From: maxwtan <100314265+MaxwellTTan20@users.noreply.github.com>
Date: Mon, 16 Feb 2026 20:10:35 +0000 (-0800)
Subject: revert
X-Git-Url: https://git.taranathan.com/?a=commitdiff_plain;h=27f7890065e1e83bc23a2264895422178f904bab;p=FRC2026.git

revert
---

diff --git a/src/main/deploy/pathplanner/autos/New Auto.auto b/src/main/deploy/pathplanner/autos/New Auto.auto
deleted file mode 100644
index d868554..0000000
--- a/src/main/deploy/pathplanner/autos/New Auto.auto	
+++ /dev/null
@@ -1,19 +0,0 @@
-{
-  "version": "2025.0",
-  "command": {
-    "type": "sequential",
-    "data": {
-      "commands": [
-        {
-          "type": "path",
-          "data": {
-            "pathName": "Testing aim while going back and forth"
-          }
-        }
-      ]
-    }
-  },
-  "resetOdom": true,
-  "folder": null,
-  "choreoAuto": false
-}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/autos/Testing Over the Bump.auto b/src/main/deploy/pathplanner/autos/Testing Over the Bump.auto
deleted file mode 100644
index e3097d1..0000000
--- a/src/main/deploy/pathplanner/autos/Testing Over the Bump.auto	
+++ /dev/null
@@ -1,19 +0,0 @@
-{
-  "version": "2025.0",
-  "command": {
-    "type": "sequential",
-    "data": {
-      "commands": [
-        {
-          "type": "path",
-          "data": {
-            "pathName": "Over the bump diagonal"
-          }
-        }
-      ]
-    }
-  },
-  "resetOdom": true,
-  "folder": null,
-  "choreoAuto": false
-}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/navgrid.json b/src/main/deploy/pathplanner/navgrid.json
index ac5f521..23e0db9 100644
--- a/src/main/deploy/pathplanner/navgrid.json
+++ b/src/main/deploy/pathplanner/navgrid.json
@@ -1 +1 @@
-{"field_size":{"x":16.54,"y":8.07},"nodeSizeMeters":0.3,"grid":[[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true],[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,true,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,true,true,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true],[true,true,true,true,true,false,false,false,false,false,false,false,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,true,true,true],[true,true,true,true,true,true,false,false,false,false,false,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,true,true,true,true,false,false,false,false,false,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,true,true,true,true,true],[true,true,true,true,true,true,false,false,false,false,false,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,false,false,false,false,false,false,true,true,true,true,true,true],[true,true,true,true,true,true,false,false,false,false,false,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,false,false,false,false,false,false,true,true,true,true,true,true],[true,true,true,true,true,true,false,false,false,false,false,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,false,false,false,false,false,false,true,true,true,true,true,true],[true,true,true,true,true,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,t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\ No newline at end of file
+{"field_size":{"x":17.548,"y":8.052},"nodeSizeMeters":0.3,"grid":[[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true],[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true],[true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true],[true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true],[true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,true,true,true,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,true,true,true,true,true,false,false,false,false,false,false,false,true,true,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\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/#1 Left to neutral to depot.path b/src/main/deploy/pathplanner/paths/#1 Left to neutral to depot.path
deleted file mode 100644
index 41697e2..0000000
--- a/src/main/deploy/pathplanner/paths/#1 Left to neutral to depot.path	
+++ /dev/null
@@ -1,240 +0,0 @@
-{
-  "version": "2025.0",
-  "waypoints": [
-    {
-      "anchor": {
-        "x": 3.566008403832779,
-        "y": 7.457340509007208
-      },
-      "prevControl": null,
-      "nextControl": {
-        "x": 4.521985876085326,
-        "y": 7.480627842977369
-      },
-      "isLocked": false,
-      "linkedName": null
-    },
-    {
-      "anchor": {
-        "x": 6.74844449371633,
-        "y": 7.323051878639669
-      },
-      "prevControl": {
-        "x": 6.2291917985744085,
-        "y": 7.524060964793236
-      },
-      "nextControl": {
-        "x": 7.0431955211446535,
-        "y": 7.208950141238001
-      },
-      "isLocked": false,
-      "linkedName": null
-    },
-    {
-      "anchor": {
-        "x": 7.47952715610716,
-        "y": 6.691750705058882
-      },
-      "prevControl": {
-        "x": 7.292883599447913,
-        "y": 7.06382367183081
-      },
-      "nextControl": {
-        "x": 7.8379030178105324,
-        "y": 5.97733027463995
-      },
-      "isLocked": false,
-      "linkedName": null
-    },
-    {
-      "anchor": {
-        "x": 7.087382414476883,
-        "y": 4.590804334971547
-      },
-      "prevControl": {
-        "x": 7.936968923942251,
-        "y": 4.34583816663551
-      },
-      "nextControl": {
-        "x": 6.538459561492894,
-        "y": 4.749078420670237
-      },
-      "isLocked": false,
-      "linkedName": null
-    },
-    {
-      "anchor": {
-        "x": 5.916583026285472,
-        "y": 5.201112001911139
-      },
-      "prevControl": {
-        "x": 6.21376543175226,
-        "y": 5.1960727035599605
-      },
-      "nextControl": {
-        "x": 5.263739822137,
-        "y": 5.212182212063977
-      },
-      "isLocked": false,
-      "linkedName": null
-    },
-    {
-      "anchor": {
-        "x": 3.6937744360902256,
-        "y": 5.201112001911139
-      },
-      "prevControl": {
-        "x": 3.9888322003988153,
-        "y": 5.214306565468976
-      },
-      "nextControl": {
-        "x": 3.124067643786618,
-        "y": 5.1756355244559655
