StuyPulse · Danx3mer · Jun 23, 2025 · Jun 21, 2025 · Jun 21, 2025
diff --git a/src/main/deploy/pathplanner/autos/Center 1Pc.auto b/src/main/deploy/pathplanner/autos/Center 1Pc.auto
@@ -17,28 +17,15 @@
           }
         },
         {
-          "type": "parallel",
+          "type": "named",
           "data": {
-            "commands": [
-              {
-                "type": "named",
-                "data": {
-                  "name": "PivotCoralScore"
-                }
-              },
-              {
-                "type": "wait",
-                "data": {
-                  "waitTime": 1.0
-                }
-              }
-            ]
+            "name": "PivotCoralScore"
           }
         }
       ]
     }
   },
-  "resetOdom": false,
+  "resetOdom": true,
   "folder": "Center-Start",
   "choreoAuto": false
 }
diff --git a/src/main/deploy/pathplanner/autos/IJKLKL.auto b/src/main/deploy/pathplanner/autos/IJKLKL.auto
@@ -4,12 +4,6 @@
     "type": "sequential",
     "data": {
       "commands": [
-        {
-          "type": "named",
-          "data": {
-            "name": "Pivot default and Rotisserie"
-          }
-        },
         {
           "type": "path",
           "data": {
@@ -34,6 +28,12 @@
             "pathName": "To HP"
           }
         },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 1.0
+          }
+        },
         {
           "type": "path",
           "data": {
@@ -64,6 +64,12 @@
             "pathName": "Kl to HP post reverse"
           }
         },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 1.0
+          }
+        },
         {
           "type": "path",
           "data": {

diff --git a/src/main/deploy/pathplanner/paths/Far Back Coral Back to HP.path b/src/main/deploy/pathplanner/paths/Far Back Coral Back to HP.path
@@ -16,12 +16,12 @@
     },
     {
       "anchor": {
-        "x": 1.4265368852459013,
-        "y": 0.5665471311475403
+        "x": 1.3665983606557375,
+        "y": 0.7103995901639337
       },
       "prevControl": {
-        "x": 2.1513156463078498,
-        "y": 1.6472440338024052
+        "x": 2.091377121717686,
+        "y": 1.7910964928187987
       },
       "nextControl": null,
       "isLocked": false,

diff --git a/src/main/deploy/pathplanner/paths/Non-Processor To Reef.path b/src/main/deploy/pathplanner/paths/Non-Processor To Reef.path
@@ -3,13 +3,13 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 7.420389344262295,
-        "y": 5.33765368852459
+        "x": 7.060758196721312,
+        "y": 7.279661885245901
       },
       "prevControl": null,
       "nextControl": {
-        "x": 7.19193645710723,
-        "y": 5.2361190720112285
+        "x": 6.832305309566247,
+        "y": 7.17812726873254
       },
       "isLocked": false,
       "linkedName": null

diff --git a/src/main/deploy/pathplanner/paths/Processor Coral Back to HP.path b/src/main/deploy/pathplanner/paths/Processor Coral Back to HP.path
@@ -16,12 +16,12 @@
     },
     {
       "anchor": {
-        "x": 1.4265368852459013,
-        "y": 0.5665471311475403
+        "x": 1.3665983606557375,
+        "y": 0.7103995901639337
       },
       "prevControl": {
-        "x": 1.750204918032787,
-        "y": 1.3097848360655735
+        "x": 1.7022540983606556,
+        "y": 1.4896004098360651
       },
       "nextControl": null,
       "isLocked": false,

diff --git a/src/main/deploy/pathplanner/paths/Processor HP Back.path b/src/main/deploy/pathplanner/paths/Processor HP Back.path
@@ -3,13 +3,13 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 1.4265368852459013,
-        "y": 0.5665471311475403
+        "x": 1.3665983606557375,
+        "y": 0.7103995901639337
       },
       "prevControl": null,
       "nextControl": {
-        "x": 1.8083399825910338,
-        "y": 1.1230736798201064
+        "x": 1.74840145800087,
+        "y": 1.2669261388364998
       },
       "isLocked": false,
       "linkedName": "AtProcessorHP"

diff --git a/src/main/deploy/pathplanner/paths/Processor HP Far Back.path b/src/main/deploy/pathplanner/paths/Processor HP Far Back.path
@@ -3,13 +3,13 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 1.4265368852459013,
-        "y": 0.5665471311475403
+        "x": 1.3665983606557375,
+        "y": 0.7103995901639337
       },
       "prevControl": null,
       "nextControl": {
-        "x": 2.0858606557377044,
-        "y": 1.6694159836065567
+        "x": 2.0259221311475404,
+        "y": 1.8132684426229502
       },
       "isLocked": false,
       "linkedName": "AtProcessorHP"

