end of pine tree 2

src/main/deploy/pathplanner/autos/Center to Shoot.auto

@@ -0,0 +1,37 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "intake down"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "spinup"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Center to Shoot"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "shoot close"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}

src/main/deploy/pathplanner/paths/Center to Shoot.path

@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 3.622028469750891,
+        "y": 4.008102016607354
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 3.266975088967973,
+        "y": 4.0403795966785285
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 3.1271055753262162,
+        "y": 4.008102016607354
+      },
+      "prevControl": {
+        "x": 4.0416370106761565,
+        "y": 4.0403795966785285
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "useDefaultConstraints": true
+}

src/main/deploy/pathplanner/paths/Left to Outpost.path

@@ -0,0 +1,59 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 2.9872360616844604,
+        "y": 4.599857651245552
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 2.1695373665480435,
+        "y": 5.019466192170819
+      },
+      "isLocked": false,
+      "linkedName": "left close"
+    },
+    {
+      "anchor": {
+        "x": 1.1043772241992889,
+        "y": 5.815646500593119
+      },
+      "prevControl": {
+        "x": 2.7074970344009497,
+        "y": 5.998552787663108
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 0.5,
+      "rotationDegrees": 180.0
+    }
+  ],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 178.53119928561412
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": -22.619864948040433
+  },
+  "useDefaultConstraints": true
+}

src/main/deploy/pathplanner/paths/start to score left.path

@@ -25,7 +25,7 @@
       },
       "nextControl": null,
       "isLocked": false,
-      "linkedName": null
+      "linkedName": "left close"
     }
   ],
   "rotationTargets": [],

src/main/java/frc/robot/constants/ModuleConstants.java

@@ -1,6 +1,7 @@
 package frc.robot.constants;
 
 import com.ctre.phoenix6.configs.AudioConfigs;
+import com.ctre.phoenix6.configs.ClosedLoopRampsConfigs;
 import com.ctre.phoenix6.configs.CurrentLimitsConfigs;
 import com.ctre.phoenix6.configs.FeedbackConfigs;
 import com.ctre.phoenix6.configs.MotorOutputConfigs;
@@ -51,10 +52,11 @@ public class ModuleConstants {
     public static final double kDriveS = 0;
     public static final double kDriveV = kDrivingVelocityFeedForward;
     public static final double kDriveA = 0;
+    public static final double kClosedLoopRampRate = .01;
 
     // TODO Hold over from 2025, adjust?
-    public static final int kDriveMotorStatorCurrentLimit = 100;
+    public static final int kDriveMotorStatorCurrentLimit = 90;
-    public static final int kDriveMotorSupplyCurrentLimit = 65;
+    public static final int kDriveMotorSupplyCurrentLimit = 55;
 
     // TODO Hold over from 2025, adjust?
     public static final InvertedValue kDriveInversionState = InvertedValue.Clockwise_Positive;
@@ -88,6 +90,7 @@ public class ModuleConstants {
     public static final MotorOutputConfigs kDriveMotorConfig = new MotorOutputConfigs();
     public static final AudioConfigs kAudioConfig = new AudioConfigs();
     public static final Slot0Configs kDriveSlot0Config = new Slot0Configs();
+    public static final ClosedLoopRampsConfigs kDriveClosedLoopRampConfig = new ClosedLoopRampsConfigs();
 
     static {
         kDriveFeedConfig.SensorToMechanismRatio = kDrivingMotorReduction;
@@ -109,6 +112,8 @@ public class ModuleConstants {
         kDriveSlot0Config.kV = kDriveV;
         kDriveSlot0Config.kA = kDriveA;
 
+        kDriveClosedLoopRampConfig.withVoltageClosedLoopRampPeriod(kClosedLoopRampRate);
+
         turningConfig
             .idleMode(kTurnIdleMode)
             .smartCurrentLimit(kTurnMotorCurrentLimit)

src/main/java/frc/robot/subsystems/Hood.java

@@ -26,10 +26,10 @@ public class Hood extends SubsystemBase {
 
     private SparkClosedLoopController controller;
 
-    private Trigger resetTrigger;
+    //private Trigger resetTrigger;
-    private Trigger timerTrigger;
+    //private Trigger timerTrigger;
 
-    private Timer resetTimer;
+    //private Timer resetTimer;
 
     private double currentTargetDegrees;
 
@@ -47,7 +47,7 @@ public class Hood extends SubsystemBase {
 
         controller = motor.getClosedLoopController();
 
-        resetTimer = new Timer();
+        /*resetTimer = new Timer();
         resetTimer.reset();
 
         resetTrigger = new Trigger(() -> (motor.getOutputCurrent() > HoodConstants.kAmpsToTriggerPositionReset));
@@ -61,7 +61,7 @@ public class Hood extends SubsystemBase {
         timerTrigger.onTrue(new InstantCommand(() -> {
             encoder.setPosition(0);
             resetTimer.reset();
-        }));
+        }));*/
 
         currentTargetDegrees = HoodConstants.kStartupAngle;
     }
@@ -96,7 +96,7 @@ public class Hood extends SubsystemBase {
      * 
      * @return A complete Command structure that performs the specified action
      */
-    public Command automatedRezero() {
+    /*public Command automatedRezero() {
         return manualSpeed(() -> -1)
             .until(timerTrigger)
             .andThen(
@@ -112,11 +112,11 @@ public class Hood extends SubsystemBase {
      * 
      * @return A complete Command structure that performs the specified action
      */
-    public Command automatedRezeroNoTimer() {
+    /*public Command automatedRezeroNoTimer() {
         return manualSpeed(() -> -1)
             .until(() -> motor.getOutputCurrent() >= HoodConstants.kAmpsToTriggerPositionReset)
             .andThen(new InstantCommand(() -> encoder.setPosition(0)));
-    }
+    }*/
 
     public Command manualSpeed(DoubleSupplier speed) {
         currentTargetDegrees = 0;

src/main/java/frc/robot/utilities/SwerveModule.java

@@ -109,6 +109,7 @@ public class SwerveModule {
         drive.getConfigurator().apply(ModuleConstants.kDriveMotorConfig);
         drive.getConfigurator().apply(ModuleConstants.kAudioConfig);
         drive.getConfigurator().apply(ModuleConstants.kDriveSlot0Config);
+        drive.getConfigurator().apply(ModuleConstants.kDriveClosedLoopRampConfig);
 
         turning.configure(
             ModuleConstants.turningConfig,