Lunch Break

src/main/deploy/pathplanner/autos/X. LeftTrench-Neutral-Trench-Shoot.auto

@@ -45,7 +45,7 @@
                     {
                       "type": "wait",
                       "data": {
-                        "waitTime": 5.0
+                        "waitTime": 5.75
                       }
                     },
                     {
@@ -71,12 +71,6 @@
               }
             ]
           }
-        },
-        {
-          "type": "named",
-          "data": {
-            "name": "Intake Extended"
-          }
         }
       ]
     }

src/main/deploy/pathplanner/autos/X. RightTrench-Neutral-Trench-Shoot-PlayerStation-Shoot.auto

@@ -45,7 +45,7 @@
                     {
                       "type": "wait",
                       "data": {
-                        "waitTime": 4.5
+                        "waitTime": 4.2
                       }
                     },
                     {

src/main/deploy/pathplanner/paths/LeftTrench-Neutral-Trench-Shoot.path

@@ -48,16 +48,16 @@
     },
     {
       "anchor": {
-        "x": 6.402011904761906,
+        "x": 7.460178571428572,
-        "y": 6.561642857142857
+        "y": 7.198702380952382
       },
       "prevControl": {
-        "x": 6.45205334133696,
+        "x": 7.7595083586189455,
-        "y": 6.141294789912411
+        "y": 6.899372593762008
       },
       "nextControl": {
-        "x": 6.240047619047619,
+        "x": 7.125452380952383,
-        "y": 7.922142857142857
+        "y": 7.533428571428571
       },
       "isLocked": false,
       "linkedName": null
@@ -80,12 +80,12 @@
     },
     {
       "anchor": {
-        "x": 2.61204761904762,
+        "x": 3.076345238095239,
-        "y": 6.216119047619048
+        "y": 6.658821428571429
       },
       "prevControl": {
-        "x": 3.0007619047619056,
+        "x": 3.346285714285715,
-        "y": 6.4644642857142856
+        "y": 6.939559523809524
       },
       "nextControl": null,
       "isLocked": false,
@@ -99,7 +99,20 @@
       "minWaypointRelativePos": 1.275434243176181,
       "maxWaypointRelativePos": 1.8709677419354975,
       "constraints": {
-        "maxVelocity": 1.2,
+        "maxVelocity": 0.9,
+        "maxAcceleration": 3.0,
+        "maxAngularVelocity": 600.0,
+        "maxAngularAcceleration": 750.0,
+        "nominalVoltage": 12.0,
+        "unlimited": false
+      }
+    },
+    {
+      "name": "Constraints Zone",
+      "minWaypointRelativePos": 2.133693450371388,
+      "maxWaypointRelativePos": 5.0,
+      "constraints": {
+        "maxVelocity": 3.0,
         "maxAcceleration": 3.0,
         "maxAngularVelocity": 600.0,
         "maxAngularAcceleration": 750.0,
@@ -116,7 +129,7 @@
       },
       "rotationOffset": 0.0,
       "minWaypointRelativePos": 1.3067552602436252,
-      "maxWaypointRelativePos": 2.0198511166253303,
+      "maxWaypointRelativePos": 2.635235732009895,
       "name": "Point Towards Zone"
     },
     {
@@ -161,7 +174,7 @@
   },
   "goalEndState": {
     "velocity": 0.0,
-    "rotation": 133.0
+    "rotation": 119.0
   },
   "reversed": false,
   "folder": null,

src/main/deploy/pathplanner/paths/RightTrench-Neutral-Trench-Shoot.path

@@ -96,10 +96,10 @@
   "constraintZones": [
     {
       "name": "Constraints Zone",
-      "minWaypointRelativePos": 1.255583126550872,
+      "minWaypointRelativePos": 1.1761786600496387,
       "maxWaypointRelativePos": 1.7617866004962806,
       "constraints": {
-        "maxVelocity": 1.2,
+        "maxVelocity": 1.0,
         "maxAcceleration": 3.0,
         "maxAngularVelocity": 600.0,
         "maxAngularAcceleration": 750.0,

src/main/java/frc4388/robot/Robot.java

@@ -158,10 +158,10 @@ public class Robot extends LoggedRobot {
   public void teleopPeriodic() {
     var info = HubShiftTimer.getShiftInfo();
 
-    double rumble = (info.remainingInShift() < 5.  && info.remainingInShift() > 0.1) ? 1 : 0;
+    double rumble = (info.remainingInShift() < 5.  && info.remainingInShift() > 3.9) ? 1 : 0;
 
