Autos

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

@@ -9,6 +9,7 @@ package frc4388.robot;
 
 import java.io.File;
 
+import com.pathplanner.lib.auto.NamedCommands;
 import com.pathplanner.lib.commands.PathPlannerAuto;
 import com.pathplanner.lib.trajectory.PathPlannerTrajectory;
 
@@ -25,6 +26,7 @@ import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.InstantCommand;
 import edu.wpi.first.wpilibj2.command.RunCommand;
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
+import edu.wpi.first.wpilibj2.command.WaitCommand;
 import edu.wpi.first.wpilibj2.command.button.JoystickButton;
 import edu.wpi.first.wpilibj2.command.button.Trigger;
 import frc4388.robot.commands.MoveForTimeCommand;
@@ -91,6 +93,20 @@ public class RobotContainer {
     private SendableChooser<String> autoChooser;
     private Command autoCommand;
 
+
+    private Command RobotIntakeDown = new SequentialCommandGroup(
+        new InstantCommand(() -> m_robotIntake.setMode(IntakeMode.Extended))
+    );
+    
+    private Command RobotShoot = new SequentialCommandGroup(
+        new InstantCommand(() -> m_robotShooter.setShooterReady()),
+        new InstantCommand(()->m_robotIntake.setMode(IntakeMode.Idle)),
+        new WaitCommand(5),
+        new InstantCommand(()->m_robotShooter.setShooterShoot()),
+        new WaitCommand(10),
+        new InstantCommand(()->m_robotShooter.setShooterNOTShoot())
+    );
+
     // private Command RobotShoot = new SequentialCommandGroup(
     //     new InstantCommand(() -> System.out.println(m_robotLED.getMode())),
     //     new InstantCommand(() -> m_robotLED.setMode(LEDPatterns.PARTY_TWINKLES), m_robotLED),
@@ -126,6 +142,9 @@ public class RobotContainer {
             m_robotShooter.io.updateGains();
         }, true);
 
+        NamedCommands.registerCommand("Robot Shoot", RobotShoot);
+        NamedCommands.registerCommand("Robot Intake Down", RobotIntakeDown);
+
 
         DriverStation.silenceJoystickConnectionWarning(true);
 

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 = 72;
-  public static final String GIT_SHA = "9c7159ba3b2fd669f9781f1315cb481b7a1b8d57";
-  public static final String GIT_DATE = "2026-02-20 21:59:06 MST";
+  public static final int GIT_REVISION = 75;
+  public static final String GIT_SHA = "4907e0c8a0fc7dade91b2075d70a2b38213f9cab";
+  public static final String GIT_DATE = "2026-02-21 15:08:32 MST";
   public static final String GIT_BRANCH = "operator-controls";
-  public static final String BUILD_DATE = "2026-02-21 13:54:02 MST";
-  public static final long BUILD_UNIX_TIME = 1771707242280L;
+  public static final String BUILD_DATE = "2026-02-21 15:52:02 MST";
+  public static final long BUILD_UNIX_TIME = 1771714322479L;
   public static final int DIRTY = 1;
 
   private BuildConstants(){}

src/main/java/frc4388/robot/constants/Constants.java

@@ -99,13 +99,14 @@ public final class Constants {
     public static final class LEDConstants {
         public static final int LED_SPARK_ID = 9;
 
-        public static final LEDPatterns DEFAULT_PATTERN = LEDPatterns.FOREST_TWINKLES;
+        public static final LEDPatterns DEFAULT_PATTERN = LEDPatterns.FOREST_RAINBOW;
 
         // LED color for when the intake is out
         public static final LEDPatterns INTAKE_OUT = LEDPatterns.SOLID_RED;
         // LED color for when the intake is out, but the driver conditions are bad
         public static final LEDPatterns INTAKE_OUT_BADPHYS = LEDPatterns.RED_STROBE;
 
+        
         // LED color for when the flywheel speed isn't in tolarance
         public static final LEDPatterns BAD_FLYWEEL = LEDPatterns.SOLID_GOLD;
         // LED color for when the flywheel speed isn't in tolarance, but the driver conditions are bad

src/main/java/frc4388/robot/subsystems/LED.java

@@ -36,7 +36,7 @@ public class LED extends SubsystemBase implements Queryable {
     m_pwm.setPeriodMultiplier(PWM.PeriodMultiplier.k1X);
     m_pwm.setSpeed(0.0);
     m_pwm.setZeroLatch();
-
+    update();
   }
 
   private LEDPatterns mode = LEDConstants.DEFAULT_PATTERN;

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

@@ -158,7 +158,10 @@ public class Shooter extends SubsystemBase {
                 ShooterMode.Ready
             );
 
-        } 
+        } else {
+            m_robotLED.setMode(Constants.LEDConstants.DEFAULT_PATTERN);
+
+        }