diff --git a/src/main/deploy/pathplanner/paths/Reverse.path b/src/main/deploy/pathplanner/paths/Reverse.path
@@ -8,8 +8,8 @@
       },
       "prevControl": null,
       "nextControl": {
-        "x": 5.744722762645914,
-        "y": 5.2328428988326845
+        "x": 5.730122950819672,
+        "y": 5.277715163934426
       },
       "isLocked": false,
       "linkedName": "NonProcessor Coral 1"

diff --git a/src/main/java/com/stuypulse/robot/Robot.java b/src/main/java/com/stuypulse/robot/Robot.java
@@ -33,7 +33,6 @@ public void robotInit() {
     @Override
     public void robotPeriodic() {
         CommandScheduler.getInstance().run();
-
         SmartDashboard.putNumber("DriverStation/Match Time", DriverStation.getMatchTime());
     }
 

diff --git a/src/main/java/com/stuypulse/robot/commands/pivot/pivotCombos/PivotCoralScore.java b/src/main/java/com/stuypulse/robot/commands/pivot/pivotCombos/PivotCoralScore.java
@@ -11,7 +11,7 @@ public class PivotCoralScore extends SequentialCommandGroup{
     public PivotCoralScore() {
         addCommands(
             new PivotCoralOuttake()
-                .withTimeout(0.35),
+                .withTimeout(0.25),
             new PivotToState(PivotState.SCORE_CORAL)
                 .alongWith(new SetPivotControlMode(Pivot.PivotControlMode.USING_STATES))
                 .withTimeout(2)

diff --git a/src/main/java/com/stuypulse/robot/constants/Checklist.java b/src/main/java/com/stuypulse/robot/constants/Checklist.java
@@ -0,0 +1,12 @@
+package com.stuypulse.robot.constants;
+
+import com.stuypulse.stuylib.network.SmartBoolean;
+
+public interface Checklist {
+    public static final SmartBoolean FMS_CONNECTED = new SmartBoolean("Checklist/Is The FMS Connected?", false);
+    public static final SmartBoolean ROBOT_CONNECTED = new SmartBoolean("Checklist/Is The DS Connected to the Robot?", false);
+    public static final SmartBoolean TAG_ROBOT = new SmartBoolean("Checklist/Is The Robot Tagged?", false);
+    public static final SmartBoolean SELECT_AUTON = new SmartBoolean("Checklist/Is The Correct Auton Selected?", false);
+    public static final SmartBoolean POSITION_ROBOT = new SmartBoolean("Checklist/Is The Robot in The Correct Auton Position?", false);
+    public static final SmartBoolean PRELOAD_ROBOT = new SmartBoolean("Checklist/Is Robot Preloaded?", false);
+}
diff --git a/src/main/java/com/stuypulse/robot/constants/Settings.java b/src/main/java/com/stuypulse/robot/constants/Settings.java
@@ -31,7 +31,7 @@ public interface EnabledSubsystems{
         public static final SmartBoolean VISION = new SmartBoolean("ENABLED_SUBSYSTEMS/Is vision enabled?", true);
     }
 
-    public static final boolean DEBUG_MODE = true; //TODO change this to false during comps!
+    public static final boolean DEBUG_MODE = false; //TODO change this to false during comps!
 
     public interface Climb {
         public static final Rotation2d DEFAULT_ANGLE = Rotation2d.kZero;
@@ -77,7 +77,7 @@ public interface Pivot {
         public static SmartNumber ALGAE_OUTTAKE_SPEED = new SmartNumber("Pivot/Roller/Algae/Outtake Speed", 0.5); 
         public static SmartNumber ALGAE_HOLD_SPEED = new SmartNumber("Pivot/Roller/Algae/Hold Speed", -0.25); 
 
-        public static SmartNumber CORAL_SHOOT_SPEED = new SmartNumber("Pivot/Roller/Coral/Shoot Speed", -0.4);
+        public static SmartNumber CORAL_SHOOT_SPEED = new SmartNumber("Pivot/Roller/Coral/Shoot Speed", -0.45);
         public static SmartNumber ROLLER_ROTISSERIE_SPEED = new SmartNumber("Pivot/Roller/Coral/Hold Speed", 0.17);
 
         //PIVOT MOTOR AND ROLLER CURRENT LIMIT