-      },
-      "isLocked": false,
-      "linkedName": null
-    },
-    {
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diff --git a/src/main/deploy/pathplanner/paths/#1 Right to neutral to outpost.path b/src/main/deploy/pathplanner/paths/#1 Right to neutral to outpost.path
deleted file mode 100644
index abf72ff..0000000
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diff --git a/src/main/deploy/pathplanner/paths/Depot to left climb.path b/src/main/deploy/pathplanner/paths/Depot to left climb.path
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diff --git a/src/main/deploy/pathplanner/paths/Hub to depot.path b/src/main/deploy/pathplanner/paths/Hub to depot.path
deleted file mode 100644
index e0e7a15..0000000
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diff --git a/src/main/deploy/pathplanner/paths/Left bump to full neutral to left climb.path b/src/main/deploy/pathplanner/paths/Left bump to full neutral to left climb.path
deleted file mode 100644
index c4d9ec2..0000000
--- a/src/main/deploy/pathplanner/paths/Left bump to full neutral to left climb.path	
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diff --git a/src/main/deploy/pathplanner/paths/Outpost to right climb.path b/src/main/deploy/pathplanner/paths/Outpost to right climb.path
deleted file mode 100644
index b98defd..0000000
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+++ /dev/null
@@ -1,54 +0,0 @@
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diff --git a/src/main/deploy/pathplanner/paths/Over the bump diagonal.path b/src/main/deploy/pathplanner/paths/Over the bump diagonal.path
deleted file mode 100644
index 4d6aa13..0000000
--- a/src/main/deploy/pathplanner/paths/Over the bump diagonal.path	
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-        "y": 5.5746954887218045
-      },
-      "nextControl": {
-        "x": 4.568488721804512,
-        "y": 5.5746954887218045
-      },
-      "isLocked": false,
-      "linkedName": null
-    },
-    {
-      "anchor": {
-        "x": 5.7049398496240595,
-        "y": 5.5746954887218045
-      },
-      "prevControl": {
-        "x": 5.005963194577661,
-        "y": 5.569841484172872
-      },
-      "nextControl": {
-        "x": 6.654473684210526,
-        "y": 5.58128947368421
-      },
-      "isLocked": false,
-      "linkedName": null
-    },
-    {
-      "anchor": {
-        "x": 6.984172932330827,
-        "y": 4.321838345864662
-      },
-      "prevControl": {
-        "x": 7.234744360902256,
-        "y": 4.908703007518798
-      },
-      "nextControl": {
-        "x": 6.802997893642992,
-        "y": 3.89750733420105
-      },
-      "isLocked": false,
-      "linkedName": null
-    },
-    {
-      "anchor": {
-        "x": 5.7049398496240595,
-        "y": 4.038296992481204
-      },
-      "prevControl": {
-        "x": 6.311586466165413,
-        "y": 4.025109022556391
-      },
-      "nextControl": null,
-      "isLocked": false,
-      "linkedName": null
-    }
-  ],
-  "rotationTargets": [
-    {
-      "waypointRelativePos": 0.7534675615212593,
-      "rotationDegrees": 45.0
-    },
-    {
-      "waypointRelativePos": 2.0778523489932774,
-      "rotationDegrees": 45.0
-    },
-    {
-      "waypointRelativePos": 2.521700223713649,
-      "rotationDegrees": -51.12369435851797
-    }
-  ],
-  "constraintZones": [
-    {
-      "name": "Constraints Zone",
-      "minWaypointRelativePos": 0,
-      "maxWaypointRelativePos": 0.5239130434782816,
-      "constraints": {
-        "maxVelocity": 1.0,
-        "maxAcceleration": 3.0,
-        "maxAngularVelocity": 540.0,
-        "maxAngularAcceleration": 720.0,
-        "nominalVoltage": 12.0,
-        "unlimited": false
-      }
-    },
-    {
-      "name": "Constraints Zone",
-      "minWaypointRelativePos": 2.380434782608708,
-      "maxWaypointRelativePos": 4.0,
-      "constraints": {
-        "maxVelocity": 1.0,
-        "maxAcceleration": 3.0,
-        "maxAngularVelocity": 540.0,
-        "maxAngularAcceleration": 720.0,
-        "nominalVoltage": 12.0,
-        "unlimited": false
-      }
-    }
-  ],
-  "pointTowardsZones": [],
-  "eventMarkers": [
-    {
-      "name": "Start: shoot before bump",
-      "waypointRelativePos": 0.0,
-      "endWaypointRelativePos": 1.0798650168728918,
-      "command": {
-        "type": "named",
-        "data": {
-          "name": "Auto shoot"
-        }
-      }
-    }
-  ],
-  "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
-    "maxAngularVelocity": 540.0,
-    "maxAngularAcceleration": 720.0,
-    "nominalVoltage": 12.0,
-    "unlimited": false
-  },
-  "goalEndState": {
-    "velocity": 0,
-    "rotation": -90.0
-  },
-  "reversed": false,
-  "folder": "Field Testing Autos",
-  "idealStartingState": {
-    "velocity": 0,
-    "rotation": 90.0
-  },
-  "useDefaultConstraints": true
-}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/Over the bump.path b/src/main/deploy/pathplanner/paths/Over the bump.path
deleted file mode 100644
index 1ded5e0..0000000
--- a/src/main/deploy/pathplanner/paths/Over the bump.path	
+++ /dev/null
@@ -1,129 +0,0 @@
-{
-  "version": "2025.0",
-  "waypoints": [
-    {
-      "anchor": {
-        "x": 3.5684887218045116,
-        "y": 4.038296992481204
-      },
-      "prevControl": null,
-      "nextControl": {
-        "x": 2.4211353383458647,
-        "y": 4.044890977443609
-      },
-      "isLocked": false,
-      "linkedName": null
-    },
-    {
-      "anchor": {
-        "x": 3.5684887218045116,
-        "y": 5.5746954887218045
-      },
-      "prevControl": {
-        "x": 2.5684887218045116,
-        "y": 5.5746954887218045
-      },
-      "nextControl": {
-        "x": 4.568488721804512,
-        "y": 5.5746954887218045
-      },
-      "isLocked": false,
-      "linkedName": null
-    },
-    {
-      "anchor": {
-        "x": 5.7049398496240595,
-        "y": 5.5746954887218045
-      },
-      "prevControl": {
-        "x": 5.005963194577661,
-        "y": 5.569841484172872
-      },
-      "nextControl": {
