Fix defense drive

src/main/deploy/pathplanner/autos/DriveShoot-Hori.auto

@@ -39,6 +39,6 @@
     }
   },
   "resetOdom": true,
-  "folder": null,
+  "folder": "Spring Break Tests",
   "choreoAuto": false
 }

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

@@ -13,13 +13,31 @@
         {
           "type": "named",
           "data": {
-            "name": "Robot Rev Up"
+            "name": "Intake Reference"
           }
         },
         {
           "type": "path",
           "data": {
-            "pathName": "Center-Hub-Shoot"
+            "pathName": "LeftTrench-Neutral-Shoot"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Robot Rev Up"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "BumpOffsetBackward"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "LeftRamp-Shoot"
           }
         },
         {
@@ -32,6 +50,6 @@
     }
   },
   "resetOdom": true,
-  "folder": "Pikes Peak Autos",
+  "folder": null,
   "choreoAuto": false
 }

src/main/deploy/pathplanner/autos/ShootPreloadBump.auto

@@ -38,6 +38,6 @@
     }
   },
   "resetOdom": true,
-  "folder": null,
+  "folder": "Spring Break Tests",
   "choreoAuto": false
 }

src/main/deploy/pathplanner/autos/Test-LClimb.auto

@@ -38,6 +38,6 @@
     }
   },
   "resetOdom": true,
-  "folder": null,
+  "folder": "Spring Break Tests",
   "choreoAuto": false
 }

src/main/deploy/pathplanner/autos/Test-RClimb.auto

@@ -38,6 +38,6 @@
     }
   },
   "resetOdom": true,
-  "folder": null,
+  "folder": "Spring Break Tests",
   "choreoAuto": false
 }

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

@@ -10,34 +10,16 @@
             "name": "Intake Extended"
           }
         },
-        {
-          "type": "named",
-          "data": {
-            "name": "Intake Reference"
-          }
-        },
-        {
-          "type": "path",
-          "data": {
-            "pathName": "LeftTrench-Neutral-Shoot"
-          }
-        },
         {
           "type": "named",
           "data": {
             "name": "Robot Rev Up"
           }
         },
-        {
-          "type": "named",
-          "data": {
-            "name": "BumpOffsetBackward"
-          }
-        },
         {
           "type": "path",
           "data": {
-            "pathName": "LeftRamp-Shoot"
+            "pathName": "Center-Hub-Shoot"
           }
         },
         {
@@ -50,6 +32,6 @@
     }
   },
   "resetOdom": true,
-  "folder": null,
+  "folder": "Pikes Peak Autos",
   "choreoAuto": false
 }

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

@@ -0,0 +1,79 @@
+{
+  "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-Neutral-Trench-Shoot"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Robot Rev Up"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Robot Shoot"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Intake Extended"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "ShotRight-PlayerStation"
+          }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 2.0
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Robot Rev Up"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "PlayerStation-Shoot"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Robot Shoot"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}

src/main/deploy/pathplanner/paths/HubLeft-Shoot.path

@@ -33,7 +33,7 @@
   "pointTowardsZones": [
     {
       "fieldPosition": {
-        "x": 4.61155415,
+        "x": 4.612,
         "y": 4.0213534
       },
       "rotationOffset": 180.0,

src/main/deploy/pathplanner/paths/LeftBump-Neutral-Shoot.path

@@ -79,7 +79,7 @@
   "rotationTargets": [
     {
       "waypointRelativePos": 3.4736842105263164,
-      "rotationDegrees": 112.5
+      "rotationDegrees": 22.5
     }
   ],
   "constraintZones": [],
@@ -99,7 +99,7 @@
         "x": 7.0,
         "y": 0.0
       },
-      "rotationOffset": 180.0,
+      "rotationOffset": 100.0,
       "minWaypointRelativePos": 2.4983388704318887,
       "maxWaypointRelativePos": 3.2956810631229274,
       "name": "Point Towards Zone"
@@ -116,7 +116,7 @@
   },
   "goalEndState": {
     "velocity": 3.0,
-    "rotation": 113.07
+    "rotation": 23.07
   },
   "reversed": false,
   "folder": null,

