on controller shooter pid + paths

src/main/deploy/pathplanner/autos/Right 1S 2A.auto

@@ -0,0 +1,74 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 1.1134340217398382,
+      "y": 6.525338178881486
+    },
+    "rotation": 42.79740183823424
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "Speaker Note Shot"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Preloaded+Pickup"
+          }
+        },
+        {
+          "type": "parallel",
+          "data": {
+            "commands": [
+              {
+                "type": "wait",
+                "data": {
+                  "waitTime": 2.0
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "Amp Handoff"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Note 1 to amp"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Amp Note Shot"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Leftmost Center Note"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Note 1 to amp"
+          }
+        }
+      ]
+    }
+  },
+  "folder": null,
+  "choreoAuto": false
+}

src/main/deploy/pathplanner/autos/Right 2 Amp.auto

@@ -0,0 +1,50 @@
+{
+  "version": 1.0,
+  "startingPose": null,
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "Speaker Note Shot"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Preloaded+Pickup"
+          }
+        },
+        {
+          "type": "deadline",
+          "data": {
+            "commands": [
+              {
+                "type": "named",
+                "data": {
+                  "name": "Amp Handoff"
+                }
+              },
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "Note 1 to amp"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Amp Note Shot"
+          }
+        }
+      ]
+    }
+  },
+  "folder": null,
+  "choreoAuto": false
+}

src/main/deploy/pathplanner/autos/Right 3 Amp.auto

@@ -0,0 +1,43 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 1.1134340217398382,
+      "y": 6.525338178881486
+    },
+    "rotation": 33.13560954871888
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Preloaded+Pickup"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Note 1 to amp"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Leftmost Center Note"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Note 1 to amp"
+          }
+        }
+      ]
+    }
+  },
+  "folder": null,
+  "choreoAuto": false
+}

src/main/deploy/pathplanner/paths/Leftmost Center Note.path

@@ -0,0 +1,102 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 3.347017520241028,
+        "y": 6.993104356575341
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 4.446268037830382,
+        "y": 7.110045900999739
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 6.071755505338439,
+        "y": 7.297152372084174
+      },
+      "prevControl": {
+        "x": 5.077752377722138,
+        "y": 7.262069908751458
+      },
+      "nextControl": {
+        "x": 6.725659674531382,
+        "y": 7.320231342764915
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 7.63877220062539,
+        "y": 7.425788070951012
+      },
+      "prevControl": {
+        "x": 6.621380764133118,
+        "y": 7.460870534278332
+      },
+      "nextControl": {
+        "x": 8.656163637117663,
+        "y": 7.390705607623692
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 3.545818145767345,
+        "y": 6.642279723305886
+      },
+      "prevControl": {
+        "x": 6.323179825848877,
+        "y": 7.12758713266797
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 1,
+      "rotationDegrees": 172.50414236027015,
+      "rotateFast": false
+    }
+  ],
+  "constraintZones": [
+    {
+      "name": "New Constraints Zone",
+      "minWaypointRelativePos": 0.85,
+      "maxWaypointRelativePos": 1.35,
+      "constraints": {
+        "maxVelocity": 1.5,
+        "maxAcceleration": 3.0,
+        "maxAngularVelocity": 540.0,
+        "maxAngularAcceleration": 720.0
+      }
+    }
+  ],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0
+  },
+  "goalEndState": {
+    "velocity": 1.5,
+    "rotation": -179.23610153906992,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": null,
+  "previewStartingState": {
+    "rotation": 0,
+    "velocity": 0
+  },
+  "useDefaultConstraints": true
+}

src/main/deploy/pathplanner/paths/Note 1 to Speaker.path

@@ -0,0 +1,52 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 2.0,
+        "y": 7.0
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 3.0,
+        "y": 7.0
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 1.2654580294915574,
+        "y": 6.291455090032687
+      },
+      "prevControl": {
+        "x": 1.7098358983042754,
+        "y": 6.525338178881486
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": -145.88552705465875,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": null,
+  "previewStartingState": {
+    "rotation": 179.55484341368705,
+    "velocity": 0
+  },
+  "useDefaultConstraints": true
+}

src/main/deploy/pathplanner/paths/Note 1 to amp.path

@@ -0,0 +1,63 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 2.353014392638472,
+        "y": 6.993104356579084
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 1.768306670516475,
+        "y": 7.004798511021523
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 1.8384715971711143,
+        "y": 7.624588696470841
+      },
+      "prevControl": {
+        "x": 1.7950792079196904,
+        "y": 7.315863019194643
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "eventMarkers": [
+    {
+      "name": "New Event Marker",
+      "waypointRelativePos": 0,
+      "command": {
+        "type": "parallel",
+        "data": {
+          "commands": []
+        }
+      }
+    }
+  ],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0
+  },
+  "goalEndState": {
+    "velocity": 0.0,
+    "rotation": 90.0,
+    "rotateFast": true
+  },
+  "reversed": false,
+  "folder": null,
+  "previewStartingState": {
+    "rotation": -178.36342295838335,
+    "velocity": 0
+  },
+  "useDefaultConstraints": true
+}

src/main/deploy/pathplanner/paths/Preloaded+Pickup.path

@@ -0,0 +1,52 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 1.1134340217398382,
+        "y": 6.525338178881486
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 1.148516485067158,
+        "y": 7.191904982100564
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 2.3179319293111518,
+        "y": 6.981410202136645
+      },
+      "prevControl": {
+        "x": 1.8033891338437944,
+        "y": 6.981410202136645
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 0,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": null,
+  "previewStartingState": {
+    "rotation": 40.97173633351488,
+    "velocity": 0
+  },
+  "useDefaultConstraints": true
+}