From 15c69e7788aa976db9d3bc57c42ae1f24ee6efad Mon Sep 17 00:00:00 2001
From: mimigamin <mira.j.maroni@gmail.com>
Date: Thu, 9 Apr 2026 07:18:28 -0600
Subject: [PATCH] test

---
 .../autos/-- Auto Denver test.auto            | 67 +++++++++++++++++++
 .../java/frc4388/robot/RobotContainer.java    |  4 +-
 .../robot/subsystems/intake/Intake.java       |  5 ++
 .../subsystems/intake/IntakeConstants.java    |  2 +-
 4 files changed, 75 insertions(+), 3 deletions(-)
 create mode 100644 src/main/deploy/pathplanner/autos/-- Auto Denver test.auto

diff --git a/src/main/deploy/pathplanner/autos/-- Auto Denver test.auto b/src/main/deploy/pathplanner/autos/-- Auto Denver test.auto
new file mode 100644
index 0000000..57808c7
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/-- Auto Denver test.auto	
@@ -0,0 +1,67 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "Intake Extended"
+          }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 1.0
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Robot Rev Up"
+          }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 1.0
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Robot Shoot"
+          }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 1.0
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Intake Extended"
+          }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 1.0
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Intake Retracted"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}
\ No newline at end of file
diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index 52a8e06..2315403 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -178,14 +178,14 @@ public class RobotContainer {
             // Called on first robot enable
             DeferredBlock.addBlock(() -> {
                 m_robotSwerveDrive.resetGyro();
+                m_robotIntake.setMode(IntakeMode.Idle);
+                m_robotShooter.spinUpIdle();
             }, false);
     
             // Called on every robot enable
             DeferredBlock.addBlock(() -> {
                 TimesNegativeOne.update();
                 FieldPositions.update();
-                m_robotIntake.setMode(IntakeMode.Idle);
-                m_robotShooter.spinUpIdle();
                 m_robotIntake.io.updateGains();
                 m_robotShooter.io.updateGains();
             }, true);
diff --git a/src/main/java/frc4388/robot/subsystems/intake/Intake.java b/src/main/java/frc4388/robot/subsystems/intake/Intake.java
index e37081b..b264ed0 100644
--- a/src/main/java/frc4388/robot/subsystems/intake/Intake.java
+++ b/src/main/java/frc4388/robot/subsystems/intake/Intake.java
@@ -39,6 +39,7 @@ public class Intake extends SubsystemBase {
 
         Idle,
         RectractTorque,
+        RectractAuto,
         Bouncing,
         ExpelBalls,
         LabubuGrowl
@@ -179,6 +180,10 @@ public class Intake extends SubsystemBase {
                     // io.setRollerOutput(state, 0);
                 // }
                 break;
+            case RectractAuto:
+                io.setRollerOutput(state, IntakeConstants.ROLLER_RETRACT_PERCENT_OUTPUT.get());
+                io.armOutput(IntakeConstants.ARM_AUTO_OUTPUT.get());
+                break;
             case Idle:
                 io.armOutput(0);
                 io.setRollerOutput(state, 0);
diff --git a/src/main/java/frc4388/robot/subsystems/intake/IntakeConstants.java b/src/main/java/frc4388/robot/subsystems/intake/IntakeConstants.java
index 4840481..6257450 100644
--- a/src/main/java/frc4388/robot/subsystems/intake/IntakeConstants.java
+++ b/src/main/java/frc4388/robot/subsystems/intake/IntakeConstants.java
@@ -60,7 +60,7 @@ public class IntakeConstants {
     public static final ConfigurableDouble ARM_EXTEND_PERCENT_OUTPUT = new ConfigurableDouble("Arm extend % output", 0.4);
     public static final ConfigurableDouble ARM_RETRACT_PERCENT_OUTPUT = new ConfigurableDouble("Arm retract % output", -0.2);
 
-    
+    public static final ConfigurableDouble ARM_AUTO_OUTPUT = new ConfigurableDouble("Arm auto output", -0.1);
     public static final ConfigurableDouble ARM_REVERSE_ROLLER_RANGE = new ConfigurableDouble("Arm reverse roller range", 1.17);
     
     public static final ConfigurableDouble ROLLER_PERCENT_OUTPUT = new ConfigurableDouble("Roller Percent Output", .50);