rotation": 123.49004753500587
   },
   "reversed": false,
-  "folder": null,
+  "folder": "Barge to Reef",
   "idealStartingState": {
     "velocity": 0,
     "rotation": -178.9832812445108

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

@@ -8,20 +8,20 @@
       },
       "prevControl": null,
       "nextControl": {
-        "x": 5.96969696969697,
+        "x": 7.044375,
-        "y": 1.1282196969696958
+        "y": 1.8921875
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 5.319191919191919,
+        "x": 5.2771875,
-        "y": 2.6833333333333327
+        "y": 2.61125
       },
       "prevControl": {
-        "x": 5.75625,
+        "x": 5.3503125,
-        "y": 2.256439393939394
+        "y": 2.1603125
       },
       "nextControl": null,
       "isLocked": false,
@@ -42,10 +42,10 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": 122.87136694597014
+    "rotation": 118.99790479482637
   },
   "reversed": false,
-  "folder": null,
+  "folder": "Barge to Reef",
   "idealStartingState": {
     "velocity": 0,
     "rotation": 179.5295681977034

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

@@ -8,20 +8,20 @@
       },
       "prevControl": null,
       "nextControl": {
-        "x": 8.123574009981496,
+        "x": 6.625889381464077,
-        "y": 0.3592362071562901
+        "y": 1.4477106264692527
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 5.3903409090909085,
+        "x": 5.3015625,
-        "y": 2.6833333333333327
+        "y": 2.6234375
       },
       "prevControl": {
-        "x": 5.06636861749931,
+        "x": 5.721332938841585,
-        "y": 2.9361778277713553
+        "y": 2.265481302925542
       },
       "nextControl": null,
       "isLocked": false,
@@ -42,13 +42,13 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": -57.4259428654274
+    "rotation": 120.98817835541992
   },
   "reversed": false,
-  "folder": null,
+  "folder": "Barge to Reef",
   "idealStartingState": {
     "velocity": 0,
-    "rotation": -0.9548412538721401
+    "rotation": -179.94258861633824
   },
   "useDefaultConstraints": true
 }

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

@@ -16,12 +16,12 @@
     },
     {
       "anchor": {
-        "x": 6.172414772727272,
+        "x": 6.1059375,
         "y": 4.045328282828282
       },
       "prevControl": {
-        "x": 5.696091638273898,
+        "x": 6.35555109493404,
-        "y": 4.0462802990619195
+        "y": 4.031433923393444
       },
       "nextControl": null,
       "isLocked": false,
@@ -45,7 +45,7 @@
     "rotation": -179.96096735022735
   },
   "reversed": false,
-  "folder": null,
+  "folder": "Barge to Reef",
   "idealStartingState": {
     "velocity": 0,
     "rotation": -179.2890804030095

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

@@ -1,70 +0,0 @@
-{
-  "version": "2025.0",
-  "waypoints": [
-    {
-      "anchor": {
-        "x": 5.982954545454545,
-        "y": 4.03497159090909
-      },
-      "prevControl": null,
-      "nextControl": {
-        "x": 7.109744318181819,
-        "y": 3.8355397727272718
-      },
-      "isLocked": false,
-      "linkedName": null
-    },
-    {
-      "anchor": {
-        "x": 6.232244318181818,
-        "y": 5.281420454545455
-      },
-      "prevControl": {
-        "x": 7.1397939460232385,
-        "y": 4.676387369317844
-      },
-      "nextControl": {
-        "x": 5.574119318181818,
-        "y": 5.720170454545454
-      },
-      "isLocked": false,
-      "linkedName": null
-    },
-    {
-      "anchor": {
-        "x": 1.121401515151515,
-        "y": 7.003093434343434
-      },
-      "prevControl": {
-        "x": 0.32627122293847843,
-        "y": 7.229156472141377
-      },
-      "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": -53.93780932479241
-  },
-  "reversed": false,
-  "folder": null,
-  "idealStartingState": {
-    "velocity": 0,
-    "rotation": 179.1574757392596
-  },
-  "useDefaultConstraints": true
-}

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

@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 3.680625,
+        "y": 2.61125
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 3.2541591082344743,
+        "y": 2.3264921263556886
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 1.12125,
+        "y": 1.0025
+      },
+      "prevControl": {
+        "x": 1.3989083079519464,
+        "y": 1.1682576997602765
+      },
+      "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": 55.37584492005105
+  },
+  "reversed": false,
+  "folder": "Reef to Bottom Feed",
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 58.10920819815426
+  },
+  "useDefaultConstraints": true
+}

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

@@ -3,25 +3,25 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 5.344772727272727,
+        "x": 5.265,
-        "y": 2.6688636363636364
+        "y": 2.61125
       },
       "prevControl": null,
       "nextControl": {
-        "x": 6.4715625,
+        "x": 4.137208815063533,
-        "y": 1.432386363636364
+        "y": 2.0700494801809173
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 1.1823863636363636,
+        "x": 1.096875,
-        "y": 1.026578282828283
+        "y": 1.0390625
       },
       "prevControl": {
-        "x": 0.9229528762543462,
+        "x": 1.3299317623663032,
-        "y": 0.9200437072077402
+        "y": 1.1501468126694903
       },
       "nextControl": null,
       "isLocked": false,
@@ -45,7 +45,7 @@
     "rotation": 55.05578949900953
   },
   "reversed": false,
-  "folder": null,
+  "folder": "Reef to Bottom Feed",
   "idealStartingState": {
     "velocity": 0,
     "rotation": 121.42956561483854

