Merge branch 'New-Intake' of https://github.com/Team4388/2026KPopRobotHunters into New-Intake

src/main/deploy/pathplanner/autos/-- Auto Denver test.auto

@@ -1,67 +0,0 @@
-{
-  "version": "2025.0",
-  "command": {
-    "type": "sequential",
-    "data": {
-      "commands": [
-        {
-          "type": "named",
-          "data": {
-            "name": "Intake Extended"
-          }
-        },
-        {
-          "type": "wait",
-          "data": {
-            "waitTime": 1.0
-          }
-        },
-        {
-          "type": "named",
-          "data": {
-            "name": "Robot Rev Up"
-          }
-        },
-        {
-          "type": "wait",
-          "data": {
-            "waitTime": 1.0
-          }
-        },
-        {
-          "type": "named",
-          "data": {
-            "name": "Robot Shoot"
-          }
-        },
-        {
-          "type": "wait",
-          "data": {
-            "waitTime": 1.0
-          }
-        },
-        {
-          "type": "named",
-          "data": {
-            "name": "Intake Extended"
-          }
-        },
-        {
-          "type": "wait",
-          "data": {
-            "waitTime": 1.0
-          }
-        },
-        {
-          "type": "named",
-          "data": {
-            "name": "Intake Retracted"
-          }
-        }
-      ]
-    }
-  },
-  "resetOdom": true,
-  "folder": null,
-  "choreoAuto": false
-}

src/main/deploy/pathplanner/paths/No Move.path

@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 2.5,
+        "y": 2.867
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 2.7320383800418035,
+        "y": 2.77395060350773
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 2.5,
+        "y": 2.867
+      },
+      "prevControl": {
+        "x": 2.25,
+        "y": 2.867
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 0.1,
+    "maxAcceleration": 0.1,
+    "maxAngularVelocity": 0.1,
+    "maxAngularAcceleration": 0.1,
+    "nominalVoltage": 6.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": -144.898
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": -144.898
+  },
+  "useDefaultConstraints": false
+}

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

@@ -178,12 +178,12 @@ public class RobotContainer {
             // Called on first robot enable
             DeferredBlock.addBlock(() -> {
                 m_robotSwerveDrive.resetGyro();
-                m_robotIntake.setMode(IntakeMode.Idle);
-                m_robotShooter.spinUpIdle();
             }, false);
     
             // Called on every robot enable
             DeferredBlock.addBlock(() -> {
+                // m_robotIntake.setMode(IntakeMode.Idle);
+                // m_robotShooter.spinUpIdle();
                 TimesNegativeOne.update();
                 FieldPositions.update();
                 m_robotIntake.io.updateGains();

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 = 223;
+  public static final int GIT_REVISION = 226;
-  public static final String GIT_SHA = "ecdc0bfd6f9e870efa2905e3c06d87254bfd7e39";
+  public static final String GIT_SHA = "3be9938956b4cd7615cbba424e25342aa67b7e38";
-  public static final String GIT_DATE = "2026-04-07 22:46:24 MDT";
+  public static final String GIT_DATE = "2026-04-09 09:28:35 MDT";
   public static final String GIT_BRANCH = "New-Intake";
-  public static final String BUILD_DATE = "2026-04-07 22:49:03 MDT";
+  public static final String BUILD_DATE = "2026-04-09 11:40:18 MDT";
-  public static final long BUILD_UNIX_TIME = 1775623743749L;
+  public static final long BUILD_UNIX_TIME = 1775756418116L;
   public static final int DIRTY = 1;
 
   private BuildConstants(){}

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

@@ -75,7 +75,7 @@ public class Intake extends SubsystemBase {
     }
 
     public boolean intakeAtReference() {
-        return true;//state.extendedSoftLimit;
+        return state.extendedSoftLimit;
     }
 
     public double getRollerSpeed() {

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

@@ -60,7 +60,7 @@ public class IntakeConstants {
     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", -0.2);
 
-    public static final ConfigurableDouble ARM_AUTO_OUTPUT = new ConfigurableDouble("Arm auto output", -0.1);
+    public static final ConfigurableDouble ARM_AUTO_OUTPUT = new ConfigurableDouble("Arm auto output", -0.07);
     public static final ConfigurableDouble ARM_REVERSE_ROLLER_RANGE = new ConfigurableDouble("Arm reverse roller range", 1.17);
     
     public static final ConfigurableDouble ROLLER_PERCENT_OUTPUT = new ConfigurableDouble("Roller Percent Output", .50);