Autos for the morrow

src/main/deploy/pathplanner/autos/HubCenter-Score-PushLeft.auto

@@ -31,7 +31,7 @@
         {
           "type": "path",
           "data": {
-            "pathName": "CenterToPlayerPath"
+            "pathName": "Center-NeutralL"
           }
         },
         {
@@ -43,31 +43,7 @@
         {
           "type": "path",
           "data": {
-            "pathName": "ToPlayerStation"
+            "pathName": "HubFarLeft-NeutralZone"
-          }
-        },
-        {
-          "type": "wait",
-          "data": {
-            "waitTime": 8.0
-          }
-        },
-        {
-          "type": "named",
-          "data": {
-            "name": "Robot Rev Up"
-          }
-        },
-        {
-          "type": "path",
-          "data": {
-            "pathName": "PlayerStation-Shoot"
-          }
-        },
-        {
-          "type": "named",
-          "data": {
-            "name": "Robot Shoot"
           }
         }
       ]

src/main/deploy/pathplanner/autos/HubCenter-Score-PushRight.auto

@@ -0,0 +1,55 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "Intake Extended"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Robot Rev Up"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Center-Hub-Shoot"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Robot Shoot"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Center-NeutralR"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Intake Extended"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "HubFarRight-NeutralZone"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": "HubCenter",
+  "choreoAuto": false
+}

src/main/deploy/pathplanner/autos/HubRight-Score-Push.auto

@@ -4,24 +4,12 @@
     "type": "sequential",
     "data": {
       "commands": [
-        {
-          "type": "path",
-          "data": {
-            "pathName": "HubRight-PlayerStation"
-          }
-        },
         {
           "type": "named",
           "data": {
             "name": "Intake Extended"
           }
         },
-        {
-          "type": "wait",
-          "data": {
-            "waitTime": 8.0
-          }
-        },
         {
           "type": "named",
           "data": {
@@ -31,7 +19,7 @@
         {
           "type": "path",
           "data": {
-            "pathName": "PlayerStation-Shoot"
+            "pathName": "HubRight-Shoot"
           }
         },
         {
@@ -39,6 +27,24 @@
           "data": {
             "name": "Robot Shoot"
           }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "ReadyPush"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Intake Extended"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "HubFarRight-NeutralZone"
+          }
         }
       ]
     }

src/main/deploy/pathplanner/autos/HubRight-Station-Score-Push.auto

@@ -5,45 +5,28 @@
     "data": {
       "commands": [
         {
-          "type": "named",
+          "type": "parallel",
           "data": {
-            "name": "Intake Extended"
+            "commands": [
-          }
+              {
-        },
+                "type": "path",
-        {
+                "data": {
-          "type": "named",
+                  "pathName": "HubRight-PlayerStation"
-          "data": {
+                }
-            "name": "Robot Rev Up"
+              },
-          }
+              {
-        },
+                "type": "named",
-        {
+                "data": {
-          "type": "path",
+                  "name": "Intake Extended"
-          "data": {
+                }
-            "pathName": "HubRight-Shoot"
+              }
-          }
+            ]
-        },
-        {
-          "type": "named",
-          "data": {
-            "name": "Robot Shoot"
-          }
-        },
-        {
-          "type": "named",
-          "data": {
-            "name": "Intake Extended"
-          }
-        },
-        {
-          "type": "path",
-          "data": {
-            "pathName": "ToPlayerStation"
           }
         },
         {
           "type": "wait",
           "data": {
-            "waitTime": 8.0
+            "waitTime": 2.0
           }
         },
         {
@@ -63,6 +46,24 @@
           "data": {
             "name": "Robot Shoot"
           }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "ReadyPush"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Intake Extended"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "HubFarRight-NeutralZone"
+          }
         }
       ]
     }

src/main/deploy/pathplanner/autos/HubRight-Station-Score-★.auto

@@ -0,0 +1,56 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "parallel",
+          "data": {
+            "commands": [
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "HubRight-PlayerStation"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "Intake Extended"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "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": "HubRight",
+  "choreoAuto": false
+}

src/main/deploy/pathplanner/paths/Center-Hub-Shoot.path

@@ -33,10 +33,10 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 1.0,
+    "maxVelocity": 2.8,
-    "maxAcceleration": 1.0,
+    "maxAcceleration": 3.0,
-    "maxAngularVelocity": 500.0,
+    "maxAngularVelocity": 600.0,
-    "maxAngularAcceleration": 700.0,
+    "maxAngularAcceleration": 750.0,
     "nominalVoltage": 10.0,
     "unlimited": false
   },

