first day additions

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

@@ -0,0 +1,62 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "Intake Extended"
+          }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 1.5
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Copy of HubFarRight-NeutralZone 1-2"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "HubFarRight-NeutralZone 2-2"
+          }
+        },
+        {
+          "type": "parallel",
+          "data": {
+            "commands": [
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "HubFarLeft-Shoot"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "Robot Rev Up"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Robot Shoot"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": "HubRight",
+  "choreoAuto": false
+}

src/main/deploy/pathplanner/autos/X HubCenter-Station-Score.auto

@@ -38,7 +38,7 @@
         {
           "type": "path",
           "data": {
-            "pathName": "PlayerStation-Shoot"
+            "pathName": "CPlayerStation-CShoot"
           }
         },
         {

src/main/deploy/pathplanner/paths/CPlayerStation-CShoot.path

@@ -0,0 +1,75 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 0.45,
+        "y": 1.0
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 0.8305284220032643,
+        "y": 0.9200002390150002
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 1.4998005698005699,
+        "y": 1.140868945868947
+      },
+      "prevControl": {
+        "x": 1.2334625881261518,
+        "y": 0.9559732945163617
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [
+    {
+      "fieldPosition": {
+        "x": 4.6115541,
+        "y": 4.0213534
+      },
+      "rotationOffset": 180.0,
+      "minWaypointRelativePos": 0.4,
+      "maxWaypointRelativePos": 1.0,
+      "name": "Point Towards Zone"
+    },
+    {
+      "fieldPosition": {
+        "x": 0.4,
+        "y": 5.5
+      },
+      "rotationOffset": 180.0,
+      "minWaypointRelativePos": 0.0,
+      "maxWaypointRelativePos": 0.2749379652605452,
+      "name": "Point Towards Zone"
+    }
+  ],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 600.0,
+    "maxAngularAcceleration": 750.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": -137.5
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0.0,
+    "rotation": -90.0
+  },
+  "useDefaultConstraints": true
+}

src/main/deploy/pathplanner/paths/Copy of HubFarRight-NeutralZone 1-2.path

@@ -0,0 +1,65 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 3.6162261904761905,
+        "y": 0.6661428571428576
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 4.6685357142857145,
+        "y": 0.6015000000000011
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 7.663,
+        "y": 0.8712976190476196
+      },
+      "prevControl": {
+        "x": 7.713544609817508,
+        "y": 0.5725975891884018
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [
+    {
+      "fieldPosition": {
+        "x": 9.0,
+        "y": 0.5
+      },
+      "rotationOffset": 0.0,
+      "minWaypointRelativePos": 0.025631067961170227,
+      "maxWaypointRelativePos": 0.6920388349514595,
+      "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": 2.6,
+    "rotation": 90.0
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "useDefaultConstraints": true
+}

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

@@ -16,16 +16,16 @@
     },
     {
       "anchor": {
-        "x": 2.5,
+        "x": 2.3637023809523816,
-        "y": 4.0
+        "y": 3.0632142857142854
       },
       "prevControl": {
-        "x": 2.778903133903134,
+        "x": 2.6426055148555156,
-        "y": 4.319245014245015
+        "y": 3.382459299959301
       },
       "nextControl": {
-        "x": 1.995141221800707,
+        "x": 1.8588436027530886,
-        "y": 3.422116038703489
+        "y": 2.4853303244177742
       },
       "isLocked": false,
       "linkedName": null
@@ -48,12 +48,12 @@
     },
     {
       "anchor": {
-        "x": 0.46,
+        "x": 0.3,
-        "y": 1.0
+        "y": 0.8999999999999999
       },
       "prevControl": {
-        "x": 0.709742135052909,
+        "x": 0.5497421350529089,
-        "y": 0.9886480847776856
+        "y": 0.8886480847776855
       },
       "nextControl": null,
       "isLocked": false,
@@ -61,7 +61,21 @@
     }
   ],
   "rotationTargets": [],
-  "constraintZones": [],
+  "constraintZones": [
+    {
+      "name": "Constraints Zone",
+      "minWaypointRelativePos": 1.771712158808938,
+      "maxWaypointRelativePos": 3.0,
+      "constraints": {
+        "maxVelocity": 0.7,
+        "maxAcceleration": 3.0,
+        "maxAngularVelocity": 600.0,
+        "maxAngularAcceleration": 750.0,
+        "nominalVoltage": 12.0,
+        "unlimited": false
+      }
+    }
+  ],
   "pointTowardsZones": [
     {
       "fieldPosition": {
@@ -69,7 +83,7 @@
         "y": 0.7
       },
       "rotationOffset": 180.0,
-      "minWaypointRelativePos": 0.8486842105263119,
+      "minWaypointRelativePos": 1.0272952853597963,
       "maxWaypointRelativePos": 1.95,
       "name": "Point Towards Zone"
     },
@@ -80,7 +94,7 @@
       },
       "rotationOffset": 180.0,
       "minWaypointRelativePos": 0.0,
-      "maxWaypointRelativePos": 0.7515182186234766,
+      "maxWaypointRelativePos": 0.44367245657569376,
       "name": "Point Towards Zone"
     }
   ],
@@ -90,7 +104,7 @@
     "maxAcceleration": 3.0,
     "maxAngularVelocity": 600.0,
     "maxAngularAcceleration": 750.0,
-    "nominalVoltage": 10.0,
+    "nominalVoltage": 12.0,
     "unlimited": false
   },
   "goalEndState": {

src/main/deploy/pathplanner/paths/HubFarLeft-NeutralZone 2-2.path

@@ -48,7 +48,7 @@
   "constraintZones": [
     {
       "name": "Constraints Zone",
-      "minWaypointRelativePos": 0,
+      "minWaypointRelativePos": 0.2679900744416821,
       "maxWaypointRelativePos": 0.8992555831265578,
       "constraints": {
         "maxVelocity": 1.2,

