Autos for Pike

src/main/deploy/pathplanner/autos/HubLeft-Score-Push.auto

@@ -28,18 +28,18 @@
             "name": "Robot Shoot"
           }
         },
-        {
-          "type": "path",
-          "data": {
-            "pathName": "LShoot-Nu"
-          }
-        },
         {
           "type": "named",
           "data": {
             "name": "Intake Extended"
           }
         },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "LShoot-Nu"
+          }
+        },
         {
           "type": "path",
           "data": {

src/main/deploy/pathplanner/autos/HubLeft-Score-Tower ❌.auto

@@ -1,43 +0,0 @@
-{
-  "version": "2025.0",
-  "command": {
-    "type": "sequential",
-    "data": {
-      "commands": [
-        {
-          "type": "named",
-          "data": {
-            "name": "Intake Extended"
-          }
-        },
-        {
-          "type": "named",
-          "data": {
-            "name": "Robot Rev Up"
-          }
-        },
-        {
-          "type": "path",
-          "data": {
-            "pathName": "HubLeft-Shoot"
-          }
-        },
-        {
-          "type": "named",
-          "data": {
-            "name": "Robot Shoot"
-          }
-        },
-        {
-          "type": "path",
-          "data": {
-            "pathName": "LShoot-Tower"
-          }
-        }
-      ]
-    }
-  },
-  "resetOdom": true,
-  "folder": "HubLeft",
-  "choreoAuto": false
-}

src/main/deploy/pathplanner/autos/HubRight-Score-Push.auto

@@ -28,18 +28,18 @@
             "name": "Robot Shoot"
           }
         },
-        {
-          "type": "path",
-          "data": {
-            "pathName": "ReadyPush"
-          }
-        },
         {
           "type": "named",
           "data": {
             "name": "Intake Extended"
           }
         },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "ReadyPush"
+          }
+        },
         {
           "type": "path",
           "data": {

src/main/deploy/pathplanner/autos/★HubCenter-Station-Score.auto

@@ -11,7 +11,7 @@
               {
                 "type": "path",
                 "data": {
-                  "pathName": "HubRight-PlayerStation"
+                  "pathName": "HubCenter-PlayerStation"
                 }
               },
               {
@@ -46,17 +46,11 @@
           "data": {
             "name": "Robot Shoot"
           }
-        },
-        {
-          "type": "path",
-          "data": {
-            "pathName": "RShoot-Tower"
-          }
         }
       ]
     }
   },
   "resetOdom": true,
-  "folder": "HubRight",
+  "folder": "HubCenter",
   "choreoAuto": false
 }

src/main/deploy/pathplanner/paths/Center-Hub-Shoot.path

@@ -33,11 +33,11 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 2.8,
+    "maxVelocity": 3.0,
     "maxAcceleration": 3.0,
     "maxAngularVelocity": 600.0,
     "maxAngularAcceleration": 750.0,
-    "nominalVoltage": 10.0,
+    "nominalVoltage": 12.0,
     "unlimited": false
   },
   "goalEndState": {
@@ -50,5 +50,5 @@
     "velocity": 0,
     "rotation": 180.0
   },
-  "useDefaultConstraints": true
+  "useDefaultConstraints": false
 }

src/main/deploy/pathplanner/paths/Center-NeutralL.path

@@ -33,7 +33,7 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 2.8,
+    "maxVelocity": 3.0,
     "maxAcceleration": 3.0,
     "maxAngularVelocity": 600.0,
     "maxAngularAcceleration": 750.0,

src/main/deploy/pathplanner/paths/Center-NeutralR.path

@@ -33,7 +33,7 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 2.8,
+    "maxVelocity": 3.0,
     "maxAcceleration": 3.0,
     "maxAngularVelocity": 600.0,
     "maxAngularAcceleration": 750.0,

src/main/deploy/pathplanner/paths/Center-ToDepot.path

@@ -33,7 +33,7 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 2.8,
+    "maxVelocity": 3.0,
     "maxAcceleration": 3.0,
     "maxAngularVelocity": 600.0,
     "maxAngularAcceleration": 750.0,

src/main/deploy/pathplanner/paths/HubCenter-PlayerStation.path

@@ -0,0 +1,107 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 3.5541168091168096,
+        "y": 4.0
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 2.8047435897435893,
+        "y": 3.957478632478633
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 2.5,
+        "y": 4.0
+      },
+      "prevControl": {
+        "x": 2.778903133903134,
+        "y": 4.319245014245015
+      },
+      "nextControl": {
+        "x": 1.995141221800707,
+        "y": 3.422116038703489
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 1.5754761904761914,
+        "y": 1.0
+      },
+      "prevControl": {
+        "x": 2.2272563574654534,
+        "y": 0.9727386663284083
+      },
+      "nextControl": {
+        "x": 0.9236960234869294,
+        "y": 1.0272613336715914
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 0.46,
+        "y": 1.0
+      },
+      "prevControl": {
+        "x": 0.709742135052909,
+        "y": 0.9886480847776856
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [
+    {
+      "fieldPosition": {
+        "x": 0.0,
+        "y": 0.7
+      },
+      "rotationOffset": 180.0,
+      "minWaypointRelativePos": 0.8486842105263119,
+      "maxWaypointRelativePos": 1.95,
+      "name": "Point Towards Zone"
+    },
+    {
+      "fieldPosition": {
+        "x": 0.0,
+        "y": 4.0
+      },
+      "rotationOffset": 180.0,
+      "minWaypointRelativePos": 0.0,
+      "maxWaypointRelativePos": 0.7515182186234766,
+      "name": "Point Towards Zone"
+    }
+  ],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 600.0,
+    "maxAngularAcceleration": 750.0,
+    "nominalVoltage": 10.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": -95.0
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "useDefaultConstraints": true
+}

