2 piece left works

src/main/deploy/pathplanner/autos/Two Coral Left Event.auto

@@ -44,19 +44,7 @@
         {
           "type": "path",
           "data": {
-            "pathName": "HP to 330 Left"
-          }
-        },
-        {
-          "type": "named",
-          "data": {
-            "name": "Lift L4"
-          }
-        },
-        {
-          "type": "path",
-          "data": {
-            "pathName": "K Approach"
+            "pathName": "HP to 330 Right"
           }
         },
         {
@@ -64,6 +52,12 @@
           "data": {
             "name": "Shoot Coral L4"
           }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "L Backup"
+          }
         }
       ]
     }

src/main/deploy/pathplanner/autos/Two Coral Left.auto

@@ -56,7 +56,7 @@
         {
           "type": "path",
           "data": {
-            "pathName": "HP to 330 Left"
+            "pathName": "HP to 330 Right"
           }
         },
         {

src/main/deploy/pathplanner/paths/30 Right to HP.path

@@ -33,8 +33,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 2.0,
-    "maxAcceleration": 1.0,
+    "maxVelocity": 3.5,
+    "maxAcceleration": 1.75,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 400.0,
     "nominalVoltage": 12.0,

src/main/deploy/pathplanner/paths/330 Right to HP.path

@@ -45,8 +45,8 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 2.0,
-    "maxAcceleration": 1.0,
+    "maxVelocity": 3.5,
+    "maxAcceleration": 1.75,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 400.0,
     "nominalVoltage": 12.0,

src/main/deploy/pathplanner/paths/E to HP.path

@@ -52,8 +52,8 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 2.0,
-    "maxAcceleration": 1.0,
+    "maxVelocity": 3.5,
+    "maxAcceleration": 1.75,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 400.0,
     "nominalVoltage": 12.0,

src/main/deploy/pathplanner/paths/H Backup.path

@@ -33,8 +33,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 2.0,
-    "maxAcceleration": 1.0,
+    "maxVelocity": 3.5,
+    "maxAcceleration": 1.75,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 400.0,
     "nominalVoltage": 12.0,

src/main/deploy/pathplanner/paths/HP to 330 Right.path

@@ -17,24 +17,36 @@
     {
       "anchor": {
         "x": 3.6202868852459016,
-        "y": 5.859118852459017
+        "y": 5.031967213114754
       },
       "prevControl": {
         "x": 3.304747501684258,
-        "y": 6.385017825061756
+        "y": 5.557866185717494
       },
       "nextControl": null,
       "isLocked": false,
-      "linkedName": "Before K"
+      "linkedName": "L"
     }
   ],
   "rotationTargets": [],
   "constraintZones": [],
   "pointTowardsZones": [],
-  "eventMarkers": [],
+  "eventMarkers": [
+    {
+      "name": "Lift L4",
+      "waypointRelativePos": 0.0,
+      "endWaypointRelativePos": null,
+      "command": {
+        "type": "named",
+        "data": {
+          "name": "Lift L4"
+        }
+      }
+    }
+  ],
   "globalConstraints": {
-    "maxVelocity": 2.0,
-    "maxAcceleration": 1.0,
+    "maxVelocity": 3.5,
+    "maxAcceleration": 1.75,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 400.0,
     "nominalVoltage": 12.0,

src/main/deploy/pathplanner/paths/HP to D.path

@@ -52,8 +52,8 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 2.0,
-    "maxAcceleration": 1.0,
+    "maxVelocity": 3.5,
+    "maxAcceleration": 1.75,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 400.0,
     "nominalVoltage": 12.0,

src/main/deploy/pathplanner/paths/J Approach.path

@@ -33,8 +33,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 2.0,
-    "maxAcceleration": 1.0,
+    "maxVelocity": 3.5,
+    "maxAcceleration": 1.75,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 400.0,
     "nominalVoltage": 12.0,

src/main/deploy/pathplanner/paths/J Backup.path

@@ -33,8 +33,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 2.0,
-    "maxAcceleration": 1.0,
+    "maxVelocity": 3.5,
+    "maxAcceleration": 1.75,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 400.0,
     "nominalVoltage": 12.0,