src/main/deploy/pathplanner/paths/Center-NeutralL.path

@@ -8,20 +8,20 @@
       },
       "prevControl": null,
       "nextControl": {
-        "x": 2.4608809523809536,
+        "x": 3.5298452380952394,
-        "y": 3.6786785714285717
+        "y": 4.83402380952381
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 2.375,
+        "x": 4.0,
-        "y": 1.789
+        "y": 7.4
       },
       "prevControl": {
-        "x": 2.406892857142858,
+        "x": 2.013238095238095,
-        "y": 2.4477499999999996
+        "y": 7.648345238095238
       },
       "nextControl": null,
       "isLocked": false,
@@ -33,16 +33,16 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 1.0,
+    "maxVelocity": 2.8,
-    "maxAcceleration": 1.0,
+    "maxAcceleration": 3.0,
-    "maxAngularVelocity": 500.0,
+    "maxAngularVelocity": 600.0,
-    "maxAngularAcceleration": 700.0,
+    "maxAngularAcceleration": 750.0,
     "nominalVoltage": 10.0,
     "unlimited": false
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": -132.0
+    "rotation": 0.0
   },
   "reversed": false,
   "folder": null,

src/main/deploy/pathplanner/paths/Center-NeutralR.path

@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 2.5,
+        "y": 4.0
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 4.177702380952382,
+        "y": 3.2791666666666672
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 4.0,
+        "y": 0.666
+      },
+      "prevControl": {
+        "x": 1.9210000000000012,
+        "y": 0.590559523809524
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 2.8,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 600.0,
+    "maxAngularAcceleration": 750.0,
+    "nominalVoltage": 10.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 180.0
+  },
+  "useDefaultConstraints": true
+}

src/main/deploy/pathplanner/paths/Center-ToDepot.path

@@ -33,10 +33,10 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 1.0,
+    "maxVelocity": 2.8,
-    "maxAcceleration": 1.0,
+    "maxAcceleration": 3.0,
-    "maxAngularVelocity": 500.0,
+    "maxAngularVelocity": 600.0,
-    "maxAngularAcceleration": 700.0,
+    "maxAngularAcceleration": 750.0,
     "nominalVoltage": 10.0,
     "unlimited": false
   },

src/main/deploy/pathplanner/paths/HubFarLeft-NeutralZone.path

@@ -0,0 +1,117 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 4.0,
+        "y": 7.4
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 5.0954999999999995,
+        "y": 7.479440476190477
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 7.535761904761905,
+        "y": 7.54422619047619
+      },
+      "prevControl": {
+        "x": 7.654535714285714,
+        "y": 7.187904761904762
+      },
+      "nextControl": {
+        "x": 7.374699934066787,
+        "y": 8.027412102561545
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 7.535761904761905,
+        "y": 0.666
+      },
+      "prevControl": {
+        "x": 7.809145597850186,
+        "y": 0.6686447716595759
+      },
+      "nextControl": {
+        "x": 6.434404761904762,
+        "y": 0.6553452380952387
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 4.0,
+        "y": 0.666
+      },
+      "prevControl": {
+        "x": 4.246995139395343,
+        "y": 0.7046445483228254
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [
+    {
+      "fieldPosition": {
+        "x": 6.75,
+        "y": 0.0
+      },
+      "rotationOffset": 0.0,
+      "minWaypointRelativePos": 0.9056310679611663,
+      "maxWaypointRelativePos": 1.9091262135922324,
+      "name": "Point Towards Zone"
+    },
+    {
+      "fieldPosition": {
+        "x": 0.4,
+        "y": 0.5
+      },
+      "rotationOffset": 0.0,
+      "minWaypointRelativePos": 1.9728155339805904,
+      "maxWaypointRelativePos": 2.55,
+      "name": "Point Towards Zone"
+    },
+    {
+      "fieldPosition": {
+        "x": 9.0,
+        "y": 7.5
+      },
+      "rotationOffset": 0.0,
+      "minWaypointRelativePos": 0.025631067961170227,
+      "maxWaypointRelativePos": 0.6920388349514595,
+      "name": "Point Towards Zone"
+    }
+  ],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 2.8,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 600.0,
+    "maxAngularAcceleration": 750.0,
+    "nominalVoltage": 10.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 180.0
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "useDefaultConstraints": true
+}

src/main/deploy/pathplanner/paths/HubFarRight-NeutralZone.path

@@ -4,12 +4,12 @@
     {
       "anchor": {
         "x": 4.0,
-        "y": 0.6661428571428576
+        "y": 0.666
       },
       "prevControl": null,
       "nextControl": {
-        "x": 4.999999999999995,
+        "x": 5.052309523809524,
-        "y": 0.6661428571428576
+        "y": 0.6013571428571436
       },
       "isLocked": false,
       "linkedName": null
@@ -86,7 +86,7 @@
     {
       "fieldPosition": {
         "x": 9.0,
-        "y": 1.0
+        "y": 0.5
       },
       "rotationOffset": 0.0,
       "minWaypointRelativePos": 0.025631067961170227,
@@ -96,10 +96,10 @@
   ],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 1.0,
+    "maxVelocity": 2.8,
-    "maxAcceleration": 1.0,
+    "maxAcceleration": 3.0,
-    "maxAngularVelocity": 500.0,
+    "maxAngularVelocity": 600.0,
-    "maxAngularAcceleration": 700.0,
+    "maxAngularAcceleration": 750.0,
     "nominalVoltage": 10.0,
     "unlimited": false
   },