src/main/deploy/pathplanner/paths/HubFarLeft-NeutralZone.path

@@ -96,11 +96,11 @@
   ],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 2.8,
+    "maxVelocity": 3.0,
     "maxAcceleration": 3.0,
     "maxAngularVelocity": 600.0,
     "maxAngularAcceleration": 750.0,
-    "nominalVoltage": 10.0,
+    "nominalVoltage": 12.0,
     "unlimited": false
   },
   "goalEndState": {

src/main/deploy/pathplanner/paths/HubFarRight-NeutralZone.path

@@ -96,7 +96,7 @@
   ],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 2.8,
+    "maxVelocity": 3.0,
     "maxAcceleration": 3.0,
     "maxAngularVelocity": 600.0,
     "maxAngularAcceleration": 750.0,

src/main/deploy/pathplanner/paths/HubLeft-Shoot.path

@@ -44,7 +44,7 @@
   ],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 2.8,
+    "maxVelocity": 3.0,
     "maxAcceleration": 3.0,
     "maxAngularVelocity": 600.0,
     "maxAngularAcceleration": 750.0,

src/main/deploy/pathplanner/paths/HubRight-Shoot.path

@@ -44,7 +44,7 @@
   ],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 2.8,
+    "maxVelocity": 3.0,
     "maxAcceleration": 3.0,
     "maxAngularVelocity": 600.0,
     "maxAngularAcceleration": 750.0,

src/main/deploy/pathplanner/paths/LShoot-Nu.path

@@ -20,8 +20,8 @@
         "y": 7.4
       },
       "prevControl": {
-        "x": 2.460880952380954,
+        "x": 1.7698333333333336,
-        "y": 7.55502380952381
+        "y": 7.036738095238095
       },
       "nextControl": null,
       "isLocked": false,
@@ -33,7 +33,7 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 1.0,
+    "maxVelocity": 2.0,
     "maxAcceleration": 3.0,
     "maxAngularVelocity": 600.0,
     "maxAngularAcceleration": 750.0,

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

@@ -47,7 +47,7 @@
     "maxVelocity": 3.0,
     "maxAcceleration": 3.0,
     "maxAngularVelocity": 600.0,
-    "maxAngularAcceleration": 770.0,
+    "maxAngularAcceleration": 750.0,
     "nominalVoltage": 12.0,
     "unlimited": false
   },
@@ -61,5 +61,5 @@
     "velocity": 0,
     "rotation": -148.82
   },
-  "useDefaultConstraints": false
+  "useDefaultConstraints": true
 }

src/main/deploy/pathplanner/settings.json

@@ -8,7 +8,7 @@
     "HubRight",
     "HubLeft"
   ],
-  "defaultMaxVel": 2.8,
+  "defaultMaxVel": 3.0,
   "defaultMaxAccel": 3.0,
   "defaultMaxAngVel": 600.0,
   "defaultMaxAngAccel": 750.0,

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

@@ -121,9 +121,9 @@ public class RobotContainer {
     // );
 
     private Command RobotRev = new SequentialCommandGroup(
-        new InstantCommand(() -> m_robotIntake.setMode(IntakeMode.Idle), m_robotIntake),
+        new InstantCommand(() -> m_robotShooter.spinUpShooting(), m_robotShooter),
-        new InstantCommand(() -> m_robotIntake.rollerStop(), m_robotIntake),
+        IntakeExtended,
-        new InstantCommand(() -> m_robotShooter.spinUpShooting(), m_robotShooter)
+        new InstantCommand(() -> m_robotIntake.setMode(IntakeMode.RollerStop), m_robotIntake)
     );
 
     private Command RobotIntakeRetracted = new SequentialCommandGroup(

src/main/java/frc4388/robot/constants/BuildConstants.java

@@ -7,12 +7,12 @@ public final class BuildConstants {
   public static final String MAVEN_GROUP = "";
   public static final String MAVEN_NAME = "2026KPopRobotHunters";
   public static final String VERSION = "unspecified";
-  public static final int GIT_REVISION = 141;
+  public static final int GIT_REVISION = 142;
-  public static final String GIT_SHA = "5b467df2cab912af2e96e94d2d51490e7da2f0bb";
+  public static final String GIT_SHA = "183caaa9700e236fb017be9702c4acc285fc6b98";
-  public static final String GIT_DATE = "2026-03-04 19:33:17 MST";
+  public static final String GIT_DATE = "2026-03-05 17:22:50 MST";
-  public static final String GIT_BRANCH = "Autos-for-pike";
+  public static final String GIT_BRANCH = "master";
-  public static final String BUILD_DATE = "2026-03-04 20:10:01 MST";
+  public static final String BUILD_DATE = "2026-03-05 18:03:37 MST";
-  public static final long BUILD_UNIX_TIME = 1772680201068L;
+  public static final long BUILD_UNIX_TIME = 1772759017911L;
   public static final int DIRTY = 1;
 
   private BuildConstants(){}

src/main/java/frc4388/robot/subsystems/intake/Intake.java

@@ -27,7 +27,8 @@ public class Intake extends SubsystemBase {
         Retracted,
         Extending,
         Retracting,
-        Idle
+        Idle,
+        RollerStop
     }
 
     private IntakeMode mode = IntakeMode.Idle;
@@ -90,6 +91,9 @@ public class Intake extends SubsystemBase {
             case Idle:
                 io.stopArm();
                 break;
+            case RollerStop:
+                io.setRollerOutput(state, 0);
+                break;
         }
         // if (state.retractedLimit){
         //     this.mode = IntakeMode.Retracted;