after portland before UNH

src/main/deploy/pathplanner/paths/over bump to pile move.path

@@ -16,16 +16,16 @@
     },
     {
       "anchor": {
-        "x": 7.616223350253808,
-        "y": 7.207197969543147
+        "x": 7.2386903553299495,
+        "y": 7.326903553299493
       },
       "prevControl": {
-        "x": 6.616223350253808,
-        "y": 7.207197969543147
+        "x": 6.2386903553299495,
+        "y": 7.326903553299493
       },
       "nextControl": {
-        "x": 8.616223350253813,
-        "y": 7.207197969543147
+        "x": 8.238690355329947,
+        "y": 7.326903553299493
       },
       "isLocked": false,
       "linkedName": null

src/main/java/frc/robot/RobotContainer.java

@@ -14,6 +14,7 @@ import org.littletonrobotics.junction.Logger;
 
 import com.pathplanner.lib.auto.AutoBuilder;
 import com.pathplanner.lib.auto.NamedCommands;
+import com.pathplanner.lib.commands.PathPlannerAuto;
 import com.pathplanner.lib.events.EventTrigger;
 import com.pathplanner.lib.path.EventMarker;
 
@@ -113,6 +114,16 @@ public class RobotContainer {
         if(AutoConstants.kAutoConfigOk) {
             autoChooser = AutoBuilder.buildAutoChooser();
             SmartDashboard.putData("Auto Chooser", autoChooser);
+
+            autoChooser.addOption(
+                "MOVE B____ right to center", 
+                new PathPlannerAuto("MOVE B____ left to center", true)
+            );
+
+            autoChooser.addOption(
+                "right to center", 
+                new PathPlannerAuto("left to center", true)
+            );
         }
     }
 

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

@@ -46,7 +46,7 @@ public class DrivetrainConstants {
     // TODO How much do we trust gyro and encoders vs vision estimates.
     // NOTE: Bigger values indicate LESS trust. Generally all three values for a given matrix should be the same
     public static final Matrix<N3, N1> kSensorFusionOdometryStdDevs = VecBuilder.fill(0.1, 0.1, 0.1);
-    public static final Matrix<N3, N1> kVisionOdometryStdDevs = VecBuilder.fill(0.9, 0.9, 0.9);
+    public static final Matrix<N3, N1> kVisionOdometryStdDevs = VecBuilder.fill(0.3, 0.3, 0.3);
 
     // YOU SHOULDN'T NEED TO CHANGE ANYTHING BELOW THIS LINE UNLESS YOU'RE ADDING A NEW CONFIGURATION ITEM
     public static final SwerveDriveKinematics kDriveKinematics = new SwerveDriveKinematics(