-        "x": 6.654473684210526,
-        "y": 5.58128947368421
-      },
-      "isLocked": false,
-      "linkedName": null
-    },
-    {
-      "anchor": {
-        "x": 6.984172932330827,
-        "y": 4.321838345864662
-      },
-      "prevControl": {
-        "x": 7.234744360902256,
-        "y": 4.908703007518798
-      },
-      "nextControl": {
-        "x": 6.802997893642992,
-        "y": 3.89750733420105
-      },
-      "isLocked": false,
-      "linkedName": null
-    },
-    {
-      "anchor": {
-        "x": 5.7049398496240595,
-        "y": 4.038296992481204
-      },
-      "prevControl": {
-        "x": 6.311586466165413,
-        "y": 4.025109022556391
-      },
-      "nextControl": null,
-      "isLocked": false,
-      "linkedName": null
-    }
-  ],
-  "rotationTargets": [],
-  "constraintZones": [
-    {
-      "name": "Constraints Zone",
-      "minWaypointRelativePos": 0,
-      "maxWaypointRelativePos": 0.5239130434782816,
-      "constraints": {
-        "maxVelocity": 1.0,
-        "maxAcceleration": 3.0,
-        "maxAngularVelocity": 540.0,
-        "maxAngularAcceleration": 720.0,
-        "nominalVoltage": 12.0,
-        "unlimited": false
-      }
-    },
-    {
-      "name": "Constraints Zone",
-      "minWaypointRelativePos": 2.380434782608708,
-      "maxWaypointRelativePos": 4.0,
-      "constraints": {
-        "maxVelocity": 1.0,
-        "maxAcceleration": 3.0,
-        "maxAngularVelocity": 540.0,
-        "maxAngularAcceleration": 720.0,
-        "nominalVoltage": 12.0,
-        "unlimited": false
-      }
-    }
-  ],
-  "pointTowardsZones": [],
-  "eventMarkers": [],
-  "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
-    "maxAngularVelocity": 540.0,
-    "maxAngularAcceleration": 720.0,
-    "nominalVoltage": 12.0,
-    "unlimited": false
-  },
-  "goalEndState": {
-    "velocity": 0,
-    "rotation": 90.0
-  },
-  "reversed": false,
-  "folder": "Field Testing Autos",
-  "idealStartingState": {
-    "velocity": 0,
-    "rotation": 90.0
-  },
-  "useDefaultConstraints": true
-}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/Testing aim while going back and forth.path b/src/main/deploy/pathplanner/paths/Testing aim while going back and forth.path
deleted file mode 100644
index 0852a17..0000000
--- a/src/main/deploy/pathplanner/paths/Testing aim while going back and forth.path	
+++ /dev/null
@@ -1,125 +0,0 @@
-{
-  "version": "2025.0",
-  "waypoints": [
-    {
-      "anchor": {
-        "x": 3.857070063694267,
-        "y": 4.0403795966785285
-      },
-      "prevControl": null,
-      "nextControl": {
-        "x": 3.1833495920265396,
-        "y": 4.013220198675495
-      },
-      "isLocked": false,
-      "linkedName": null
-    },
-    {
-      "anchor": {
-        "x": 2.265063694267516,
-        "y": 4.0403795966785285
-      },
-      "prevControl": {
-        "x": 3.3729511677282376,
-        "y": 4.044309978768578
-      },
-      "nextControl": {
-        "x": 2.0150652674682976,
-        "y": 4.039492693123095
-      },
-      "isLocked": false,
-      "linkedName": null
-    },
-    {
-      "anchor": {
-        "x": 2.0043842887473464,
-        "y": 4.789108280254777
-      },
-      "prevControl": {
-        "x": 1.9764543524416136,
-        "y": 4.267749469214438
-      },
-      "nextControl": {
-        "x": 2.0323142250530792,
-        "y": 5.310467091295116
-      },
-      "isLocked": false,
-      "linkedName": null
-    },
-    {
-      "anchor": {
-        "x": 2.0043842887473464,
-        "y": 6.9117834394904465
-      },
-      "prevControl": {
-        "x": 2.0881740976645435,
-        "y": 6.362494692144375
-      },
-      "nextControl": {
-        "x": 1.9108676353262055,
-        "y": 7.524837056362372
-      },
-      "isLocked": false,
-      "linkedName": null
-    },
-    {
-      "anchor": {
-        "x": 2.0043842887473464,
-        "y": 2.1357643312101926
-      },
-      "prevControl": {
-        "x": 1.9159394904458606,
-        "y": 4.8915180467091375
-      },
-      "nextControl": {
-        "x": 2.092829087048832,
-        "y": -0.6199893842887501
-      },
-      "isLocked": false,
-      "linkedName": null
-    },
-    {
-      "anchor": {
-        "x": 2.9260721868365174,
-        "y": 4.0403795966785285
-      },
-      "prevControl": {
-        "x": 2.1254140127388528,
-        "y": 1.2513163481953304
-      },
-      "nextControl": null,
-      "isLocked": false,
-      "linkedName": null
-    }
-  ],
-  "rotationTargets": [],
-  "constraintZones": [],
-  "pointTowardsZones": [],
-  "eventMarkers": [
-    {
-      "name": "Auto shoot",
-      "waypointRelativePos": 0.5101010101009686,
-      "endWaypointRelativePos": 5.0,
-      "command": null
-    }
-  ],
-  "globalConstraints": {
-    "maxVelocity": 3.0,
-    "maxAcceleration": 3.0,
-    "maxAngularVelocity": 540.0,
-    "maxAngularAcceleration": 720.0,
-    "nominalVoltage": 12.0,
-    "unlimited": false
-  },
-  "goalEndState": {
-    "velocity": 0,
-    "rotation": 90.0
-  },
-  "reversed": false,
-  "folder": null,
-  "idealStartingState": {
-    "velocity": 0,
-    "rotation": 91.08092418666074
-  },
-  "useDefaultConstraints": true
-}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/settings.json b/src/main/deploy/pathplanner/settings.json
index 101c039..c606f42 100644
--- a/src/main/deploy/pathplanner/settings.json
+++ b/src/main/deploy/pathplanner/settings.json
@@ -3,11 +3,12 @@
   "robotLength": 0.832,
   "holonomicMode": true,
   "pathFolders": [
-    "Center Autos",
-    "Left Autos",
-    "Miscellaneous",
-    "Field Testing Autos",
-    "Right Autos"
+    "Ground BSide",
+    "Ground LSide",
+    "Station RSide",
+    "Lollipop Path",
+    "Station Left",
+    "Sweep Right Side"
   ],
   "autoFolders": [],
   "defaultMaxVel": 3.0,
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 6f854c0..3513a21 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -7,7 +7,6 @@ import org.json.simple.parser.ParseException;
 import org.littletonrobotics.junction.Logger;
 
