auto stuf

auto stuff

src/main/deploy/pathplanner/autos/Auto Test Slow.auto

@@ -1,19 +0,0 @@
-{
-  "version": "2025.0",
-  "command": {
-    "type": "sequential",
-    "data": {
-      "commands": [
-        {
-          "type": "path",
-          "data": {
-            "pathName": "TurnNinety"
-          }
-        }
-      ]
-    }
-  },
-  "resetOdom": true,
-  "folder": null,
-  "choreoAuto": false
-}

src/main/deploy/pathplanner/paths/Quick Shoot.path

@@ -3,41 +3,41 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 3.48951566951567,
+        "x": 3.605428571428572,
         "y": 5.107378917378918
       },
       "prevControl": null,
       "nextControl": {
-        "x": 2.908105413105413,
+        "x": 2.6073542083177803,
-        "y": 6.205598290598291
-      },
-      "isLocked": false,
-      "linkedName": null
-    },
-    {
-      "anchor": {
-        "x": 1.616082621082621,
         "y": 5.107378917378918
       },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 2.2557261904761914,
+        "y": 4.801630952380952
+      },
       "prevControl": {
-        "x": 0.44392059766331804,
+        "x": 2.5688571428571443,
-        "y": 6.342550994319343
+        "y": 5.4170952380952375
       },
       "nextControl": {
-        "x": 2.234130952380953,
+        "x": 1.848588583599833,
-        "y": 4.456107142857142
+        "y": 4.00139496645156
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 2.8064047619047625,
+        "x": 2.2557261904761914,
-        "y": 3.8622380952380952
+        "y": 4.035
       },
       "prevControl": {
-        "x": 2.8172023809523816,
+        "x": 2.2665238095238105,
-        "y": 4.132178571428572
+        "y": 4.304940476190477
       },
       "nextControl": null,
       "isLocked": false,
@@ -46,18 +46,7 @@
   ],
   "rotationTargets": [],
   "constraintZones": [],
-  "pointTowardsZones": [
+  "pointTowardsZones": [],
-    {
-      "fieldPosition": {
-        "x": 4.612,
-        "y": 4.0213534
-      },
-      "rotationOffset": 0.0,
-      "minWaypointRelativePos": 0.9140287769784197,
-      "maxWaypointRelativePos": 2,
-      "name": "Point Towards Zone"
-    }
-  ],
   "eventMarkers": [],
   "globalConstraints": {
     "maxVelocity": 0.5,
@@ -69,7 +58,7 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": -1.591140271194531
+    "rotation": 180.0
   },
   "reversed": false,
   "folder": null,

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

@@ -3,25 +3,25 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 2.0,
+        "x": 3.62702380952381,
-        "y": 7.0
+        "y": 6.0
       },
       "prevControl": null,
       "nextControl": {
-        "x": 3.0,
+        "x": 4.627023809523808,
-        "y": 7.0
+        "y": 6.0
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 2.9612559241706156,
+        "x": 2.180142857142858,
-        "y": 7.0
+        "y": 6.0
       },
       "prevControl": {
-        "x": 1.9612559241706156,
+        "x": 1.180142857142858,
-        "y": 7.0
+        "y": 6.0
       },
       "nextControl": null,
       "isLocked": false,
@@ -33,7 +33,7 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 0.2,
+    "maxVelocity": 1.0,
     "maxAcceleration": 3.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
@@ -42,13 +42,13 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": 0.0
+    "rotation": 178.89829388479367
   },
   "reversed": false,
   "folder": null,
   "idealStartingState": {
     "velocity": 0,
-    "rotation": 0.0
+    "rotation": 179.95980050207663
   },
   "useDefaultConstraints": false
 }

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

@@ -1,54 +0,0 @@
-{
-  "version": "2025.0",
-  "waypoints": [
-    {
-      "anchor": {
-        "x": 3.0,
-        "y": 4.0
-      },
-      "prevControl": null,
-      "nextControl": {
-        "x": 4.0,
-        "y": 4.0
-      },
-      "isLocked": false,
-      "linkedName": null
-    },
-    {
-      "anchor": {
-        "x": 3.0,
-        "y": 4.0
-      },
-      "prevControl": {
-        "x": 2.0,
-        "y": 4.0
-      },
-      "nextControl": null,
-      "isLocked": false,
-      "linkedName": null
-    }
-  ],
-  "rotationTargets": [],
-  "constraintZones": [],
-  "pointTowardsZones": [],
-  "eventMarkers": [],
-  "globalConstraints": {
-    "maxVelocity": 0.1,
-    "maxAcceleration": 3.0,
-    "maxAngularVelocity": 540.0,
-    "maxAngularAcceleration": 720.0,
-    "nominalVoltage": 12.0,
-    "unlimited": false
-  },
-  "goalEndState": {
-    "velocity": 0,
-    "rotation": 90.0
-  },
-  "reversed": false,
-  "folder": null,
-  "idealStartingState": {
-    "velocity": 0,
-    "rotation": 0.0
-  },
-  "useDefaultConstraints": false
-}