src/main/deploy/pathplanner/paths/LeftBump2-Neutral2-Shoot2.path

@@ -36,8 +36,8 @@
         "y": 4.128025641025641
       },
       "prevControl": {
-        "x": 7.182601673147601,
+        "x": 7.1826016731476,
-        "y": 3.9168984964132223
+        "y": 3.9168984964132205
       },
       "nextControl": {
         "x": 7.618820512820513,
@@ -79,7 +79,7 @@
   "rotationTargets": [
     {
       "waypointRelativePos": 3.4736842105263164,
-      "rotationDegrees": 112.5
+      "rotationDegrees": 22.5
     }
   ],
   "constraintZones": [],
@@ -110,8 +110,18 @@
         "y": 8.0
       },
       "rotationOffset": 0.0,
-      "minWaypointRelativePos": 2.1085271317829366,
+      "minWaypointRelativePos": 1.8870431893687745,
-      "maxWaypointRelativePos": 3.1893687707641063,
+      "maxWaypointRelativePos": 2.2768549280177193,
+      "name": "Point Towards Zone"
+    },
+    {
+      "fieldPosition": {
+        "x": 12.0,
+        "y": 8.0
+      },
+      "rotationOffset": 0.0,
+      "minWaypointRelativePos": 2.5603543743078774,
+      "maxWaypointRelativePos": 3.0121816168327573,
       "name": "Point Towards Zone"
     }
   ],
@@ -126,7 +136,7 @@
   },
   "goalEndState": {
     "velocity": 3.0,
-    "rotation": 113.07
+    "rotation": 23.069999999999993
   },
   "reversed": false,
   "folder": null,

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

@@ -79,7 +79,7 @@
   "rotationTargets": [
     {
       "waypointRelativePos": 3.4736842105263164,
-      "rotationDegrees": 112.5
+      "rotationDegrees": 22.5
     }
   ],
   "constraintZones": [
@@ -110,10 +110,10 @@
     },
     {
       "fieldPosition": {
-        "x": 7.0,
+        "x": 8.0,
-        "y": 0.0
+        "y": 7.0
       },
-      "rotationOffset": 180.0,
+      "rotationOffset": 0.0,
       "minWaypointRelativePos": 2.4983388704318887,
       "maxWaypointRelativePos": 3.2956810631229274,
       "name": "Point Towards Zone"
@@ -140,7 +140,7 @@
   },
   "goalEndState": {
     "velocity": 3.0,
-    "rotation": 101.70667085951649
+    "rotation": 11.706999999999994
   },
   "reversed": false,
   "folder": null,

src/main/deploy/pathplanner/paths/RightBump-Neutral-Shoot.path

@@ -79,7 +79,7 @@
   "rotationTargets": [
     {
       "waypointRelativePos": 3.4736842105263164,
-      "rotationDegrees": -112.5
+      "rotationDegrees": -22.5
     }
   ],
   "constraintZones": [],
@@ -99,7 +99,7 @@
         "x": 7.0,
         "y": 8.0
       },
-      "rotationOffset": 180.0,
+      "rotationOffset": -100.0,
       "minWaypointRelativePos": 2.4983388704318887,
       "maxWaypointRelativePos": 3.2956810631229274,
       "name": "Point Towards Zone"
@@ -116,7 +116,7 @@
   },
   "goalEndState": {
     "velocity": 3.0,
-    "rotation": -113.07
+    "rotation": -23.069999999999993
   },
   "reversed": false,
   "folder": null,

