Hopeful Tuesday Auto Test

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/autos/Monday Test.auto

@@ -0,0 +1,31 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Quick Shoot"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Robot Shoot"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Lidar Intake"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}

src/main/deploy/pathplanner/autos/Shoot and Lidar test.auto

@@ -0,0 +1,49 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Quick Shoot"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Robot Shoot"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "DriveDepot"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Lidar Intake"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Depot Shoot"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Robot Shoot"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}

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

@@ -3,25 +3,25 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 3.0,
+        "x": 1.4401807228915664,
-        "y": 4.0
+        "y": 5.608590361445783
       },
       "prevControl": null,
       "nextControl": {
-        "x": 4.0,
+        "x": 1.4401807228915664,
-        "y": 4.0
+        "y": 4.710738110733342
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 3.0,
+        "x": 2.5,
         "y": 4.0
       },
       "prevControl": {
-        "x": 2.0,
+        "x": 2.5,
-        "y": 4.0
+        "y": 4.270156342259512
       },
       "nextControl": null,
       "isLocked": false,
@@ -33,7 +33,7 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 0.1,
+    "maxVelocity": 0.5,
     "maxAcceleration": 3.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,
@@ -42,7 +42,7 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": 90.0
+    "rotation": 180.0
   },
   "reversed": false,
   "folder": null,

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

@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 2.5,
+        "y": 4.0
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 2.5000000000000004,
+        "y": 7.854276578779859
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 0.47854216867347843,
+        "y": 6.9745542168703265
+      },
+      "prevControl": {
+        "x": 0.34740963855421675,
+        "y": 7.44444578313253
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 1.0,
+    "maxAcceleration": 1.0,
+    "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": 180.0
+  },
+  "useDefaultConstraints": false
+}

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

@@ -3,41 +3,41 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 3.48951566951567,
+        "x": 3.636650602409638,
-        "y": 5.107378917378918
+        "y": 5.051277108433735
       },
       "prevControl": null,
       "nextControl": {
-        "x": 2.908105413105413,
+        "x": 2.871710843373494,
-        "y": 6.205598290598291
+        "y": 5.215192771084337
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 1.616082621082621,
+        "x": 2.0958433734939756,
-        "y": 5.107378917378918
+        "y": 4.87643373493976
       },
       "prevControl": {
-        "x": 0.44392059766331804,
+        "x": 2.2160481927710847,
-        "y": 6.342550994319343
+        "y": 5.357253012048193
       },
       "nextControl": {
-        "x": 2.234130952380953,
+        "x": 1.8780822166771538,
-        "y": 4.456107142857142
+        "y": 4.00538910767248
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 2.8064047619047625,
+        "x": 2.5,
-        "y": 3.8622380952380952
+        "y": 4.0
       },
       "prevControl": {
-        "x": 2.8172023809523816,
+        "x": 2.5,
-        "y": 4.132178571428572
+        "y": 4.270156342259512
       },
       "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,
@@ -69,13 +58,13 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": -1.591140271194531
+    "rotation": 180.0
   },
   "reversed": false,
   "folder": null,
   "idealStartingState": {
     "velocity": 0,
-    "rotation": 178.40885972880554
+    "rotation": 180.0
   },
   "useDefaultConstraints": false
 }

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

@@ -101,6 +101,7 @@ public class RobotContainer {
     );
 
     private Command LidarIntake = new SequentialCommandGroup(
+        RobotIntakeDown,
         new RunCommand(
         () -> m_robotSwerveDrive.driveWithInputRotation(
                 m_lidar.getClosestBall(),