Pre Champs changes

simgui.json

@@ -94,6 +94,9 @@
     }
   },
   "NetworkTables": {
+    "Persistent Values": {
+      "open": false
+    },
     "transitory": {
       "SmartDashboard": {
         "FieldPositions": {
@@ -102,13 +105,21 @@
         "Intake": {
           "open": true
         },
+        "Robot": {
+          "Auton": {
+            "open": true
+          }
+        },
         "Spindexer": {
           "open": true
         },
         "States": {
           "open": false
         },
         "Superstructure": {
+          "Turret": {
+            "open": true
+          },
           "open": true
         },
         "open": true

src/main/deploy/pathplanner/autos/Center Hub + Depot.auto

@@ -0,0 +1,19 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Center Hub To Depot"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}

src/main/deploy/pathplanner/autos/Left Middy.auto → src/main/deploy/pathplanner/autos/Left Bump.auto

@@ -7,13 +7,13 @@
         {
           "type": "path",
           "data": {
-            "pathName": "Left Bump To NZ"
+            "pathName": "Left Bump To Score (Start)"
           }
         },
         {
           "type": "path",
           "data": {
-            "pathName": "Left Middy To Bump Score"
+            "pathName": "Left Bump To Score"
           }
         },
         {

src/main/deploy/pathplanner/autos/Left Corner Bite.auto

@@ -0,0 +1,37 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Left Corner Bite"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Left Corner Bite To Score"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Left Bite Score To Score"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Left Score Jiggle"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}

src/main/deploy/pathplanner/autos/Left Follow.auto

@@ -0,0 +1,25 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Left Follow To Bump"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Left Follow To Score"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}

src/main/deploy/pathplanner/autos/Left 2 Cycle.auto → src/main/deploy/pathplanner/autos/Left Two Cycle.auto

@@ -25,13 +25,7 @@
         {
           "type": "path",
           "data": {
-            "pathName": "Left Score To NZ (F)"
-          }
-        },
-        {
-          "type": "path",
-          "data": {
-            "pathName": "Left NZ To Score"
+            "pathName": "Left Score Jiggle"
           }
         }
       ]

src/main/deploy/pathplanner/autos/Right Middy.auto → src/main/deploy/pathplanner/autos/Right Bump.auto

@@ -7,13 +7,13 @@
         {
           "type": "path",
           "data": {
-            "pathName": "Right Bump To NZ"
+            "pathName": "Right Bump To Score (Start)"
           }
         },
         {
           "type": "path",
           "data": {
-            "pathName": "Right Middy To Bump Score"
+            "pathName": "Right Bump To Score"
           }
         },
         {

src/main/deploy/pathplanner/autos/Right Corner Bite.auto

@@ -0,0 +1,37 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Right Corner Bite"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Right NZ To Score"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Right Bite Score To Score"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Right Score Jiggle"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}

src/main/deploy/pathplanner/autos/Right Follow.auto

@@ -0,0 +1,25 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Right Follow To Bump"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Right Follow To Score"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}

src/main/deploy/pathplanner/autos/Right 2 Cycle.auto → src/main/deploy/pathplanner/autos/Right Two Cycle.auto

@@ -25,13 +25,7 @@
         {
           "type": "path",
           "data": {
-            "pathName": "Right Score To NZ (F)"
-          }
-        },
-        {
-          "type": "path",
-          "data": {
-            "pathName": "Right NZ To Score"
+            "pathName": "Right Score Jiggle"
           }
         }
       ]

src/main/deploy/pathplanner/paths/Center Hub To Depot.path

@@ -0,0 +1,84 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 3.6767760342368048,
+        "y": 4.015592011412268
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 1.8783024251069897,
+        "y": 4.106162624821684
+      },
+      "isLocked": false,
+      "linkedName": "Center Hub"
+    },
+    {
+      "anchor": {
+        "x": 1.9947503566333804,
+        "y": 5.374151212553495
+      },
+      "prevControl": {
+        "x": 1.9947503566333804,
+        "y": 4.339058487874466
+      },
+      "nextControl": {
+        "x": 1.9947503566333804,
+        "y": 5.859787410660789
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 0.5456205420827387,
+        "y": 5.930513552068473
+      },
+      "prevControl": {
+        "x": 1.6583452211126959,
+        "y": 6.059900142653353
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": "Depot"
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [
+    {
+      "name": "Constraints Zone",
+      "minWaypointRelativePos": 0,
+      "maxWaypointRelativePos": 1.7771775827143685,
+      "constraints": {
+        "maxVelocity": 0.75,
+        "maxAcceleration": 1.0,
+        "maxAngularVelocity": 300.0,
+        "maxAngularAcceleration": 900.0,
+        "nominalVoltage": 12.0,
+        "unlimited": false
+      }
+    }
+  ],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 1.75,
+    "maxAcceleration": 10.0,
+    "maxAngularVelocity": 300.0,
+    "maxAngularAcceleration": 900.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 180.0
+  },
+  "reversed": false,
+  "folder": "To Depot",
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 180.0
+  },
+  "useDefaultConstraints": false
+}