4 9 auto tuning

src/main/deploy/choreo/RBumptoOutpost.traj

@@ -14,7 +14,7 @@
  },
  "params":{
   "waypoints":[
-    {"x":{"exp":"RBump.x", "val":3.5344297885894775}, "y":{"exp":"RBump.y", "val":2.057757616043091}, "heading":{"exp":"RBump.heading", "val":1.5707963267948966}, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
+    {"x":{"exp":"StartingRBump.x", "val":3.5344297885894775}, "y":{"exp":"StartingRBump.y", "val":2.057757616043091}, "heading":{"exp":"StartingRBump.heading", "val":1.5707963267948966}, "intervals":33, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
     {"x":{"exp":"Outpost.x", "val":0.4436733722686768}, "y":{"exp":"Outpost.y", "val":0.443471223115921}, "heading":{"exp":"Outpost.heading", "val":1.5707963267948966}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
   "constraints":[
     {"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},

src/main/deploy/choreo/rebuiltChoreo.chor

@@ -253,12 +253,26 @@
    },
    "RBump":{
     "x":{
-     "exp":"3.5344297885894775 m",
-     "val":3.5344297885894775
+     "exp":"2.9401838779449463 m",
+     "val":2.9401838779449463
     },
     "y":{
-     "exp":"2.057757616043091 m",
-     "val":2.057757616043091
+     "exp":"2.4093074798583984 m",
+     "val":2.4093074798583984
+    },
+    "heading":{
+     "exp":"90 deg",
+     "val":1.5707963267948966
+    }
+   },
+   "RCleanup":{
+    "x":{
+     "exp":"5.824512958526611 m",
+     "val":5.824512958526611
+    },
+    "y":{
+     "exp":"4.3513383865356445 m",
+     "val":4.3513383865356445
     },
     "heading":{
      "exp":"90 deg",
@@ -281,12 +295,12 @@
    },
    "RNeutral":{
     "x":{
-     "exp":"7.8203654289245605 m",
-     "val":7.82036542892456
+     "exp":"8.24740982055664 m",
+     "val":8.24740982055664
     },
     "y":{
-     "exp":"3.55698299407959 m",
-     "val":3.55698299407959
+     "exp":"3.8888766765594482 m",
+     "val":3.888876676559448
     },
     "heading":{
      "exp":"1.5707963267948966 rad",
@@ -433,6 +447,20 @@
      "val":0.0
     }
    },
+   "StartingRBump":{
+    "x":{
+     "exp":"3.5344297885894775 m",
+     "val":3.5344297885894775
+    },
+    "y":{
+     "exp":"2.057757616043091 m",
+     "val":2.057757616043091
+    },
+    "heading":{
+     "exp":"90 deg",
+     "val":1.5707963267948966
+    }
+   },
    "StartingRTrench":{
     "x":{
      "exp":"4.386671543121338 m",

src/main/java/frc/robot/Autos.java

@@ -120,6 +120,10 @@ public enum Path {
     LBumptoLCleanup("LBumpToLCleanup", Action.INTAKE),
     LCleanupToLBump("LCleanupToLBump", Action.SCORE_AT_END),
 
+    RNeutralToRBump("RNeutralToRBump", Action.SCORE_AT_END),
+    RBumptoRCleanup("RBumpToRCleanup", Action.INTAKE),
+    RCleanupToRBump("RCleanupToRBump", Action.SCORE_AT_END),
+
     HubtoDepot("HubtoDepot", Action.DEPOT),
 
     PreDepottoDepot("PreDepottoDepot", Action.DEPOT),
@@ -303,6 +307,7 @@ public Command delayedScorePath(Path path, AutoRoutine routine) {
 
   public Command scoreAtEndPath(Path path, AutoRoutine routine) {
     return Commands.sequence(
+        stopFlowing(),
         startIntaking(),
         path.getTrajectory(routine).cmd().until(path.getTrajectory(routine).done()),
         stopIntaking(),
@@ -771,6 +776,19 @@ public Command getLeftBumpDoubleDipAuto() {
         Commands.none());
   }
 
+  public Command getRightBumpDoubleDipAuto() {
+    return createAuto(
+        "Right Double Dip Bump",
+        new Path[] {
+          Path.StartingRTrenchtoRNeutral,
+          Path.RNeutralToRBump,
+          Path.RBumptoRCleanup,
+          Path.RCleanupToRBump
+          // Path.EndWScoreLCleanuptoLPreTrench
+        },
+        Commands.none());
+  }
+
   public Command getTestAuto() {
     final AutoRoutine routine = factory.newRoutine("test auto");
     Path[] paths = {Path.RUNtoTEST, Path.RUNtoTEST, Path.RUNtoTEST, Path.RUNtoTEST};

src/main/java/frc/robot/Robot.java

@@ -855,6 +855,7 @@ private void addAutos() {
 
     autoChooser.addOption("Right Neutral Outpost Score", autos.getRightNeutralOutpostScore());
     autoChooser.addOption("Left Double Dip Bump", autos.getLeftBumpDoubleDipAuto());
+    autoChooser.addOption("Right Double Dip Bump", autos.getRightBumpDoubleDipAuto());
 
     autoChooser.addOption("spin", spinTest());
 

src/main/java/frc/robot/subsystems/shooter/TurretSubsystem.java

@@ -573,7 +573,7 @@ public static TalonFXConfiguration getTurretConfig() {
     config.Slot0.kS = 0.45;
     config.Slot0.kV = 5.7;
     config.Slot0.kP = 240.0;
-    //kd was added once we switched to position voltage
+    // kd was added once we switched to position voltage
     config.Slot0.kD = 0.04;
 
     config.MotionMagic.MotionMagicAcceleration = 10; // 2.064;