From a769953c22bf4140820cc5a6e6457a2c0f57774a Mon Sep 17 00:00:00 2001
From: Shikhar <mira.j.maroni@gmail.com>
Date: Sat, 28 Feb 2026 13:36:49 -0700
Subject: [PATCH] playerstation auto

---
 .../pathplanner/paths/HubFarRight-PlayerStation.path   |  4 ++--
 src/main/java/frc4388/robot/RobotContainer.java        |  2 +-
 .../java/frc4388/robot/constants/BuildConstants.java   | 10 +++++-----
 .../robot/subsystems/intake/IntakeConstants.java       |  6 +++---
 4 files changed, 11 insertions(+), 11 deletions(-)

diff --git a/src/main/deploy/pathplanner/paths/HubFarRight-PlayerStation.path b/src/main/deploy/pathplanner/paths/HubFarRight-PlayerStation.path
index a08bac6..7344162 100644
--- a/src/main/deploy/pathplanner/paths/HubFarRight-PlayerStation.path
+++ b/src/main/deploy/pathplanner/paths/HubFarRight-PlayerStation.path
@@ -32,11 +32,11 @@
     },
     {
       "anchor": {
-        "x": 0.533,
+        "x": 0.61,
         "y": 1.0
       },
       "prevControl": {
-        "x": 0.7827421350529089,
+        "x": 0.8597421350529089,
         "y": 0.9886480847776856
       },
       "nextControl": null,
diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index eb7f263..0c96150 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -282,8 +282,8 @@ public class RobotContainer {
         //set shooter ready (rev) with left trigger hold
         new Trigger(() -> getDeadbandedOperatorController().getLeftTriggerAxis() >= 0.5)
             .onTrue(new InstantCommand(() -> {
-                m_robotShooter.spinUpShooting();
                 m_robotIntake.rollerStop();
+                m_robotShooter.spinUpShooting();
             }))
             .onFalse(new InstantCommand(() -> {
                 m_robotShooter.spinUpIdle();
diff --git a/src/main/java/frc4388/robot/constants/BuildConstants.java b/src/main/java/frc4388/robot/constants/BuildConstants.java
index 40411bc..046ac99 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 = 125;
-  public static final String GIT_SHA = "86387f5f088f59fbb43dc22ef0253b87c70ff574";
-  public static final String GIT_DATE = "2026-02-28 12:07:15 MST";
+  public static final int GIT_REVISION = 127;
+  public static final String GIT_SHA = "e1aa43d596bdcd524a75e05c72928658debd97a0";
+  public static final String GIT_DATE = "2026-02-28 13:15:57 MST";
   public static final String GIT_BRANCH = "shikhar-op-controls";
-  public static final String BUILD_DATE = "2026-02-28 12:48:24 MST";
-  public static final long BUILD_UNIX_TIME = 1772308104087L;
+  public static final String BUILD_DATE = "2026-02-28 13:31:13 MST";
+  public static final long BUILD_UNIX_TIME = 1772310673146L;
   public static final int DIRTY = 1;
 
   private BuildConstants(){}
diff --git a/src/main/java/frc4388/robot/subsystems/intake/IntakeConstants.java b/src/main/java/frc4388/robot/subsystems/intake/IntakeConstants.java
index c20be74..86d3a23 100644
--- a/src/main/java/frc4388/robot/subsystems/intake/IntakeConstants.java
+++ b/src/main/java/frc4388/robot/subsystems/intake/IntakeConstants.java
@@ -35,7 +35,7 @@ public class IntakeConstants {
 
     public static final ConfigurableDouble ARM_LIMIT_RETRACTED = new ConfigurableDouble("Arm angle retracted", 0.1);
     public static final ConfigurableDouble ARM_LIMIT_EXTENDED = new ConfigurableDouble("Arm angle extended", 0.3);
-    public static final ConfigurableDouble ARM_EXTEND_PERCENT_OUTPUT = new ConfigurableDouble("Arm extend % output", 0.2);
+    public static final ConfigurableDouble ARM_EXTEND_PERCENT_OUTPUT = new ConfigurableDouble("Arm extend % output", 0.4);
     public static final ConfigurableDouble ARM_RETRACT_PERCENT_OUTPUT = new ConfigurableDouble("Arm retract % output", -0.4);
     public static final ConfigurableDouble ROLLER_PERCENT_OUTPUT = new ConfigurableDouble("Roller Percent Output", .60);
     // public static final ConfigurableDouble ROLL = new ConfigurableDouble("Arm angle extended", 0.25);
@@ -47,13 +47,13 @@ public class IntakeConstants {
     public static final Slot0Configs ARM_PID = new Slot0Configs()
         .withKP(0.08)
         .withKI(0.0)
-        .withKD(0.06);
+        .withKD(0.05);
 
     
 
     public static ConfigurableDouble arm_kP = new ConfigurableDouble("ARM KP", 0.08);
     public static ConfigurableDouble arm_kI = new ConfigurableDouble("ARM KI", 0);
-    public static ConfigurableDouble arm_kD = new ConfigurableDouble("ARM KD", 0.06);
+    public static ConfigurableDouble arm_kD = new ConfigurableDouble("ARM KD", 0.05);