day 1

src/main/deploy/pathplanner/New Path.path

@@ -0,0 +1,74 @@
+{
+  "waypoints": [
+    {
+      "anchorPoint": {
+        "x": 1.0,
+        "y": 3.0
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 2.0,
+        "y": 3.0
+      },
+      "holonomicAngle": 0,
+      "isReversal": false,
+      "velOverride": null,
+      "isLocked": false,
+      "isStopPoint": false,
+      "stopEvent": {
+        "names": [],
+        "executionBehavior": "parallel",
+        "waitBehavior": "none",
+        "waitTime": 0
+      }
+    },
+    {
+      "anchorPoint": {
+        "x": 3.0,
+        "y": 5.0
+      },
+      "prevControl": {
+        "x": 3.0,
+        "y": 4.0
+      },
+      "nextControl": {
+        "x": 3.0,
+        "y": 4.0
+      },
+      "holonomicAngle": 0,
+      "isReversal": true,
+      "velOverride": null,
+      "isLocked": false,
+      "isStopPoint": false,
+      "stopEvent": {
+        "names": [],
+        "executionBehavior": "parallel",
+        "waitBehavior": "none",
+        "waitTime": 0
+      }
+    },
+    {
+      "anchorPoint": {
+        "x": 5.0,
+        "y": 3.0
+      },
+      "prevControl": {
+        "x": 4.0,
+        "y": 3.0
+      },
+      "nextControl": null,
+      "holonomicAngle": 0,
+      "isReversal": false,
+      "velOverride": null,
+      "isLocked": false,
+      "isStopPoint": false,
+      "stopEvent": {
+        "names": [],
+        "executionBehavior": "parallel",
+        "waitBehavior": "none",
+        "waitTime": 0
+      }
+    }
+  ],
+  "markers": []
+}

src/main/deploy/pathplanner/autos/SourceSpeaker1NoteMobility.auto

@@ -0,0 +1,37 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 0.74,
+      "y": 4.48
+    },
+    "rotation": -59.45431809626428
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "AutoStart"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "ShootNote"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "SourceSpeaker-Mobility"
+          }
+        }
+      ]
+    }
+  },
+  "folder": "Source Speaker",
+  "choreoAuto": false
+}

src/main/deploy/pathplanner/paths/SourceSpeaker-Mobility.path

@@ -0,0 +1,52 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 0.7352600952201659,
+        "y": 4.484967101535422
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 1.1905904713351545,
+        "y": 1.3049178174275693
+      },
+      "isLocked": false,
+      "linkedName": "SourceSpeaker"
+    },
+    {
+      "anchor": {
+        "x": 3.858855262194511,
+        "y": 1.022510230073842
+      },
+      "prevControl": {
+        "x": 3.2258727388154664,
+        "y": 1.0419866154085826
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.8,
+    "maxAcceleration": 4.0,
+    "maxAngularVelocity": 500.0,
+    "maxAngularAcceleration": 2000.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": -60.0,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": "Source Speaker",
+  "previewStartingState": {
+    "rotation": -60.0,
+    "velocity": 0
+  },
+  "useDefaultConstraints": true
+}

src/main/java/frc/robot/Constants.java

@@ -229,7 +229,7 @@ public static class WristConstants {
     public static final double WRIST_GEAR_RATIO = 25.0 * 42.0 / 18.0;
 
     public static final Rotation2d WRIST_MAX = new Rotation2d(Units.degreesToRadians(60));
-    public static final Rotation2d WRIST_MIN = Rotation2d.fromRadians(0.12799356352873126);
+    public static final Rotation2d WRIST_MIN = Rotation2d.fromRadians(0.10695095737072258);
 
     public static final double WRIST_OFFSET = 0.805 + Math.PI / 2.0;
     public static final int WRIST_ENCODER_PORT = 7;

src/main/java/frc/robot/RobotContainer.java

@@ -323,10 +323,13 @@ private void evaluateDriveStyle(Command newCommand) {
     if (oldCommand != null) {
       // We have to cancel the command so the new default one will run
       oldCommand.cancel();
+
     }
   }
 
   public Command getAutonomousCommand() {
     return autos.getAutoChooser().getSelected();
+
+
   }
 }

src/main/java/frc/robot/commands/ScoringCommands.java

@@ -30,7 +30,7 @@ public static Command shootSetpointIdleCommand(ShooterSubsystem shooterSubsystem
 
   public static Command shootSetpointAmpCommand(ShooterSubsystem shooterSubsystem) {
 //    return shooterSubsystem.setVoltageCommand(8.0);
-    return shooterSubsystem.runVelocityCommand(Units.rotationsPerMinuteToRadiansPerSecond(1000.0));
+    return shooterSubsystem.runVelocityCommand(Units.rotationsPerMinuteToRadiansPerSecond(2000.0));
   }
 
   public static Command transportCloseSpeakerCommand(TransportSubsystem transportSubsystem) {