src/main/deploy/pathplanner/paths/RightBump2-Neutral2-Shoot2.path

@@ -9,7 +9,7 @@
       "prevControl": null,
       "nextControl": {
         "x": 6.049027667109173,
-        "y": 2.2620000015309394
+        "y": 2.2620000015309376
       },
       "isLocked": false,
       "linkedName": null
@@ -36,8 +36,8 @@
         "y": 4.267564102564102
       },
       "prevControl": {
-        "x": 7.209222795856496,
+        "x": 7.209222795856494,
-        "y": 4.455023566405373
+        "y": 4.455023566405375
       },
       "nextControl": {
         "x": 7.549051282051284,
@@ -68,7 +68,7 @@
         "y": 2.5119999999999996
       },
       "prevControl": {
-        "x": 3.6429272202047827,
+        "x": 3.642927220204783,
         "y": 2.5610290337845445
       },
       "nextControl": null,
@@ -83,7 +83,7 @@
     },
     {
       "waypointRelativePos": 3.4736842105263164,
-      "rotationDegrees": -112.5
+      "rotationDegrees": -22.5
     }
   ],
   "constraintZones": [],
@@ -115,7 +115,7 @@
       },
       "rotationOffset": 0.0,
       "minWaypointRelativePos": 2.1085271317829366,
-      "maxWaypointRelativePos": 3.1893687707641063,
+      "maxWaypointRelativePos": 3.1539313399778472,
       "name": "Point Towards Zone"
     }
   ],
@@ -130,7 +130,7 @@
   },
   "goalEndState": {
     "velocity": 3.0,
-    "rotation": -113.07
+    "rotation": -23.069999999999993
   },
   "reversed": false,
   "folder": null,

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

@@ -79,7 +79,7 @@
   "rotationTargets": [
     {
       "waypointRelativePos": 3.4736842105263164,
-      "rotationDegrees": -112.5
+      "rotationDegrees": -22.5
     }
   ],
   "constraintZones": [
@@ -123,8 +123,8 @@
     },
     {
       "fieldPosition": {
-        "x": 7.0,
+        "x": 0.0,
-        "y": 8.0
+        "y": 5.0
       },
       "rotationOffset": 180.0,
       "minWaypointRelativePos": 2.4983388704318887,
@@ -153,7 +153,7 @@
   },
   "goalEndState": {
     "velocity": 3.0,
-    "rotation": -113.07
+    "rotation": -23.07
   },
   "reversed": false,
   "folder": null,

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

@@ -0,0 +1,173 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 3.6070897435897447,
+        "y": 0.6046794871794885
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 4.115752584653353,
+        "y": 0.5635297641960387
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 7.595564102564104,
+        "y": 0.9884102564102579
+      },
+      "prevControl": {
+        "x": 7.392948649818514,
+        "y": 0.7987129676949314
+      },
+      "nextControl": {
+        "x": 7.9699166450787695,
+        "y": 1.3388951842695742
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 7.793243589743589,
+        "y": 3.4070769230769233
+      },
+      "prevControl": {
+        "x": 7.776404526227516,
+        "y": 3.6565091702702275
+      },
+      "nextControl": {
+        "x": 7.842718812250754,
+        "y": 2.674214557033146
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 7.4211410256410275,
+        "y": 0.9884102564102579
+      },
+      "prevControl": {
+        "x": 7.693106679552213,
+        "y": 1.2858726903756175
+      },
+      "nextControl": {
+        "x": 7.049038461538463,
+        "y": 0.5814230769230777
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 3.711743589743591,
+        "y": 0.6046794871794885
+      },
+      "prevControl": {
+        "x": 3.995405188035349,
+        "y": 0.5680757693806849
+      },
+      "nextControl": {
+        "x": 3.4637993695130525,
+        "y": 0.6366742313458394
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 2.4442692307692324,
+        "y": 1.302
+      },
+      "prevControl": {
+        "x": 2.7301802034615954,
+        "y": 1.1693945129031929
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [
+    {
+      "name": "Constraints Zone",
+      "minWaypointRelativePos": 0,
+      "maxWaypointRelativePos": 5.0,
+      "constraints": {
+        "maxVelocity": 1.0,
+        "maxAcceleration": 3.0,
+        "maxAngularVelocity": 600.0,
+        "maxAngularAcceleration": 750.0,
+        "nominalVoltage": 12.0,
+        "unlimited": false
+      }
+    }
+  ],
+  "pointTowardsZones": [
+    {
+      "fieldPosition": {
+        "x": 7.0,
+        "y": 8.0
+      },
+      "rotationOffset": 0.0,
+      "minWaypointRelativePos": 1.3067552602436252,
+      "maxWaypointRelativePos": 2.015503875969026,
+      "name": "Point Towards Zone"
+    },
+    {
+      "fieldPosition": {
+        "x": 0.0,
+        "y": 0.6
+      },
+      "rotationOffset": 180.0,
+      "minWaypointRelativePos": 0.0,
+      "maxWaypointRelativePos": 0.6910299003322272,
+      "name": "Point Towards Zone"
+    },
+    {
+      "fieldPosition": {
+        "x": 0.0,
+        "y": 0.7
+      },
+      "rotationOffset": 180.0,
+      "minWaypointRelativePos": 2.5913621262458837,
+      "maxWaypointRelativePos": 4.352159468438559,
+      "name": "Point Towards Zone"
+    },
+    {
+      "fieldPosition": {
+        "x": 4.612,
+        "y": 4.021
+      },
+      "rotationOffset": 180.0,
+      "minWaypointRelativePos": 4.529346622369888,
+      "maxWaypointRelativePos": 5.0,
+      "name": "Point Towards Zone"
+    }
+  ],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 600.0,
+    "maxAngularAcceleration": 750.0,
+    "nominalVoltage": 12.0,
+    "unlimited": true
+  },
+  "goalEndState": {
+    "velocity": 3.0,
+    "rotation": -145.9260531715447
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0.3,
+    "rotation": 0.0
+  },
+  "useDefaultConstraints": false
+}

