From 51ef5ff2d09dd181af2b3a03e1634132728ab8b8 Mon Sep 17 00:00:00 2001
From: Team 2648 <team2648@coldlightalchemist.com>
Date: Sat, 15 Mar 2025 17:22:30 -0400
Subject: [PATCH] middle of southern maine

---
 .../deploy/pathplanner/autos/1 L4 Center.auto |  6 ++++++
 src/main/deploy/pathplanner/autos/fein.auto   | 19 -------------------
 .../pathplanner/paths/New New Path.path       | 13 ++++++++++---
 .../deploy/pathplanner/paths/Start to H.path  |  9 +--------
 src/main/java/frc/robot/RobotContainer.java   |  7 +++----
 5 files changed, 20 insertions(+), 34 deletions(-)
 delete mode 100644 src/main/deploy/pathplanner/autos/fein.auto

diff --git a/src/main/deploy/pathplanner/autos/1 L4 Center.auto b/src/main/deploy/pathplanner/autos/1 L4 Center.auto
index b29b219..319353d 100644
--- a/src/main/deploy/pathplanner/autos/1 L4 Center.auto	
+++ b/src/main/deploy/pathplanner/autos/1 L4 Center.auto	
@@ -4,6 +4,12 @@
     "type": "sequential",
     "data": {
       "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "Lift L4"
+          }
+        },
         {
           "type": "path",
           "data": {
diff --git a/src/main/deploy/pathplanner/autos/fein.auto b/src/main/deploy/pathplanner/autos/fein.auto
deleted file mode 100644
index 0e47294..0000000
--- a/src/main/deploy/pathplanner/autos/fein.auto
+++ /dev/null
@@ -1,19 +0,0 @@
-{
-  "version": "2025.0",
-  "command": {
-    "type": "sequential",
-    "data": {
-      "commands": [
-        {
-          "type": "path",
-          "data": {
-            "pathName": "New New Path"
-          }
-        }
-      ]
-    }
-  },
-  "resetOdom": true,
-  "folder": null,
-  "choreoAuto": false
-}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/New New Path.path b/src/main/deploy/pathplanner/paths/New New Path.path
index ea34786..ff4331d 100644
--- a/src/main/deploy/pathplanner/paths/New New Path.path	
+++ b/src/main/deploy/pathplanner/paths/New New Path.path	
@@ -16,11 +16,11 @@
     },
     {
       "anchor": {
-        "x": 4.735143442622951,
+        "x": 7.060758196721312,
         "y": 6.506454918032786
       },
       "prevControl": {
-        "x": 3.7351434426229506,
+        "x": 6.060758196721312,
         "y": 6.506454918032786
       },
       "nextControl": null,
@@ -31,7 +31,14 @@
   "rotationTargets": [],
   "constraintZones": [],
   "pointTowardsZones": [],
-  "eventMarkers": [],
+  "eventMarkers": [
+    {
+      "name": "Lift L4",
+      "waypointRelativePos": 0.351851851851855,
+      "endWaypointRelativePos": null,
+      "command": null
+    }
+  ],
   "globalConstraints": {
     "maxVelocity": 4.0,
     "maxAcceleration": 2.5,
diff --git a/src/main/deploy/pathplanner/paths/Start to H.path b/src/main/deploy/pathplanner/paths/Start to H.path
index 711195e..c238bec 100644
--- a/src/main/deploy/pathplanner/paths/Start to H.path	
+++ b/src/main/deploy/pathplanner/paths/Start to H.path	
@@ -31,14 +31,7 @@
   "rotationTargets": [],
   "constraintZones": [],
   "pointTowardsZones": [],
-  "eventMarkers": [
-    {
-      "name": "Lift L4",
-      "waypointRelativePos": 0.08214624881291864,
-      "endWaypointRelativePos": null,
-      "command": null
-    }
-  ],
+  "eventMarkers": [],
   "globalConstraints": {
     "maxVelocity": 4.0,
     "maxAcceleration": 2.5,
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 3e3f6c2..aa03c21 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -228,14 +228,13 @@ public class RobotContainer {
 
 	}
 	private void configureNamedCommands() {
-		new EventTrigger("Lift L4").whileTrue(safeMoveManipulator(ElevatorConstants.kL4Position, ManipulatorPivotConstants.kL4Position));
+		new EventTrigger("Lift L4").onTrue(safeMoveManipulator(ElevatorConstants.kL4Position, ManipulatorPivotConstants.kL4Position));
 		new EventTrigger("HP Pickup").onTrue(safeMoveManipulator(ElevatorConstants.kL4Position, ManipulatorPivotConstants.kL4Position));
 
 		NamedCommands.registerCommand("Drivetrain Set X", drivetrain.setXCommand());
-		NamedCommands.registerCommand("Shoot Coral L4", manipulator.runManipulator(() -> 0.4, true).withTimeout(2).andThen(manipulator.runUntilCollected(() -> 0)));
+		NamedCommands.registerCommand("Shoot Coral L4", Commands.race(manipulator.runManipulator(() -> 0.4, true).withTimeout(3).andThen(manipulator.runUntilCollected(() -> 0.0).withTimeout(0.1)), Commands.parallel(elevator.maintainPosition(), manipulatorPivot.maintainPosition())));
 		NamedCommands.registerCommand("Collect Coral", manipulator.runUntilCollected(() -> 0.30).andThen(manipulator.runUntilCollected(() -> 0)).withTimeout(0.5));
-		NamedCommands.registerCommand("Lift L4", safeMoveManipulator(ElevatorConstants.kL4Position, ManipulatorPivotConstants.kL4Position)
-		.andThen(Commands.parallel(elevator.maintainPosition(), manipulatorPivot.maintainPosition())));
+		NamedCommands.registerCommand("Lift L4", safeMoveManipulator(ElevatorConstants.kL4Position, ManipulatorPivotConstants.kL4Position));
 		NamedCommands.registerCommand("HP Pickup", safeMoveManipulator(ElevatorConstants.kCoralIntakePosition, ManipulatorPivotConstants.kStartingPosition));
 	}