 import com.pathplanner.lib.auto.AutoBuilder;
-import com.pathplanner.lib.auto.NamedCommands;
 import com.pathplanner.lib.commands.PathPlannerAuto;
 
 import edu.wpi.first.math.geometry.Pose3d;
@@ -117,9 +116,8 @@ public class RobotContainer {
         PathGroupLoader.loadPathGroups();
         // Load the auto command
         try {
-          String testingAuto = "Testing Over the Bump";
-          PathPlannerAuto.getPathGroupFromAutoFile(testingAuto);
-          auto = new PathPlannerAuto(testingAuto);
+          PathPlannerAuto.getPathGroupFromAutoFile("Command Name");
+          auto = new PathPlannerAuto("Path Name");
         } catch (IOException | ParseException e) {
           e.printStackTrace();
         }
@@ -165,6 +163,10 @@ public class RobotContainer {
   }
 
   public void registerCommands() {
+<<<<<<< HEAD
+=======
+
+>>>>>>> parent of ae21e1f7 (Merge branch 'arnavs-mega-velocityvoltage-turret' into beta-bot)
   }
 
   public static BooleanSupplier getAllianceColorBooleanSupplier() {
diff --git a/src/main/java/frc/robot/commands/gpm/SimpleAutoShoot.java b/src/main/java/frc/robot/commands/gpm/SimpleAutoShoot.java
index b8f07ff..60dcbfe 100644
--- a/src/main/java/frc/robot/commands/gpm/SimpleAutoShoot.java
+++ b/src/main/java/frc/robot/commands/gpm/SimpleAutoShoot.java
@@ -12,7 +12,6 @@ import edu.wpi.first.math.kinematics.ChassisSpeeds;
 import edu.wpi.first.math.util.Units;
 import edu.wpi.first.units.Unit;
 import edu.wpi.first.wpilibj.DriverStation.Alliance;
-import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.Robot;
 import frc.robot.constants.Constants;
@@ -110,7 +109,6 @@ public class SimpleAutoShoot extends Command {
 