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

@@ -60,16 +60,16 @@
   ],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 0.5,
+    "maxVelocity": 3.0,
-    "maxAcceleration": 1.0,
+    "maxAcceleration": 3.0,
     "maxAngularVelocity": 500.0,
-    "maxAngularAcceleration": 750.0,
+    "maxAngularAcceleration": 700.0,
     "nominalVoltage": 12.0,
     "unlimited": false
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": -90.0
+    "rotation": -95.0
   },
   "reversed": false,
   "folder": null,

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

@@ -16,12 +16,12 @@
     },
     {
       "anchor": {
-        "x": 2.375,
+        "x": 2.299,
-        "y": 1.789
+        "y": 2.599
       },
       "prevControl": {
-        "x": 2.698928571428572,
+        "x": 2.5364642857142865,
-        "y": 1.7242142857142848
+        "y": 2.3181785714285708
       },
       "nextControl": null,
       "isLocked": false,
@@ -44,22 +44,22 @@
   ],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 1.0,
+    "maxVelocity": 2.8,
-    "maxAcceleration": 1.0,
+    "maxAcceleration": 3.0,
-    "maxAngularVelocity": 500.0,
+    "maxAngularVelocity": 600.0,
-    "maxAngularAcceleration": 700.0,
+    "maxAngularAcceleration": 750.0,
     "nominalVoltage": 10.0,
     "unlimited": false
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": -132.0
+    "rotation": -148.82
   },
   "reversed": false,
   "folder": null,
   "idealStartingState": {
     "velocity": 0,
-    "rotation": -90.95484125387215
+    "rotation": -90.0
   },
   "useDefaultConstraints": true
 }

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

@@ -20,7 +20,7 @@
         "y": 1.497559523809524
       },
       "prevControl": {
-        "x": 0.7849906411045419,
+        "x": 0.7849906411045418,
         "y": 1.097011457533851
       },
       "nextControl": {
@@ -36,8 +36,8 @@
         "y": 2.5989166666666677
       },
       "prevControl": {
-        "x": 2.1382197642450333,
+        "x": 2.138219764245033,
-        "y": 2.4074055558869234
+        "y": 2.407405555886923
       },
       "nextControl": null,
       "isLocked": false,
@@ -70,10 +70,10 @@
   ],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 0.5,
+    "maxVelocity": 3.0,
-    "maxAcceleration": 1.0,
+    "maxAcceleration": 3.0,
-    "maxAngularVelocity": 500.0,
+    "maxAngularVelocity": 600.0,
-    "maxAngularAcceleration": 750.0,
+    "maxAngularAcceleration": 770.0,
     "nominalVoltage": 12.0,
     "unlimited": false
   },

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

@@ -0,0 +1,65 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 2.299,
+        "y": 2.599
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 2.471678571428572,
+        "y": 2.3397738095238094
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 4.0,
+        "y": 0.666
+      },
+      "prevControl": {
+        "x": 2.871190476190477,
+        "y": 0.5689642857142869
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [
+    {
+      "fieldPosition": {
+        "x": 0.0,
+        "y": 1.0
+      },
+      "rotationOffset": 180.0,
+      "minWaypointRelativePos": 0.5,
+      "maxWaypointRelativePos": 1.0,
+      "name": "Point Towards Zone"
+    }
+  ],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 600.0,
+    "maxAngularAcceleration": 770.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": -148.82
+  },
+  "useDefaultConstraints": false
+}

