From 6ced6c1ab7707639f3c7f28e694fa7adc75cdcef Mon Sep 17 00:00:00 2001
From: Shikhar <shikharemail8@gmail.com>
Date: Sat, 4 Apr 2026 16:16:41 -0600
Subject: [PATCH] .

---
 .../deploy/pathplanner/autos/X. zawg.auto     | 43 +++++++++++++++++++
 .../paths/RightTrench-FirstSwipe.path         |  8 +++-
 .../java/frc4388/robot/RobotContainer.java    |  6 +--
 .../robot/constants/BuildConstants.java       | 10 ++---
 .../robot/subsystems/shooter/Shooter.java     |  2 +-
 5 files changed, 58 insertions(+), 11 deletions(-)
 create mode 100644 src/main/deploy/pathplanner/autos/X. zawg.auto

diff --git a/src/main/deploy/pathplanner/autos/X. zawg.auto b/src/main/deploy/pathplanner/autos/X. zawg.auto
new file mode 100644
index 0000000..ffb6fe8
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/X. zawg.auto	
@@ -0,0 +1,43 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "Intake Extended"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Intake Reference"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "RightTrench-FirstSwipe"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Robot Rev Up"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Robot Shoot"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/RightTrench-FirstSwipe.path b/src/main/deploy/pathplanner/paths/RightTrench-FirstSwipe.path
index 262e1f3..bbd40df 100644
--- a/src/main/deploy/pathplanner/paths/RightTrench-FirstSwipe.path
+++ b/src/main/deploy/pathplanner/paths/RightTrench-FirstSwipe.path
@@ -100,13 +100,17 @@
     {
       "waypointRelativePos": 3.4315352697095514,
       "rotationDegrees": 0.0
+    },
+    {
+      "waypointRelativePos": 3.9339019189765208,
+      "rotationDegrees": 0.0
     }
   ],
   "constraintZones": [],
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 4.0,
+    "maxVelocity": 3.5,
     "maxAcceleration": 3.0,
     "maxAngularVelocity": 600.0,
     "maxAngularAcceleration": 750.0,
@@ -121,7 +125,7 @@
   "folder": null,
   "idealStartingState": {
     "velocity": 0,
-    "rotation": 90.7627685672325
+    "rotation": 0.0
   },
   "useDefaultConstraints": 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 f149d68..f68c56d 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -265,12 +265,12 @@ public class RobotContainer {
             // TEST-> the driver is holding the left trigger, drive slow and rotation up 
             new Trigger(() -> getDeadbandedDriverController().getLeftTriggerAxis() >= 0.5)
                 .onTrue(new InstantCommand(() -> {
-                    m_robotSwerveDrive.setToSlow();
+                    m_robotSwerveDrive.setPercentOutput(0.1);
                     m_robotSwerveDrive.shiftUpRot();
                 }))
                 .onFalse(new InstantCommand(() -> {
                     m_robotSwerveDrive.setToFast();
-                    m_robotSwerveDrive.shiftDownRot();
+                    // m_robotSwerveDrive.shiftDownRot();
             }));
     
             //TEST - > X positino on wheels
@@ -340,7 +340,7 @@ public class RobotContainer {
             }));
         
 
-
+// manually shoot from climb post/ feed balls
         new JoystickButton(getDeadbandedOperatorController(), XboxController.LEFT_BUMPER_BUTTON)
             .onTrue(new InstantCommand(() -> {
                 m_robotShooter.spinUpFeeding();
diff --git a/src/main/java/frc4388/robot/constants/BuildConstants.java b/src/main/java/frc4388/robot/constants/BuildConstants.java
index e3b7e5d..6d9cb93 100644
--- a/src/main/java/frc4388/robot/constants/BuildConstants.java
+++ b/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 = 210;
-  public static final String GIT_SHA = "6d55c96f6a6109aa09daad379d5483f9fa52ac7e";
-  public static final String GIT_DATE = "2026-04-04 11:16:38 MDT";
+  public static final int GIT_REVISION = 216;
+  public static final String GIT_SHA = "8fb8d8d43669f24867bc94d6e4175a7325ec72c8";
+  public static final String GIT_DATE = "2026-04-04 13:03:52 MDT";
   public static final String GIT_BRANCH = "New-Intake";
-  public static final String BUILD_DATE = "2026-04-04 13:02:09 MDT";
-  public static final long BUILD_UNIX_TIME = 1775329329859L;
+  public static final String BUILD_DATE = "2026-04-04 15:23:52 MDT";
+  public static final long BUILD_UNIX_TIME = 1775337832371L;
   public static final int DIRTY = 1;
 
   private BuildConstants(){}
diff --git a/src/main/java/frc4388/robot/subsystems/shooter/Shooter.java b/src/main/java/frc4388/robot/subsystems/shooter/Shooter.java
index a131d10..07ec15c 100644
--- a/src/main/java/frc4388/robot/subsystems/shooter/Shooter.java
+++ b/src/main/java/frc4388/robot/subsystems/shooter/Shooter.java
@@ -261,6 +261,6 @@ public class Shooter extends SubsystemBase {
                 break;
             }
             
-        io.motorStalled(state, m_Intake, m_robotLED);
+        // io.motorStalled(state, m_Intake, m_robotLED);
     }
 }