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

@@ -100,6 +100,14 @@ public class RobotContainer {
     
     private Command RobotShoot = new SequentialCommandGroup(
         new InstantCommand(() -> m_robotShooter.setShooterReady()),
+        new RunCommand(
+                () -> {
+                m_robotSwerveDrive.driveFacingPosition(
+                    getDeadbandedDriverController().getLeft(),
+                    FieldPositions.HUB_POSITION,
+                    ShooterConstants.AIM_LEAD_TIME.get()
+                    );
+                }, m_robotSwerveDrive),
         new InstantCommand(()->m_robotIntake.setMode(IntakeMode.Idle)),
         new WaitCommand(5),
         new InstantCommand(()->m_robotShooter.setShooterShoot()),
@@ -262,8 +270,7 @@ public class RobotContainer {
                 m_robotShooter.setShooterReadyFeeder();
             }));
 
-            
+        
-
 
 
         new JoystickButton(getDeadbandedOperatorController(), XboxController.A_BUTTON)

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 = 75;
+  public static final int GIT_REVISION = 79;
-  public static final String GIT_SHA = "4907e0c8a0fc7dade91b2075d70a2b38213f9cab";
+  public static final String GIT_SHA = "ff0cff819cc7280a353d7ce86999efe16661f33b";
-  public static final String GIT_DATE = "2026-02-21 15:08:32 MST";
+  public static final String GIT_DATE = "2026-02-23 16:58:14 MST";
   public static final String GIT_BRANCH = "operator-controls";
-  public static final String BUILD_DATE = "2026-02-21 15:52:02 MST";
+  public static final String BUILD_DATE = "2026-02-23 17:28:16 MST";
-  public static final long BUILD_UNIX_TIME = 1771714322479L;
+  public static final long BUILD_UNIX_TIME = 1771892896573L;
   public static final int DIRTY = 1;
 
   private BuildConstants(){}

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

@@ -119,7 +119,7 @@ public final class Constants {
 
 
         public static final LEDPatterns OPREADY_FEED = LEDPatterns.SOLID_BLUE;
-        public static final LEDPatterns OPREADY_FEED_BADPHYS = LEDPatterns.BLUE_STROBE;
+        // public static final LEDPatterns OPREADY_FEED_BADPHYS = LEDPatterns.BLUE_STROBE;
     }
 
     public static final class OIConstants {

src/main/java/frc4388/robot/subsystems/shooter/Shooter.java

@@ -126,8 +126,11 @@ public class Shooter extends SubsystemBase {
             boolean badShooterVelocity = Math.abs(shooterSpeed - shooterSpeedTarget) > ShooterConstants.SHOOTER_SPEED_TOLERANCE.get();
         //     boolean intakeBad = m_Intake.getMode() == IntxakeMode.Extended;
 
+            boolean feedMdoe = this.mode == ShooterMode.ReadyFeeder |
+                this.mode == ShooterMode.ShootingFeeder;
 
-            int bitmask = (driverError ? 1 : 0) + (badShooterVelocity ? 2 : 0) + (this.mode == ShooterMode.ReadyFeeder ? 4 : 0);
+            int bitmask = (driverError ? 1 : 0) + (badShooterVelocity ? 2 : 0) + (
+                (feedMdoe) ? 4 : 0);
             switch (bitmask) {
                 case 0b000: // No Errors
                     m_robotLED.setMode(Constants.LEDConstants.OPREADY);
@@ -147,19 +150,30 @@ public class Shooter extends SubsystemBase {
                     break;
 
                 case 0b100:
-                    m_robotLED.setMode(Constants.LEDConstants.OPREADY_FEED);
-                    break;
                 case 0b101:
-                    m_robotLED.setMode(Constants.LEDConstants.OPREADY_FEED_BADPHYS);
+                    m_robotLED.setMode(Constants.LEDConstants.OPREADY_FEED);
                     break;
             }
 
         //     // We set the shooter mode to ready if there are no errors
-            mode = (
+            
-                bitmask == 0 ?
+            if (!feedMdoe) {
-                ShooterMode.Shooting :
+                mode = (
-                ShooterMode.Ready
+                    bitmask == 0 ?
-            );
+                    ShooterMode.Shooting :
+                    ShooterMode.Ready
+                );
+            } else {
+
+                if(bitmask == 0b100 |
+                bitmask == 0b101) {
+                    mode = ShooterMode.ShootingFeeder;
+
+                } else {
+                    mode = ShooterMode.ReadyFeeder;
+                }
+                
+            }
 
         } else {
             m_robotLED.setMode(Constants.LEDConstants.DEFAULT_PATTERN);
@@ -196,7 +210,7 @@ public class Shooter extends SubsystemBase {
                 break;
 
             case ReadyFeeder:
-                io.setShooterVelocity(state, ShooterConstants.getTargetShooterSpeed(distanceToHub));
+                io.setShooterVelocity(state, RotationsPerSecond.of(ShooterConstants.SHOOTER_FEED_VELOCITY.get()));
                 io.setIndexerOutput(state, ShooterConstants.INDEXER_REVERSE_OUTPUT.get());
                 break;