New changes

src/main/deploy/pathplanner/autos/HubCenter-2Score (depot).auto

@@ -7,13 +7,13 @@
         {
           "type": "named",
           "data": {
-            "name": "Robot Rev Up"
+            "name": "Intake Retracted"
           }
         },
         {
           "type": "named",
           "data": {
-            "name": "Intake Retracted"
+            "name": "Robot Rev Up"
           }
         },
         {

src/main/deploy/pathplanner/autos/HubCenter-2Score (straight).auto

@@ -1,79 +0,0 @@
-{
-  "version": "2025.0",
-  "command": {
-    "type": "sequential",
-    "data": {
-      "commands": [
-        {
-          "type": "named",
-          "data": {
-            "name": "Intake Retracted"
-          }
-        },
-        {
-          "type": "named",
-          "data": {
-            "name": "Robot Roller Off"
-          }
-        },
-        {
-          "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-ToDepot"
-          }
-        },
-        {
-          "type": "named",
-          "data": {
-            "name": "Intake Extended"
-          }
-        },
-        {
-          "type": "path",
-          "data": {
-            "pathName": "Depot-Intake-Shoot (straight)"
-          }
-        },
-        {
-          "type": "named",
-          "data": {
-            "name": "Robot Roller Off"
-          }
-        },
-        {
-          "type": "named",
-          "data": {
-            "name": "Robot Rev Up"
-          }
-        },
-        {
-          "type": "named",
-          "data": {
-            "name": "Robot Shoot"
-          }
-        }
-      ]
-    }
-  },
-  "resetOdom": true,
-  "folder": null,
-  "choreoAuto": false
-}

src/main/deploy/pathplanner/autos/HubFarRight-Push-1Score.auto

@@ -16,6 +16,12 @@
             "pathName": "HubFarRight-NeutralZone"
           }
         },
+        {
+          "type": "named",
+          "data": {
+            "name": "Robot Roller Off"
+          }
+        },
         {
           "type": "named",
           "data": {

src/main/deploy/pathplanner/autos/HubFarRight-Station.auto

@@ -5,15 +5,15 @@
     "data": {
       "commands": [
         {
-          "type": "named",
+          "type": "path",
           "data": {
-            "name": "Intake Extended"
+            "pathName": "HubFarRight-PlayerStation"
           }
         },
         {
-          "type": "path",
+          "type": "named",
           "data": {
-            "pathName": "HubFarRight-NeutralZone"
+            "name": "Intake Extended"
           }
         }
       ]

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

@@ -3,41 +3,41 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 2.115,
+        "x": 3.636650602416003,
-        "y": 6.0
+        "y": 0.7129759036212555
       },
       "prevControl": null,
       "nextControl": {
-        "x": 1.8650000000000002,
+        "x": 3.3894165141989285,
-        "y": 6.0
+        "y": 0.7500610168538175
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 0.4,
+        "x": 1.593168674698795,
-        "y": 5.95697619047619
+        "y": 0.8768915662650603
       },
       "prevControl": {
-        "x": 0.648069469178417,
+        "x": 2.244948841688057,
-        "y": 5.987984874123494
+        "y": 0.8496302325934687
       },
       "nextControl": {
-        "x": 0.1519305308215833,
+        "x": 0.941388507709533,
-        "y": 5.925967506828887
+        "y": 0.9041528999366517
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 2.5256666666666674,
+        "x": 0.533,
-        "y": 5.093166666666666
+        "y": 1.0
       },
       "prevControl": {
-        "x": 2.2773032851162216,
+        "x": 0.7827421350529089,
-        "y": 5.064607417642443
+        "y": 0.9886480847776856
       },
       "nextControl": null,
       "isLocked": false,
@@ -49,12 +49,12 @@
   "pointTowardsZones": [
     {
       "fieldPosition": {
-        "x": -0.1,
+        "x": 8.0,
-        "y": 6.0
+        "y": 1.0
       },
       "rotationOffset": 0.0,
-      "minWaypointRelativePos": 0.08778625954198889,
+      "minWaypointRelativePos": 0.0,
-      "maxWaypointRelativePos": 0.8328244274809142,
+      "maxWaypointRelativePos": 1.0956834532374118,
       "name": "Point Towards Zone"
     }
   ],
@@ -69,13 +69,13 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": 154.59228189105156
+    "rotation": -90.0
   },
   "reversed": false,
   "folder": null,
   "idealStartingState": {
     "velocity": 0,
-    "rotation": 180.0
+    "rotation": 0.0
   },
   "useDefaultConstraints": false
 }

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

@@ -120,27 +120,22 @@ public class RobotContainer {
     // );
 
     private Command RobotRev = new SequentialCommandGroup(
-        new InstantCommand(() -> m_robotShooter.spinUpShooting(), m_robotShooter),
+        new InstantCommand(() -> m_robotIntake.rollerStop(), m_robotIntake),
-        new InstantCommand(() -> m_robotIntake.setMode(IntakeMode.Extended), m_robotIntake),
+        new InstantCommand(() -> m_robotShooter.spinUpShooting(), m_robotShooter)
-        new InstantCommand(() -> m_robotIntake.rollerStop(), m_robotIntake)
     );
 
     private Command RobotIntakeRetracted = new SequentialCommandGroup(
         new InstantCommand(() -> m_robotIntake.setMode(IntakeMode.Retracted), m_robotIntake)
     );
 
-    private Command RobotRollerOff = new SequentialCommandGroup(
-        new InstantCommand(() -> m_robotIntake.rollerStop(), m_robotIntake)
-    );
-
     private Command RobotShoot = new SequentialCommandGroup(
         // TEST NEW AUTO ALIGN
         //new AutoAlign(m_robotSwerveDrive, m_vision, new Pose2d(FieldPositions.HUB_POSITION,  new Rotation2d(0)), false),
         new WaitUntilCommand(m_robotShooter::isShooterUpToSpeed),
         new InstantCommand(()-> m_robotShooter.allowShooting(), m_robotShooter),
-        new WaitCommand(3),
-        RobotIntakeRetracted,
         new WaitCommand(2),
+        RobotIntakeRetracted,
+        new WaitCommand(4),
         new InstantCommand(() -> m_robotShooter.denyShooting(), m_robotShooter),
         new InstantCommand(()->m_robotShooter.spinUpIdle(), m_robotShooter)
     );
@@ -167,7 +162,6 @@ public class RobotContainer {
         NamedCommands.registerCommand("Robot Rev Up", RobotRev);
         NamedCommands.registerCommand("Robot Intake Retracted", RobotIntakeRetracted);
         NamedCommands.registerCommand("Robot Shoot", RobotShoot);
-        NamedCommands.registerCommand("Robot Roller Off", RobotRollerOff);
         // NamedCommands.registerCommand("Lidar Intake", LidarIntake);
         NamedCommands.registerCommand("Intake Extended", IntakeExtended);