     @Override
     public void execute() {
-        SmartDashboard.putNumber("Robot X Position", drivepose.getX());
         //shooter.setShooterPower(ShotInterpolation.shooterPowerMap.get(FieldConstants.getHubTranslation().toTranslation2d().getDistance(drivetrain.getPose().getTranslation())));
         // Continuously update setpoints and adjust based on vision if available
         drivepose = drivetrain.getPose().getTranslation();
@@ -129,7 +127,7 @@ public class SimpleAutoShoot extends Command {
         Logger.recordOutput("Spinny accel", drivetrain.getAngularRate(2));
         Logger.recordOutput("Original Turret Setpoint", turretSetpoint);
         
-        turret.setFieldRelativeTarget(new Rotation2d(Units.degreesToRadians(turretSetpoint)), -drivetrain.getAngularRate(2));
+        turret.setFieldRelativeTarget(new Rotation2d(Units.degreesToRadians(turretSetpoint)), -drivetrain.getAngularRate(2) - velocityAdjustment);
         // turret.setFieldRelativeTarget(new Rotation2d(Units.degreesToRadians(turretSetpoint)), (-drivetrain.getAngularRate(2)) + turretAcceleration * 0.3);
         //turret.setFieldRelativeTarget(new Rotation2d(Units.degreesToRadians(turretSetpoint)), turretVelocity);
 
diff --git a/src/main/java/frc/robot/subsystems/shooter/Shooter.java b/src/main/java/frc/robot/subsystems/shooter/Shooter.java
index acad7ef..504a06f 100644
--- a/src/main/java/frc/robot/subsystems/shooter/Shooter.java
+++ b/src/main/java/frc/robot/subsystems/shooter/Shooter.java
@@ -5,8 +5,6 @@ import org.littletonrobotics.junction.Logger;
 
 import com.ctre.phoenix6.configs.MotorOutputConfigs;
 import com.ctre.phoenix6.configs.TalonFXConfiguration;
-import com.ctre.phoenix6.controls.VelocityDutyCycle;
-import com.ctre.phoenix6.controls.TorqueCurrentFOC;
 import com.ctre.phoenix6.controls.VelocityVoltage;
 import com.ctre.phoenix6.hardware.TalonFX;
 import com.ctre.phoenix6.signals.InvertedValue;
@@ -18,8 +16,11 @@ import au.grapplerobotics.interfaces.LaserCanInterface.Measurement;
 import au.grapplerobotics.interfaces.LaserCanInterface.RangingMode;
 import au.grapplerobotics.interfaces.LaserCanInterface.RegionOfInterest;
 import au.grapplerobotics.interfaces.LaserCanInterface.TimingBudget;
+<<<<<<< HEAD
 import edu.wpi.first.math.filter.Debouncer;
 import edu.wpi.first.math.filter.Debouncer.DebounceType;
+=======
+>>>>>>> parent of ae21e1f7 (Merge branch 'arnavs-mega-velocityvoltage-turret' into beta-bot)
 import edu.wpi.first.math.util.Units;
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
@@ -35,6 +36,7 @@ public class Shooter extends SubsystemBase implements ShooterIO {
 
     // Goal Velocity / Double theCircumfrence
     private double shooterTargetSpeed = 0;
+    private double feederPower = 0;
 
 
     public boolean shooterAtMaxSpeed = false;
@@ -46,29 +48,6 @@ public class Shooter extends SubsystemBase implements ShooterIO {
 
     double powerModifier;
 
-    // for tracking current phase: used to adjust the setting
-    private FlywheelPhase phase;
-
-    private double torqueCurrentDebounceTime = 0.5;
-
-    VelocityDutyCycle velocityDutyCycle = new VelocityDutyCycle(0);
-    TorqueCurrentFOC torqueCurrentFOC = new TorqueCurrentFOC(0);
-
-    /*
-     * Debouncers take in certain statement. If it is false: it checks for how long (the first parameter) 
-     * If it is long enough then return True. 
-     */
-    private Debouncer torqueCurrentDebouncer = new Debouncer(torqueCurrentDebounceTime, DebounceType.kFalling);
-
-    @AutoLogOutput private long launchCount = 0;
-    private boolean lastTorqueCurrentControl = false;
-
-    public enum FlywheelPhase {
-        BANG_BANG,
-        CONSTANT_TORQUE,
-        START_UP
-    }
-
     public Shooter(){
 
         updateInputs();
@@ -81,12 +60,12 @@ public class Shooter extends SubsystemBase implements ShooterIO {
         shooterMotorLeft.getConfigurator().apply(config);
         shooterMotorRight.getConfigurator().apply(config);
         