-    // m_robotContainer.getDeadbandedDriverController().setRumble(RumbleType.kBothRumble, rumble);
+    m_robotContainer.getDeadbandedDriverController().setRumble(RumbleType.kBothRumble, rumble);
-    // m_robotContainer.getDeadbandedOperatorController().setRumble(RumbleType.kBothRumble, rumble);
+    m_robotContainer.getDeadbandedOperatorController().setRumble(RumbleType.kBothRumble, rumble);
   }
 
   /**

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

@@ -157,15 +157,26 @@ public class RobotContainer {
             new InstantCommand(() -> m_robotIntake.setMode(IntakeMode.RectractTorque), m_robotIntake)
         );
 
-        private Command RobotShoot = new SequentialCommandGroup(
+        private Command RobotHalfShoot = new SequentialCommandGroup(
+            new WaitUntilCommand(m_robotShooter::isShooterUpToSpeed),
+            new InstantCommand(() -> m_robotIntake.setMode(IntakeMode.Idle), m_robotIntake),
+            new InstantCommand(()-> m_robotShooter.allowShooting(), m_robotShooter),
+            new WaitCommand(2.0),
+            new InstantCommand(() -> m_robotShooter.denyShooting(), m_robotShooter),
+            new InstantCommand(()->m_robotShooter.spinUpIdle(), m_robotShooter)
+        );
+    
+        private Command RobotFullShoot = new SequentialCommandGroup(
             // TEST NEW AUTO ALIGN
             //new AutoAlign(m_robotSwerveDrive, m_vision, new Pose2d(FieldPositions.HUB_POSITION,  new Rotation2d(0)), false),
             new WaitUntilCommand(m_robotShooter::isShooterUpToSpeed),
             new InstantCommand(() -> m_robotIntake.setMode(IntakeMode.Idle), m_robotIntake),
             new InstantCommand(()-> m_robotShooter.allowShooting(), m_robotShooter),
-            new WaitCommand(2.75),
+            new WaitCommand(2.5),
+            // new WaitCommand(2.25),
             IntakeRetracted,
-            new WaitCommand(4.4),
+            new WaitCommand(5),
+            // new WaitCommand(4.25),
             new InstantCommand(() -> m_robotShooter.denyShooting(), m_robotShooter),
             new InstantCommand(()->m_robotShooter.spinUpIdle(), m_robotShooter)
         );
@@ -192,7 +203,8 @@ public class RobotContainer {
     
             NamedCommands.registerCommand("Robot Rev Up", RobotRev);
             NamedCommands.registerCommand("Intake Retracted", IntakeRetracted);
-            NamedCommands.registerCommand("Robot Shoot", RobotShoot);
+            NamedCommands.registerCommand("Robot Shoot", RobotFullShoot);
+            NamedCommands.registerCommand("Robot Half Shot", RobotHalfShoot);
             // NamedCommands.registerCommand("Lidar Intake", LidarIntake);
             NamedCommands.registerCommand("Intake Extended", IntakeExtended);
             NamedCommands.registerCommand("Labubu Growl", LabubuGrowl);

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 = 229;
+  public static final int GIT_REVISION = 230;
-  public static final String GIT_SHA = "fa0342a67239f145f381f48ba48e506cdb03026f";
+  public static final String GIT_SHA = "aabcc8d5dec5feecce98773c55866b7b9f054b88";
-  public static final String GIT_DATE = "2026-04-09 12:40:33 MDT";
+  public static final String GIT_DATE = "2026-04-09 18:19:58 MDT";
   public static final String GIT_BRANCH = "New-Intake";
-  public static final String BUILD_DATE = "2026-04-09 17:42:53 MDT";
+  public static final String BUILD_DATE = "2026-04-10 10:42:35 MDT";
-  public static final long BUILD_UNIX_TIME = 1775778173177L;
+  public static final long BUILD_UNIX_TIME = 1775839355397L;
   public static final int DIRTY = 1;
 
   private BuildConstants(){}

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

@@ -26,7 +26,7 @@ public class    ShooterConstants {
     // public static final ConfigurableDouble SHOOTER_RESTING_VELOCITY = new ConfigurableDouble("Shooter Resting Velocity", 0.0);
     
     
-    public static final ConfigurableDouble SHOOTER_IDLE_PERCENT_OUTPUT = new ConfigurableDouble("Shooter idle % output", -0.15);
+    public static final ConfigurableDouble SHOOTER_IDLE_PERCENT_OUTPUT = new ConfigurableDouble("Shooter idle % output", -0.1);
     // public static final ConfigurableDouble SHOOTER_IDLE_TARGET_VEL = new ConfigurableDouble("Shooter idle target velocity", 20.);
     // public static final ConfigurableDouble SHOOTER_IDLE_MAX_CURRENT = new ConfigurableDouble("Shooter Idle max current", 10);