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

@@ -3,25 +3,25 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 6.092642045454545,
+        "x": 6.1059375,
-        "y": 3.9651704545454542
+        "y": 4.0249999999999995
       },
       "prevControl": null,
       "nextControl": {
-        "x": 9.024289772727268,
+        "x": 7.264857954545455,
-        "y": 3.446647727272728
+        "y": 2.244517045454545
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 1.3755050505050503,
+        "x": 1.1090625,
-        "y": 0.8842803030303026
+        "y": 1.0146875
       },
       "prevControl": {
-        "x": 1.5707222528658078,
+        "x": 1.95,
-        "y": 1.040454064918909
+        "y": 2.1115625000000002
       },
       "nextControl": null,
       "isLocked": false,
@@ -45,7 +45,7 @@
     "rotation": 52.857102599919905
   },
   "reversed": false,
-  "folder": null,
+  "folder": "Reef to Bottom Feed",
   "idealStartingState": {
     "velocity": 0,
     "rotation": -179.46454101443553

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

@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 6.1059375,
+        "y": 4.037187499999999
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 7.1784375,
+        "y": 6.4015625
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 1.121401515151515,
+        "y": 7.003093434343434
+      },
+      "prevControl": {
+        "x": 1.7184374999999998,
+        "y": 5.999375
+      },
+      "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": 179.1574757392596
+  },
+  "useDefaultConstraints": true
+}

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

@@ -8,8 +8,8 @@
       },
       "prevControl": null,
       "nextControl": {
-        "x": 4.844554924242423,
+        "x": 4.996875,
-        "y": 6.744466540404039
+        "y": 6.8525
       },
       "isLocked": false,
       "linkedName": null
@@ -20,8 +20,8 @@
         "y": 7.003093434343434
       },
       "prevControl": {
-        "x": 1.9644034090909093,
+        "x": 2.34,
-        "y": 5.750085227272726
+        "y": 5.5484375
       },
       "nextControl": null,
       "isLocked": false,
@@ -45,7 +45,7 @@
     "rotation": -54.83470564502973
   },
   "reversed": false,
-  "folder": null,
+  "folder": "Reef to Top Feed",
   "idealStartingState": {
     "velocity": 0,
     "rotation": -121.0370223454415

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

@@ -16,28 +16,12 @@
     },
     {
       "anchor": {
-        "x": 6.305113636363636,
+        "x": 6.0571875,
         "y": 7.348674242424242
       },
       "prevControl": {
-        "x": 5.928529040722133,
+        "x": 6.306992295436264,
-        "y": 7.353679406601922
+        "y": 7.338796784398704
-      },
-      "nextControl": {
-        "x": 6.681698232005139,
-        "y": 7.343669078246562
-      },
-      "isLocked": false,
-      "linkedName": null
-    },
-    {
-      "anchor": {
-        "x": 3.8889204545454543,
-        "y": 7.348674242424242
-      },
-      "prevControl": {
-        "x": 4.138853417354843,
-        "y": 7.3544633789160185
       },
       "nextControl": null,
       "isLocked": false,
@@ -58,7 +42,7 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": 179.59913485447024
+    "rotation": 179.5653636269807
   },
   "reversed": false,
   "folder": null,

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

@@ -45,7 +45,7 @@
     "rotation": -59.239047023115106
   },
   "reversed": false,
-  "folder": null,
+  "folder": "Top Feed to Reef",
   "idealStartingState": {
     "velocity": 0,
     "rotation": -52.93323259086456

src/main/deploy/pathplanner/settings.json

@@ -2,7 +2,13 @@
   "robotWidth": 0.9,
   "robotLength": 0.9,
   "holonomicMode": true,
-  "pathFolders": [],
+  "pathFolders": [
+    "Barge to Reef",
+    "Bottom Feed to Reef",
+    "Reef to Top Feed",
+    "Reef to Bottom Feed",
+    "Top Feed to Reef"
+  ],
   "autoFolders": [],
   "defaultMaxVel": 3.0,
   "defaultMaxAccel": 3.0,

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

@@ -90,7 +90,7 @@ public class RobotContainer {
     public final LED m_robotLED = new LED();
     public final Vision m_vision = new Vision(m_robotMap.leftCamera, m_robotMap.rightCamera);
     public final Lidar m_lidar = new Lidar();
-    public final Elevator m_robotElevator = new Elevator(m_robotMap.elevator, m_robotMap.endeffector, m_robotMap.basinLimitSwitch, m_robotMap.endeffectorLimitSwitch, m_robotLED);
+    public final Elevator m_robotElevator = new Elevator(m_robotMap.elevator, m_robotMap.endeffector, m_robotMap.basinLimitSwitch, m_robotMap.endeffectorLimitSwitch, m_vision, m_robotLED);
     public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.swerveDrivetrain, m_vision);
     public final Climber m_robotClimber = new Climber(m_robotMap.climber);
     // public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.swerveDrivetrain);
@@ -332,10 +332,9 @@ public class RobotContainer {
         NamedCommands.registerCommand("place-coral-left-l2", AprilLidarAlignL2Left);
         NamedCommands.registerCommand("place-coral-right-l2", AprilLidarAlignL2Right);
 
-        NamedCommands.registerCommand("lineup-no-arm", new SequentialCommandGroup(
+        NamedCommands.registerCommand("enable-preraise-l4", new InstantCommand(() -> {
-            new GotoLastApril(m_robotSwerveDrive, m_vision, AutoConstants.L4_DISTANCE_PREP, Side.LEFT),
+            m_robotElevator.enablePreRaiseElevator();
-            new LidarAlign(m_robotSwerveDrive, m_lidar)
+        }));
-        ));
 
         configureButtonBindings();        
         configureVirtualButtonBindings();