-        shooterMotorRight.getConfigurator().apply(
+        shooterMotorLeft.getConfigurator().apply(
             new MotorOutputConfigs().withInverted(InvertedValue.Clockwise_Positive)
             .withNeutralMode(NeutralModeValue.Coast)
         );
 
-        shooterMotorLeft.getConfigurator().apply(
+        shooterMotorRight.getConfigurator().apply(
             new MotorOutputConfigs().withNeutralMode(NeutralModeValue.Coast)
         );
 
diff --git a/src/main/java/frc/robot/subsystems/shooter/ShooterIO.java b/src/main/java/frc/robot/subsystems/shooter/ShooterIO.java
index 2ba5732..872b136 100644
--- a/src/main/java/frc/robot/subsystems/shooter/ShooterIO.java
+++ b/src/main/java/frc/robot/subsystems/shooter/ShooterIO.java
@@ -10,4 +10,4 @@ public interface ShooterIO {
     }
 
     public void updateInputs();
-}
\ No newline at end of file
+}
diff --git a/src/main/java/frc/robot/subsystems/turret/Turret.java b/src/main/java/frc/robot/subsystems/turret/Turret.java
index dcacc86..f856892 100644
--- a/src/main/java/frc/robot/subsystems/turret/Turret.java
+++ b/src/main/java/frc/robot/subsystems/turret/Turret.java
@@ -5,10 +5,13 @@ import org.littletonrobotics.junction.Logger;
 import com.ctre.phoenix6.configs.MotorOutputConfigs;
 import com.ctre.phoenix6.configs.Slot0Configs;
 import com.ctre.phoenix6.configs.TalonFXConfiguration;
+import com.ctre.phoenix6.controls.MotionMagicDutyCycle;
+import com.ctre.phoenix6.controls.MotionMagicVelocityVoltage;
 import com.ctre.phoenix6.controls.MotionMagicVoltage;
 import com.ctre.phoenix6.controls.VelocityVoltage;
 import com.ctre.phoenix6.hardware.CANcoder;
 import com.ctre.phoenix6.hardware.TalonFX;
+import com.ctre.phoenix6.signals.FeedbackSensorSourceValue;
 import com.ctre.phoenix6.signals.InvertedValue;
 import com.ctre.phoenix6.signals.NeutralModeValue;
 import com.ctre.phoenix6.sim.TalonFXSimState;
@@ -16,7 +19,6 @@ import com.ctre.phoenix6.sim.TalonFXSimState;
 import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.math.controller.PIDController;
 import edu.wpi.first.math.controller.SimpleMotorFeedforward;
-import edu.wpi.first.math.filter.LinearFilter;
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.system.plant.DCMotor;
 import edu.wpi.first.math.trajectory.TrapezoidProfile;
@@ -51,7 +53,9 @@ public class Turret extends SubsystemBase implements TurretIO{
 	private static final double MIN_ANGLE_RAD = Units.degreesToRadians(-180); // Change this later to the actual values
 	private static final double MAX_ANGLE_RAD = Units.degreesToRadians(180);
 
-	private static final double MAX_VEL_RAD_PER_SEC = 600;
+	private static final double MAX_VEL_RAD_PER_SEC = 15;
+	//private static final double MAX_VEL_RAD_PER_SEC = 3.0; // Starting super duper slow for now
+	// private static final double MAX_ACCEL_RAD_PER_SEC2 = 160.0;
 	private static final double MAX_ACCEL_RAD_PER_SEC2 = 160.0;
 
 	private static final double GEAR_RATIO = TurretConstants.TURRET_GEAR_RATIO;
@@ -62,9 +66,6 @@ public class Turret extends SubsystemBase implements TurretIO{
 
     private final CANcoder encoderLeft = new CANcoder(0, Constants.SUBSYSTEM_CANIVORE_CAN);
     private final CANcoder encoderRight = new CANcoder(1, Constants.SUBSYSTEM_CANIVORE_CAN);
-	private final LinearFilter setpointFilter = LinearFilter.singlePoleIIR(0.02
-	, 0.02);
-
 
     private final TurretIOInputsAutoLogged inputs = new TurretIOInputsAutoLogged();
 
@@ -89,8 +90,6 @@ public class Turret extends SubsystemBase implements TurretIO{
 	private Rotation2d goalAngle = Rotation2d.kZero;
 	private double goalVelocityRadPerSec = 0.0;
 	private double lastGoalRad = 0.0;
-	private double lastFilteredRad = 0.0;
-	private double lastRawSetpoint = 0.0;
 
     // private final MotionMagicVelocityVoltage velocityRequest = new MotionMagicVelocityVoltage(0.0).withUpdateFreqHz(0);
 
@@ -100,8 +99,6 @@ public class Turret extends SubsystemBase implements TurretIO{
 
 	private static final double kD = 0.2;
 
-	private double acclerationAdjustment = 0.0;
-
 	/* ---------------- Visualization ---------------- */
 
 	private final Mechanism2d mech = new Mechanism2d(100, 100);
@@ -109,35 +106,25 @@ public class Turret extends SubsystemBase implements TurretIO{
 	private final MechanismLigament2d ligament = root.append(new MechanismLigament2d("barrel", 30, 0));
 