src/main/deploy/pathplanner/paths/K Approach.path

@@ -3,25 +3,25 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 3.6202868852459016,
-        "y": 5.859118852459017
+        "x": 3.35655737704918,
+        "y": 5.78719262295082
       },
       "prevControl": null,
       "nextControl": {
-        "x": 3.6663590190101236,
-        "y": 5.6134008057257505
+        "x": 3.402629510813402,
+        "y": 5.541474576217554
       },
       "isLocked": false,
       "linkedName": "Before K"
     },
     {
       "anchor": {
-        "x": 3.7290765411991873,
-        "y": 5.091647695859483
+        "x": 3.6322745901639335,
+        "y": 5.019979508196721
       },
       "prevControl": {
-        "x": 3.693113426445089,
-        "y": 5.343389499138171
+        "x": 3.596311475409835,
+        "y": 5.271721311475409
       },
       "nextControl": null,
       "isLocked": false,
@@ -33,8 +33,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 2.0,
-    "maxAcceleration": 1.0,
+    "maxVelocity": 1.0,
+    "maxAcceleration": 0.5,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 400.0,
     "nominalVoltage": 12.0,
@@ -50,5 +50,5 @@
     "velocity": 0,
     "rotation": -59.69923999693802
   },
-  "useDefaultConstraints": true
+  "useDefaultConstraints": false
 }

src/main/deploy/pathplanner/paths/L Backup.path

@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 3.6202868852459016,
+        "y": 5.031967213114754
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 3.4877871502451065,
+        "y": 5.243966789116026
+      },
+      "isLocked": false,
+      "linkedName": "L"
+    },
+    {
+      "anchor": {
+        "x": 3.35655737704918,
+        "y": 5.511475409836065
+      },
+      "prevControl": {
+        "x": 3.5603483606557376,
+        "y": 5.235758196721312
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.5,
+    "maxAcceleration": 1.75,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 400.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": -63.43494882292201
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": -59.69923999693802
+  },
+  "useDefaultConstraints": true
+}

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

@@ -44,8 +44,8 @@
   ],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 2.0,
-    "maxAcceleration": 1.0,
+    "maxVelocity": 3.5,
+    "maxAcceleration": 1.75,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 400.0,
     "nominalVoltage": 12.0,

src/main/deploy/pathplanner/paths/Right Start to E.path

@@ -52,8 +52,8 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 2.0,
-    "maxAcceleration": 1.0,
+    "maxVelocity": 3.5,
+    "maxAcceleration": 1.75,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 400.0,
     "nominalVoltage": 12.0,

src/main/deploy/pathplanner/paths/Start to 30 Right.path

@@ -45,8 +45,8 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 2.0,
-    "maxAcceleration": 1.0,
+    "maxVelocity": 3.5,
+    "maxAcceleration": 1.75,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 400.0,
     "nominalVoltage": 12.0,

src/main/deploy/pathplanner/paths/Start to H.path

@@ -33,8 +33,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 2.0,
-    "maxAcceleration": 1.0,
+    "maxVelocity": 3.5,
+    "maxAcceleration": 1.75,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 400.0,
     "nominalVoltage": 12.0,

src/main/deploy/pathplanner/paths/fein.path

@@ -49,8 +49,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 2.0,
-    "maxAcceleration": 1.0,
+    "maxVelocity": 3.5,
+    "maxAcceleration": 1.75,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 400.0,
     "nominalVoltage": 12.0,

src/main/deploy/pathplanner/settings.json

@@ -4,8 +4,8 @@
   "holonomicMode": true,
   "pathFolders": [],
   "autoFolders": [],
-  "defaultMaxVel": 2.0,
-  "defaultMaxAccel": 1.0,
+  "defaultMaxVel": 3.5,
+  "defaultMaxAccel": 1.75,
   "defaultMaxAngVel": 540.0,
   "defaultMaxAngAccel": 400.0,
   "defaultNominalVoltage": 12.0,