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

@@ -0,0 +1,75 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 4.0,
+        "y": 7.4
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 2.7848095238095247,
+        "y": 7.393059523809524
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 2.514869047619049,
+        "y": 5.805809523809524
+      },
+      "prevControl": {
+        "x": 2.638903782208257,
+        "y": 6.0228703093406395
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [
+    {
+      "fieldPosition": {
+        "x": 4.61155415,
+        "y": 4.0213534
+      },
+      "rotationOffset": 180.0,
+      "minWaypointRelativePos": 0.40595533498758746,
+      "maxWaypointRelativePos": 1.0,
+      "name": "Point Towards Zone"
+    },
+    {
+      "fieldPosition": {
+        "x": 0.0,
+        "y": 7.4
+      },
+      "rotationOffset": 0.0,
+      "minWaypointRelativePos": 0.0,
+      "maxWaypointRelativePos": 0.32258064516129836,
+      "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": 139.0
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 180.0
+  },
+  "useDefaultConstraints": true
+}

src/main/deploy/pathplanner/paths/HubFarRight-NeutralZone 2-2.path

@@ -92,7 +92,7 @@
     "unlimited": false
   },
   "goalEndState": {
-    "velocity": 0,
+    "velocity": 3.0,
     "rotation": 180.0
   },
   "reversed": false,

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 = 145;
+  public static final int GIT_REVISION = 146;
-  public static final String GIT_SHA = "d5ff90c1aa76a82571b723631ee8562d9f040026";
+  public static final String GIT_SHA = "0ce384a9402300fbc7b2c1b609c507284c5caa3c";
-  public static final String GIT_DATE = "2026-03-06 10:57:47 MST";
+  public static final String GIT_DATE = "2026-03-06 22:52:06 MST";
   public static final String GIT_BRANCH = "PikesPeak";
-  public static final String BUILD_DATE = "2026-03-06 16:34:51 MST";
+  public static final String BUILD_DATE = "2026-03-07 15:12:09 MST";
-  public static final long BUILD_UNIX_TIME = 1772840091676L;
+  public static final long BUILD_UNIX_TIME = 1772921529065L;
   public static final int DIRTY = 1;
 
   private BuildConstants(){}

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

@@ -143,6 +143,12 @@ public class Shooter extends SubsystemBase {
 
         badShooterVelocity = Math.abs(shooterSpeed - shooterSpeedTarget) > ShooterConstants.SHOOTER_SPEED_TOLERANCE.get();
 
+        //revtime calculations
+        // double shooterAcceleration = 
+        double shooterSpeedTargetPretend = ShooterConstants.getTargetShooterSpeed(distanceToHub).in(RotationsPerSecond);
+        double revTime = (Math.abs(shooterSpeed - shooterSpeedTargetPretend)/((7 - shooterSpeedTargetPretend)/ShooterConstants.T_CONSTANT));
+        // double revTimeExp = ShooterConstants.T_CONSTANT * Math.log(1 - Math.abs(shooterSpeed/shooterSpeedTargetPretend));
+        Logger.recordOutput("Time to rev", revTime);
 
         switch (mode) {
             case Shooting:

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

@@ -17,6 +17,7 @@ public class    ShooterConstants {
     
     public static final double SHOOTERMOTOR_GEAR_RATIO = 1.5;
     public static final double INDEXER_GEAR_RATIO = 1.;
+    public static final double T_CONSTANT = 2;
 
     public static final ConfigurableDouble SHOOTER_MAX_VELOCITY = new ConfigurableDouble("Shooter MAX Velocity", 60);
     public static final ConfigurableDouble SHOOTER_OVERRIDE_VELOCITY = new ConfigurableDouble("Shooter OVERRIDE Velocity", -42);
@@ -29,7 +30,7 @@ public class    ShooterConstants {
 
     public static final ConfigurableDouble INDEXER_FORWARD_OUTPUT = new ConfigurableDouble("Indexer FWD % Output", -0.4);
     public static final ConfigurableDouble INDEXER_REVERSE_OUTPUT = new ConfigurableDouble("Indexer reverse % Output", 0.0);
-    public static final ConfigurableDouble MODEL_TRIM = new ConfigurableDouble("TRIM SHOOTER SPEED", 0.0);
+    public static final ConfigurableDouble MODEL_TRIM = new ConfigurableDouble("TRIM SHOOTER SPEED", -1.5);
 
     
     public static final ConfigurableDouble AIM_LEAD_TIME = new ConfigurableDouble("Aim lead time", 0);
@@ -55,6 +56,11 @@ public class    ShooterConstants {
         double speed = 
             5.6939*hubDistMeters +
             22.76545 + MODEL_TRIM.get();
+
+        // double speed =
+        //     0.00610938*hubDistMeters*hubDistMeters
+        //     5.65235*hubDistMeters +
+        //     22.82825;
         
         double max = SHOOTER_MAX_VELOCITY.get();