     // private final SimpleMotorFeedforward feedForward = new SimpleMotorFeedforward(.1, 1. / DCMotor.getKrakenX60(1).KvRadPerSecPerVolt, 0.010);
-    private final SimpleMotorFeedforward feedForward = new SimpleMotorFeedforward(0.1, 1. / DCMotor.getKrakenX60(1).KvRadPerSecPerVolt * 2.0, 0);
+    private final SimpleMotorFeedforward feedForward = new SimpleMotorFeedforward(0.1, (1. / DCMotor.getKrakenX60(1).KvRadPerSecPerVolt) * 0.8, 0);
 	private final MotionMagicVoltage mmVoltageRequest = new MotionMagicVoltage(0);
 
 	/* ---------------- Constructor ---------------- */
 
 	public Turret() {
-		motor.setNeutralMode(NeutralModeValue.Brake);
+		motor.setNeutralMode(NeutralModeValue.Coast);
+
+		// motor.getConfigurator().apply(
+		// 		new Slot0Configs()
+		// 				.withKP(kP)
+		// 				.withKD(kD));
 
 		TalonFXConfiguration config = new TalonFXConfiguration();
-		config.MotorOutput.Inverted = InvertedValue.Clockwise_Positive;
-    
-		config.Slot0.kP = 12.0; 
-		config.Slot0.kS = 0.1; // Static friction compensation
-		config.Slot0.kV = 0.12; // Adjusted kV for the gear ratio
-		config.Slot0.kD = 0.15; // The "Braking" term to stop overshoot
-
-		var mm = config.MotionMagic;
-		mm.MotionMagicCruiseVelocity = Units.radiansToRotations(MAX_VEL_RAD_PER_SEC) * GEAR_RATIO;
-		mm.MotionMagicAcceleration = Units.radiansToRotations(120.0) * GEAR_RATIO; // Lowered for belt safety
-		mm.MotionMagicJerk = 0; //Units.radiansToRotations(400.0) * GEAR_RATIO * 1000000000 * 10000000 * 100000000 * 10000000; // Set to > 0 for "S-Curve" smoothing if needed -- maybe 10-20x the acceleration
+		var motionMagicConfigs = config.MotionMagic;
+        motionMagicConfigs.MotionMagicCruiseVelocity = 10 * GEAR_RATIO;
+        motionMagicConfigs.MotionMagicAcceleration = 50 * GEAR_RATIO;
         motor.getConfigurator().apply(config);
-
-		motor.setPosition(0.0);
-
-		// Dashboard setup for tuning
-        SmartDashboard.putNumber("Turret/kP", config.Slot0.kP);
-        SmartDashboard.putNumber("Turret/kS", config.Slot0.kS);
-        SmartDashboard.putNumber("Turret/kV", config.Slot0.kV);
-        SmartDashboard.putNumber("Turret/kD", config.Slot0.kD);
+		motor.getConfigurator().apply(new MotorOutputConfigs().withInverted(InvertedValue.Clockwise_Positive));
 
 		// profile = new TrapezoidProfile(new Constraints(MAX_VEL_RAD_PER_SEC, feedForward.maxAchievableAcceleration(DCMotor.getKrakenX60(1, GEAR_RATIO), goalVelocityRadPerSec))))
 
@@ -203,24 +190,15 @@ public class Turret extends SubsystemBase implements TurretIO{
 
 	@Override
 	public void periodic() {
-		updateInputs();
-		Logger.processInputs("Turret", inputs);
-
-		acclerationAdjustment = SmartDashboard.getNumber("Acc Adjust", acclerationAdjustment);
-		SmartDashboard.putNumber("Acc Adjust", acclerationAdjustment);
 		
 		double robotRelativeGoal = goalAngle.getRadians();
 
 		// --- MA-style continuous wrap selection ---
-
-		double lookAheadSeconds = 0.060; 
-    	double futureRobotAngle = goalAngle.getRadians() + (goalVelocityRadPerSec * lookAheadSeconds);
-
 		double best = lastGoalRad;
 		boolean found = false;
 
 		for (int i = -2; i <= 2; i++) {
-			double candidate = futureRobotAngle + 2.0 * Math.PI * i;
+			double candidate = robotRelativeGoal + 2.0 * Math.PI * i;
 			if (candidate < MIN_ANGLE_RAD || candidate > MAX_ANGLE_RAD)
 				continue;
 
@@ -232,49 +210,43 @@ public class Turret extends SubsystemBase implements TurretIO{
 
 		lastGoalRad = best;
 
