fixes

PathWeaver/Paths/11Ball1

@@ -1,4 +1,4 @@
 X,Y,Tangent X,Tangent Y,Fixed Theta,Reversed,Name
 3.161399200181616,-0.7531989378005054,0.2614844041675446,0.0,true,false,
 5.171560557219609,-0.7205133872795622,3.481011130480427,0.016342775260471343,true,false,
-8.129602879364947,-1.4069099482193648,-0.3922266062513158,-3.1214700747500537,true,false,
+8.236801136086667,-0.877990472375187,1.1802157226361594,-0.7183921789959233,true,false,

PathWeaver/Paths/11Ball2

@@ -1,5 +1,5 @@
 X,Y,Tangent X,Tangent Y,Fixed Theta,Reversed,Name
-8.096917328844004,-1.4069099482193648,-0.03268555052094335,-0.2614844041675435,true,false,
-7.72103349785316,-2.5672469917128398,-1.045937616670174,-1.5362208744843198,true,false,
+8.288114863157805,-1.1602159712664426,-0.03268555052094335,-0.2614844041675435,true,false,
+7.72103349785316,-2.5672469917128398,-1.4341539904697136,-1.9796749662486697,true,false,
 5.727214916075639,-4.021753989894802,0.7027393362002741,-1.6015919755262056,true,false,
 7.802747374155517,-3.645870158903958,1.3727931218796048,0.5883399093769732,true,false,

PathWeaver/Paths/11Ball3

@@ -1,4 +1,4 @@
 X,Y,Tangent X,Tangent Y,Fixed Theta,Reversed,Name
 7.786404598895046,-3.662212934164429,1.7813625033913922,0.7681104372421599,true,false,
-10.48296251687284,-2.7633602948384977,2.1409035591217638,0.08171387630235705,true,false,
-11.855755638752447,-3.3680429794759426,0.7190821114607431,-0.9805665156282894,true,false,
+7.774977592446431,-1.8016375596556597,-1.4624412215274143,1.0006176778871787,true,false,
+6.82567364163039,-2.6226571927938576,1.0262745414227457,-0.923647087280473,true,false,

PathWeaver/Paths/8BallMid1

@@ -1,3 +1,3 @@
 X,Y,Tangent X,Tangent Y,Fixed Theta,Reversed,Name
-3.1567421560440674,-4.5982356850326465,11.340333682721358,-0.025656863535568952,true,false,
-9.827526675291926,-2.827912101078407,4.336009937511109,0.05131372707113746,true,false,
+3.1567421560440674,-4.5982356850326465,9.852235597658376,0.07697059060670597,true,false,
+8.313771726693373,-3.033167009362957,0.12828431767784387,0.5131372707113742,true,false,

PathWeaver/Paths/8BallMid2

@@ -1,4 +1,3 @@
 X,Y,Tangent X,Tangent Y,Fixed Theta,Reversed,Name
-9.853183538827494,-2.8022552375428385,0.8210196331381976,0.0,true,false,
-9.955810992969768,-2.4687160115804456,-0.17959804474898178,0.9236470872804727,true,false,
+8.288114863157805,-3.0588238728985258,0.3591960894979618,1.334156903849572,true,false,
 6.004654008492193,-3.5463042800743305,-4.3616668010466775,-2.15517653698777,true,false,

PathWeaver/Paths/8BallMid3

@@ -1,3 +1,3 @@
 X,Y,Tangent X,Tangent Y,Fixed Theta,Reversed,Name
 6.030310872027759,-3.571961143609899,-1.3341569038495722,-0.5901078613180792,true,false,
-9.878840402363064,-2.57134346572272,9.748,5.797,true,false,
+5.902026554349917,-4.290353322605823,1.1032451320294525,-0.2309117718201188,true,false,

PathWeaver/Paths/SixBallMidComplete

@@ -0,0 +1,3 @@
+X,Y,Tangent X,Tangent Y,Fixed Theta,Reversed,Name
+0.0,0.0,6.734375,0.0,true,false,
+6.734375,-13.109375,0.0,-13.109375,true,false,

PathWeaver/Paths/TenBallMidComplete

@@ -0,0 +1,3 @@
+X,Y,Tangent X,Tangent Y,Fixed Theta,Reversed,Name
+0.0,0.0,6.734375,0.0,true,false,
+6.734375,-13.109375,0.0,-13.109375,true,false,

src/main/deploy/paths/output/11Ball1.wpilib.json

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src/main/java/frc4388/robot/Constants.java

@@ -181,8 +181,8 @@ public final class Constants {
 
         /* Ball Indexes */
         public static final int BEAM_SENSOR_SHOOTER = 11;
-        public static final int BEAM_SENSOR_USELESS = 12;
-        public static final int BEAM_SENSOR_STORAGE = 13;
+        public static final int BEAM_SENSOR_USELESS = 12; //MIGHT CONFLICT WITH LINE 167
+        public static final int BEAM_SENSOR_STORAGE = 13; //MIGHT CONFLICT WITH LINE 168
         public static final int BEAM_SENSOR_INTAKE = 14;
 
         /* PID Gains */

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

@@ -200,7 +200,7 @@ public class RobotContainer {
         // runs the hood with joystick
         m_robotShooterHood.setDefaultCommand(new RunHoodWithJoystick(m_robotShooterHood, getOperatorController()));
         // moves the drum not
-        m_robotShooter.setDefaultCommand(new RunCommand(() -> m_robotShooter.runDrumShooterVelocityPID(12000), m_robotShooter));
+        m_robotShooter.setDefaultCommand(new RunCommand(() -> m_robotShooter.runDrumShooterVelocityPID(8000), m_robotShooter));
         // drives climber with input from triggers on the opperator controller
         m_robotClimber.setDefaultCommand(new RunClimberWithTriggers(m_robotClimber, getDriverController()));
         // drives the leveler with an axis input from the driver controller
@@ -210,7 +210,6 @@ public class RobotContainer {
         // runs the storage not
         m_robotStorage.setDefaultCommand(new ManageStorage(m_robotStorage));
         m_robotLime.setDefaultCommand(new RunCommand(() -> m_robotLime.limeOff(), m_robotLime));
-
     }
 
     /**
@@ -310,6 +309,11 @@ public class RobotContainer {
         new JoystickButton(getOperatorJoystick(), XboxController.START_BUTTON)
             .whileHeld(new CalibrateShooter(m_robotShooter, m_robotShooterAim, m_robotShooterHood));
 
+        new JoystickButton(getOperatorJoystick(), XboxController.B_BUTTON)
+            .whileHeld(new ShootPrepGroup(m_robotShooter, m_robotShooterAim, m_robotShooterHood, m_robotStorage), false)
+            //.whenReleased(new ManageStorage(m_robotStorage, StorageMode.RESET))
+            .whenReleased(new InstantCommand(() -> m_robotLime.limeOff()));
+
 
 
         //Run drum