Intake Retracted added

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

@@ -28,12 +28,6 @@
             "name": "Robot Shoot"
           }
         },
-        {
-          "type": "path",
-          "data": {
-            "pathName": "Center-NeutralL"
-          }
-        },
         {
           "type": "named",
           "data": {
@@ -43,7 +37,25 @@
         {
           "type": "path",
           "data": {
-            "pathName": "HubFarLeft-NeutralZone"
+            "pathName": "Center-NeutralL"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "HubFarLeft-NeutralZone 1-2"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Intake Retracted"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "HubFarLeft-NeutralZone 2-2"
           }
         }
       ]

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

@@ -28,12 +28,6 @@
             "name": "Robot Shoot"
           }
         },
-        {
-          "type": "path",
-          "data": {
-            "pathName": "Center-NeutralR"
-          }
-        },
         {
           "type": "named",
           "data": {
@@ -43,7 +37,25 @@
         {
           "type": "path",
           "data": {
-            "pathName": "HubFarRight-NeutralZone"
+            "pathName": "Center-NeutralR"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "HubFarRight-NeutralZone 1-2"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Intake Retracted"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "HubFarRight-NeutralZone 2-2"
           }
         }
       ]

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

@@ -43,7 +43,19 @@
         {
           "type": "path",
           "data": {
-            "pathName": "HubFarLeft-NeutralZone"
+            "pathName": "HubFarLeft-NeutralZone 1-2"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Intake Retracted"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "HubFarLeft-NeutralZone 2-2"
           }
         }
       ]

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

@@ -27,24 +27,6 @@
           "data": {
             "name": "Robot Shoot"
           }
-        },
-        {
-          "type": "named",
-          "data": {
-            "name": "Intake Extended"
-          }
-        },
-        {
-          "type": "path",
-          "data": {
-            "pathName": "ReadyPush"
-          }
-        },
-        {
-          "type": "path",
-          "data": {
-            "pathName": "HubFarRight-NeutralZone"
-          }
         }
       ]
     }

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

@@ -47,12 +47,6 @@
             "name": "Robot Shoot"
           }
         },
-        {
-          "type": "path",
-          "data": {
-            "pathName": "ReadyPush"
-          }
-        },
         {
           "type": "named",
           "data": {
@@ -62,7 +56,25 @@
         {
           "type": "path",
           "data": {
-            "pathName": "HubFarRight-NeutralZone"
+            "pathName": "ReadyPush"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "HubFarRight-NeutralZone 1-2"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Intake Retracted"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "HubFarRight-NeutralZone 2-2"
           }
         }
       ]

src/main/deploy/pathplanner/paths/HubFarLeft-NeutralZone 1-2.path

@@ -0,0 +1,65 @@
+{
+  "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": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [
+    {
+      "fieldPosition": {
+        "x": 9.0,
+        "y": 7.5
+      },
+      "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": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": -90.0
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "useDefaultConstraints": true
+}

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

@@ -1,28 +1,12 @@
 {
   "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": {
+      "prevControl": null,
-        "x": 7.654535714285714,
-        "y": 7.187904761904762
-      },
       "nextControl": {
         "x": 7.374699934066787,
         "y": 8.027412102561545
@@ -69,8 +53,8 @@
         "y": 0.0
       },
       "rotationOffset": 0.0,
-      "minWaypointRelativePos": 0.9056310679611663,
+      "minWaypointRelativePos": 0.0,
-      "maxWaypointRelativePos": 1.9091262135922324,
+      "maxWaypointRelativePos": 0.9091262135922324,
       "name": "Point Towards Zone"
     },
     {
@@ -79,18 +63,8 @@
         "y": 0.5
       },
       "rotationOffset": 0.0,
-      "minWaypointRelativePos": 1.9728155339805904,
+      "minWaypointRelativePos": 0.9728155339805904,
-      "maxWaypointRelativePos": 2.55,
+      "maxWaypointRelativePos": 1.5499999999999998,
-      "name": "Point Towards Zone"
-    },
-    {
-      "fieldPosition": {
-        "x": 9.0,
-        "y": 7.5
-      },
-      "rotationOffset": 0.0,
-      "minWaypointRelativePos": 0.025631067961170227,
-      "maxWaypointRelativePos": 0.6920388349514595,
       "name": "Point Towards Zone"
     }
   ],
@@ -111,7 +85,7 @@
   "folder": null,
   "idealStartingState": {
     "velocity": 0,
-    "rotation": 0.0
+    "rotation": -90.0
   },
   "useDefaultConstraints": true
 }