src/main/deploy/pathplanner/paths/ShotRight-PlayerStation.path

@@ -0,0 +1,95 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 2.444,
+        "y": 1.302
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 2.2968028935074876,
+        "y": 1.0999282012743195
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 1.5754761904761914,
+        "y": 1.0
+      },
+      "prevControl": {
+        "x": 2.2272563574654534,
+        "y": 0.9727386663284083
+      },
+      "nextControl": {
+        "x": 0.9236960234869294,
+        "y": 1.0272613336715914
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 0.325,
+        "y": 0.95
+      },
+      "prevControl": {
+        "x": 0.5747421350529089,
+        "y": 0.9386480847776856
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [
+    {
+      "name": "Constraints Zone",
+      "minWaypointRelativePos": 0,
+      "maxWaypointRelativePos": 2.0,
+      "constraints": {
+        "maxVelocity": 1.0,
+        "maxAcceleration": 3.0,
+        "maxAngularVelocity": 600.0,
+        "maxAngularAcceleration": 750.0,
+        "nominalVoltage": 10.0,
+        "unlimited": false
+      }
+    }
+  ],
+  "pointTowardsZones": [
+    {
+      "fieldPosition": {
+        "x": 0.0,
+        "y": 0.7
+      },
+      "rotationOffset": 180.0,
+      "minWaypointRelativePos": 0.6,
+      "maxWaypointRelativePos": 1.0956834532374118,
+      "name": "Point Towards Zone"
+    }
+  ],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 600.0,
+    "maxAngularAcceleration": 750.0,
+    "nominalVoltage": 10.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": -95.0
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": -149.42767342080234
+  },
+  "useDefaultConstraints": true
+}

src/main/deploy/pathplanner/settings.json

@@ -4,6 +4,7 @@
   "holonomicMode": true,
   "pathFolders": [],
   "autoFolders": [
+    "Spring Break Tests",
     "Pikes Peak Autos"
   ],
   "defaultMaxVel": 3.0,

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

@@ -265,7 +265,7 @@ 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.setPercentOutput(0.1);
+                    m_robotSwerveDrive.setPercentOutput(0.10);
                     m_robotSwerveDrive.shiftUpRot();
                 }))
                 .onFalse(new InstantCommand(() -> {