-		// calculate shortest angular delta
-		double delta = best - lastRawSetpoint;
-		delta = MathUtil.angleModulus(delta);
-		
-		// filter delta
-		double filteredDelta = setpointFilter.calculate(delta);
-		
-		// apply filtered range
-		lastFilteredRad = MathUtil.angleModulus(lastFilteredRad + filteredDelta);
-		lastRawSetpoint = best;
-		best = lastFilteredRad;
-
-		// Tells the Kraken to get to this position using 1000Hz profile
-		double motorGoalRotations = Units.radiansToRotations(best) * GEAR_RATIO;
-		// if (isInDeadband) {
-		// 	if (absError > START_THRESHOLD_RAD) {
-		// 		isInDeadband = false;
-		// 		lastGoalRad = best;
-		// 	}
-		// } else {
-		// 	lastGoalRad = best;
-		// 	if (absError < STOP_THRESHOLD_RAD) {
-		// 		isInDeadband = true;
-		// 	}
-		// }
-
-		motorGoalRotations = MathUtil.clamp(motorGoalRotations, Units.degreesToRotations(-180) * GEAR_RATIO, Units.degreesToRotations(180) * GEAR_RATIO);
-		
-		double acceleration = (goalVelocityRadPerSec - lastFrameVelocity)/Constants.LOOP_TIME;
-		// Add the feedforward for the target velocity (SOTM) here as well
-		double feedforwardVoltage = feedForward.calculate((goalVelocityRadPerSec) * GEAR_RATIO);
-		
-		double robotTurnCompensation = goalVelocityRadPerSec * 0.185;
+		// --- Profile in MECHANISM SPACE ---
+		State goalState = new State(
+				MathUtil.clamp(best, MIN_ANGLE_RAD, MAX_ANGLE_RAD),
+				goalVelocityRadPerSec);
+
+		setpoint = profile.calculate(
+				Constants.LOOP_TIME,
+				setpoint,
+				goalState);
+
+		// --- Convert to MOTOR SPACE ---
+		double motorPosRot = Units.radiansToRotations(setpoint.position) * GEAR_RATIO;
+
+		double motorVelRotPerSec = Units.radiansToRotations(setpoint.velocity) * GEAR_RATIO;
+
+		double targetVelocity;
+
+		double motorSetpointPosition = (setpoint.position) * GEAR_RATIO;
 
-		motor.setControl(mmVoltageRequest
-			.withPosition(motorGoalRotations)
-			.withFeedForward(robotTurnCompensation));
+		targetVelocity =
+		positionPID.calculate(
+				motor.getPosition().getValue().in(edu.wpi.first.units.Units.Radians),
+				motorSetpointPosition);
+			
+		targetVelocity += Units.rotationsToRadians(motorVelRotPerSec) * 1.0;
 
-		Logger.recordOutput("Turret/FilteredSetpoint", Units.radiansToDegrees(best));
+		double voltage = feedForward.calculate(targetVelocity);
+
+		// double velocityCorrectionVoltage = velocityPID.calculate(Units.rotationsToRadians(motor.getVelocity().getValueAsDouble()), targetVelocity);
+		// voltage += velocityCorrectionVoltage;
+
+		motor.setVoltage(voltage);
 
 		lastFrameVelocity = Units.rotationsToRadians(motor.getVelocity().getValueAsDouble());
 
         Logger.recordOutput("Turret/Voltage", motor.getMotorVoltage().getValue());
+		Logger.recordOutput("Turret/velocitySetpoint", targetVelocity / GEAR_RATIO);
 		Logger.recordOutput("Turret/setpointDeg", Units.radiansToDegrees(setpoint.position));
 
 		// --- Visualization ---
@@ -285,15 +257,6 @@ public class Turret extends SubsystemBase implements TurretIO{
 
 		// SmartDashboard.putNumber("Encoder Left", encoderLeft.get());
 		// SmartDashboard.putNumber("Encoder Right", encoderRight.get());
-		Logger.recordOutput("Turret/setpointDeg", Units.radiansToDegrees(motorGoalRotations) / GEAR_RATIO);
-		//Logger.recordOutput("Turret/velocitySetpoint", targetVelocity / GEAR_RATIO);
-
-		// --- Position + velocity feedforward (MA-style) ---
-		// motor.setControl(request);
-        // motor.clearStickyFaults();
-
-		// --- Visualization ---
-		ligament.setAngle(Units.radiansToDegrees(getPositionRad()));
 	}
 
 	/* ---------------- Simulation ---------------- */
diff --git a/src/main/java/frc/robot/subsystems/turret/TurretConstants.java b/src/main/java/frc/robot/subsystems/turret/TurretConstants.java
index b5a1ac0..10fee61 100644
--- a/src/main/java/frc/robot/subsystems/turret/TurretConstants.java
+++ b/src/main/java/frc/robot/subsystems/turret/TurretConstants.java
@@ -1,11 +1,7 @@
 package frc.robot.subsystems.turret;
 
-import edu.wpi.first.math.geometry.Rotation3d;
-import edu.wpi.first.math.geometry.Translation2d;
 import edu.wpi.first.math.geometry.Translation3d;
 import edu.wpi.first.math.util.Units;
-import frc.robot.constants.Constants;
-import frc.robot.constants.swerve.DriveConstants;
 
 public class TurretConstants {
     public static double MAX_ANGLE = 200;
@@ -29,4 +25,4 @@ public class TurretConstants {
     public static Translation3d DISTANCE_FROM_ROBOT_CENTER = new Translation3d(0,0, Units.inchesToMeters(22.172)); //meters
 
     public static double CRT_TOLERANCE = 0.01;
-}
+}
\ No newline at end of file