From e141c8221d676712e018ddd5f0c6eec700bebee2 Mon Sep 17 00:00:00 2001
From: Hayden Heroux <haydenheroux@gmail.com>
Date: Thu, 18 Apr 2024 18:00:23 -0500
Subject: [PATCH] fix(auto): Improve.

---
 src/main/deploy/pathplanner/autos/cmp.center.4.auto        | 2 +-
 src/main/java/frc/robot/superstructure/Superstructure.java | 4 +++-
 2 files changed, 4 insertions(+), 2 deletions(-)

diff --git a/src/main/deploy/pathplanner/autos/cmp.center.4.auto b/src/main/deploy/pathplanner/autos/cmp.center.4.auto
index 8a54441..2c2a762 100644
--- a/src/main/deploy/pathplanner/autos/cmp.center.4.auto
+++ b/src/main/deploy/pathplanner/autos/cmp.center.4.auto
@@ -14,7 +14,7 @@
         {
           "type": "named",
           "data": {
-            "name": "shootNoPull"
+            "name": "shoot"
           }
         },
         {
diff --git a/src/main/java/frc/robot/superstructure/Superstructure.java b/src/main/java/frc/robot/superstructure/Superstructure.java
index 321d968..0df8a52 100644
--- a/src/main/java/frc/robot/superstructure/Superstructure.java
+++ b/src/main/java/frc/robot/superstructure/Superstructure.java
@@ -170,7 +170,9 @@ private Command shoot(SuperstructureState shot) {
   }
 
   private Command shootNoPull(SuperstructureState shot) {
-    return ready(shot).andThen(hold(shot));
+    return ready(shot)
+      .andThen(Commands.waitSeconds(SuperstructureConstants.READY_PAUSE_DURATION))
+      .andThen(hold(shot));
   }
   
   public Command subwooferNoPull() {