Named Commands and calculated feedforwards

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

@@ -20,7 +20,7 @@
         {
           "type": "path",
           "data": {
-            "pathName": "Preloaded+Pickup"
+            "pathName": "Left Preloaded+Pickup"
           }
         },
         {

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

@@ -14,7 +14,7 @@
         {
           "type": "path",
           "data": {
-            "pathName": "Preloaded+Pickup"
+            "pathName": "Left Preloaded+Pickup"
           }
         },
         {

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

@@ -14,7 +14,7 @@
         {
           "type": "path",
           "data": {
-            "pathName": "Preloaded+Pickup"
+            "pathName": "Left Preloaded+Pickup"
           }
         },
         {

src/main/deploy/pathplanner/autos/Right Subwoofer 1S.auto

@@ -0,0 +1,43 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 1.0578032584636603,
+      "y": 4.485794114445372
+    },
+    "rotation": 141.84277341263092
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "Charge Shooter"
+          }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 2.0
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Speaker Note Shot"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Right Subwoofer to Center"
+          }
+        }
+      ]
+    }
+  },
+  "folder": null,
+  "choreoAuto": false
+}

src/main/deploy/pathplanner/paths/Right Subwoofer to Center.path

@@ -0,0 +1,52 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 1.0578032584636603,
+        "y": 4.485794114445372
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 1.5708842846257125,
+        "y": 2.6240429623716395
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 7.0095431619434665,
+        "y": 0.8355890997496291
+      },
+      "prevControl": {
+        "x": 6.0095431619434665,
+        "y": 0.8355890997496291
+      },
+      "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": 144.68878656036674,
+    "velocity": 0
+  },
+  "useDefaultConstraints": true
+}