.

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
+}

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
 }