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

@@ -1,81 +0,0 @@
-{
-  "version": "2025.0",
-  "waypoints": [
-    {
-      "anchor": {
-        "x": 2.375,
-        "y": 1.789
-      },
-      "prevControl": null,
-      "nextControl": {
-        "x": 1.375,
-        "y": 1.789
-      },
-      "isLocked": false,
-      "linkedName": null
-    },
-    {
-      "anchor": {
-        "x": 1.554,
-        "y": 1.1952261904717056
-      },
-      "prevControl": {
-        "x": 1.559598546310211,
-        "y": 1.4759171571591563
-      },
-      "nextControl": {
-        "x": 1.548401453689789,
-        "y": 0.914535223784255
-      },
-      "isLocked": false,
-      "linkedName": null
-    },
-    {
-      "anchor": {
-        "x": 0.45,
-        "y": 1.0
-      },
-      "prevControl": {
-        "x": 1.4348077530122076,
-        "y": 1.1736481776669303
-      },
-      "nextControl": null,
-      "isLocked": false,
-      "linkedName": null
-    }
-  ],
-  "rotationTargets": [],
-  "constraintZones": [],
-  "pointTowardsZones": [
-    {
-      "fieldPosition": {
-        "x": 0.0,
-        "y": 0.7
-      },
-      "rotationOffset": 180.0,
-      "minWaypointRelativePos": 0.25,
-      "maxWaypointRelativePos": 0.75,
-      "name": "Point Towards Zone"
-    }
-  ],
-  "eventMarkers": [],
-  "globalConstraints": {
-    "maxVelocity": 1.0,
-    "maxAcceleration": 1.0,
-    "maxAngularVelocity": 500.0,
-    "maxAngularAcceleration": 700.0,
-    "nominalVoltage": 10.0,
-    "unlimited": false
-  },
-  "goalEndState": {
-    "velocity": 0,
-    "rotation": -90.0
-  },
-  "reversed": false,
-  "folder": null,
-  "idealStartingState": {
-    "velocity": 0,
-    "rotation": -132.0
-  },
-  "useDefaultConstraints": true
-}

src/main/deploy/pathplanner/settings.json

@@ -8,10 +8,10 @@
     "HubRight",
     "HubLeft"
   ],
-  "defaultMaxVel": 1.0,
+  "defaultMaxVel": 2.8,
-  "defaultMaxAccel": 1.0,
+  "defaultMaxAccel": 3.0,
-  "defaultMaxAngVel": 500.0,
+  "defaultMaxAngVel": 600.0,
-  "defaultMaxAngAccel": 700.0,
+  "defaultMaxAngAccel": 750.0,
   "defaultNominalVoltage": 10.0,
   "robotMass": 74.088,
   "robotMOI": 6.883,

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

@@ -120,7 +120,7 @@ public class RobotContainer {
     // );
 
     private Command RobotRev = new SequentialCommandGroup(
-        new InstantCommand(() -> m_robotIntake.rollerStop(), m_robotIntake),
+        new InstantCommand(() -> m_robotIntake.setMode(IntakeMode.RollerStop), m_robotIntake),
         new InstantCommand(() -> m_robotShooter.spinUpShooting(), m_robotShooter)
     );
 
@@ -135,7 +135,7 @@ public class RobotContainer {
         new InstantCommand(()-> m_robotShooter.allowShooting(), m_robotShooter),
         new WaitCommand(2),
         RobotIntakeRetracted,
-        new WaitCommand(4),
+        new WaitCommand(5),
         new InstantCommand(() -> m_robotShooter.denyShooting(), m_robotShooter),
         new InstantCommand(()->m_robotShooter.spinUpIdle(), m_robotShooter)
     );

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 = 128;
+  public static final int GIT_REVISION = 130;
-  public static final String GIT_SHA = "a769953c22bf4140820cc5a6e6457a2c0f57774a";
+  public static final String GIT_SHA = "7064364dc8a8efab27ad1991e4af6ce06a523de3";
-  public static final String GIT_DATE = "2026-02-28 13:36:49 MST";
+  public static final String GIT_DATE = "2026-03-02 18:01:46 MST";
   public static final String GIT_BRANCH = "shikhar-op-controls";
-  public static final String BUILD_DATE = "2026-02-28 13:52:47 MST";
+  public static final String BUILD_DATE = "2026-03-02 19:33:31 MST";
-  public static final long BUILD_UNIX_TIME = 1772311967522L;
+  public static final long BUILD_UNIX_TIME = 1772505211993L;
   public static final int DIRTY = 1;
 
   private BuildConstants(){}

src/main/java/frc4388/robot/subsystems/climber/Climber.java

@@ -20,7 +20,7 @@ public class Climber extends SubsystemBase {
 
     public enum ClimberMode {
         Extended,
-        Retracting,
+        Retracting
     }
 
     public void deploy() {

src/main/java/frc4388/robot/subsystems/intake/Intake.java

@@ -27,7 +27,8 @@ public class Intake extends SubsystemBase {
         Retracted,
         Extending,
         Retracting,
-        Idle
+        Idle,
+        RollerStop
     }
 
     private IntakeMode mode = IntakeMode.Idle;
@@ -90,6 +91,9 @@ public class Intake extends SubsystemBase {
             case Idle:
                 io.stopArm();
                 break;
+            case RollerStop:
+                io.setRollerOutput(state, 0);
+                break;
         }
         // if (state.retractedLimit){
         //     this.mode = IntakeMode.Retracted;