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

@@ -0,0 +1,65 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 4.0,
+        "y": 0.666
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 5.052309523809524,
+        "y": 0.6013571428571436
+      },
+      "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": 0,
+    "rotation": 90.0
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "useDefaultConstraints": true
+}

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

@@ -1,28 +1,12 @@
 {
   "version": "2025.0",
   "waypoints": [
-    {
-      "anchor": {
-        "x": 4.0,
-        "y": 0.666
-      },
-      "prevControl": null,
-      "nextControl": {
-        "x": 5.052309523809524,
-        "y": 0.6013571428571436
-      },
-      "isLocked": false,
-      "linkedName": null
-    },
     {
       "anchor": {
         "x": 7.663,
         "y": 0.8712976190476196
       },
-      "prevControl": {
+      "prevControl": null,
-        "x": 7.713544609817508,
-        "y": 0.5725975891884018
-      },
       "nextControl": {
         "x": 7.578952380952382,
         "y": 1.367988095238095
@@ -69,8 +53,8 @@
         "y": 8.0
       },
       "rotationOffset": 0.0,
-      "minWaypointRelativePos": 0.9056310679611663,
+      "minWaypointRelativePos": 0.0,
-      "maxWaypointRelativePos": 1.9091262135922324,
+      "maxWaypointRelativePos": 0.9091262135922324,
       "name": "Point Towards Zone"
     },
     {
@@ -79,18 +63,8 @@
         "y": 7.4
       },
       "rotationOffset": 0.0,
-      "minWaypointRelativePos": 1.9728155339805904,
+      "minWaypointRelativePos": 0.9728155339805904,
-      "maxWaypointRelativePos": 2.55,
+      "maxWaypointRelativePos": 1.5499999999999998,
-      "name": "Point Towards Zone"
-    },
-    {
-      "fieldPosition": {
-        "x": 9.0,
-        "y": 0.5
-      },
-      "rotationOffset": 0.0,
-      "minWaypointRelativePos": 0.025631067961170227,
-      "maxWaypointRelativePos": 0.6920388349514595,
       "name": "Point Towards Zone"
     }
   ],
@@ -111,7 +85,7 @@
   "folder": null,
   "idealStartingState": {
     "velocity": 0,
-    "rotation": 0.0
+    "rotation": 90.0
   },
   "useDefaultConstraints": true
 }

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

@@ -126,7 +126,7 @@ public class RobotContainer {
         new InstantCommand(() -> m_robotIntake.setMode(IntakeMode.RollerStop), m_robotIntake)
     );
 
-    private Command RobotIntakeRetracted = new SequentialCommandGroup(
+    private Command IntakeRetracted = new SequentialCommandGroup(
         new InstantCommand(() -> m_robotIntake.setMode(IntakeMode.Retracted), m_robotIntake)
     );
 
@@ -136,7 +136,7 @@ public class RobotContainer {
         new WaitUntilCommand(m_robotShooter::isShooterUpToSpeed),
         new InstantCommand(()-> m_robotShooter.allowShooting(), m_robotShooter),
         new WaitCommand(2),
-        RobotIntakeRetracted,
+        IntakeRetracted,
         new WaitCommand(5),
         new InstantCommand(() -> m_robotShooter.denyShooting(), m_robotShooter),
         new InstantCommand(()->m_robotShooter.spinUpIdle(), m_robotShooter)
@@ -162,7 +162,7 @@ public class RobotContainer {
         }, true);
 
         NamedCommands.registerCommand("Robot Rev Up", RobotRev);
-        NamedCommands.registerCommand("Robot Intake Retracted", RobotIntakeRetracted);
+        NamedCommands.registerCommand("Intake Retracted", IntakeRetracted);
         NamedCommands.registerCommand("Robot Shoot", RobotShoot);
         // NamedCommands.registerCommand("Lidar Intake", LidarIntake);
         NamedCommands.registerCommand("Intake Extended", IntakeExtended);