From: iefomit <timofei.stem@gmail.com>
Date: Sat, 7 Mar 2026 20:31:01 +0000 (-0800)
Subject: re-enable left auto, doesn't fully work
X-Git-Url: https://git.taranathan.com/?a=commitdiff_plain;h=3a18dbefe20ab588c8cfc2677fc4c144e698ddd4;p=FRC2026.git

re-enable left auto, doesn't fully work
---

diff --git a/src/main/deploy/pathplanner/paths/#1 Left under the trench.path b/src/main/deploy/pathplanner/paths/#1 Left under the trench.path
index 4f7a4c8..62211f8 100644
--- a/src/main/deploy/pathplanner/paths/#1 Left under the trench.path	
+++ b/src/main/deploy/pathplanner/paths/#1 Left under the trench.path	
@@ -91,6 +91,12 @@
         "type": "parallel",
         "data": {
           "commands": [
+            {
+              "type": "named",
+              "data": {
+                "name": "Extend Intake"
+              }
+            },
             {
               "type": "named",
               "data": {
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 59d5c61..f02e54b 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -141,17 +141,17 @@ public class RobotContainer {
         PathGroupLoader.loadPathGroups();
         // Load the auto command
         try {
-          //String leftSideAuto = "Left(No SOTM) - Under Trench";
+          String leftSideAuto = "Left(No SOTM) - Under Trench";
           //String rightSideAuto = "Right(2) - Under Trench";
-          String testing = "Straight Test";
-          PathPlannerAuto.getPathGroupFromAutoFile(testing);
-          auto = new PathPlannerAuto(testing);
+          //String testing = "Straight Test";
+          PathPlannerAuto.getPathGroupFromAutoFile(leftSideAuto);
+          auto = new PathPlannerAuto(leftSideAuto);
         } catch (IOException | ParseException e) {
           e.printStackTrace();
         }
         
         if(turret != null){
-          //turret.setDefaultCommand(new Superstructure(turret, drive, hood, shooter, spindexer));
+          turret.setDefaultCommand(new Superstructure(turret, drive, hood, shooter, spindexer));
         }
         drive.setDefaultCommand(new DefaultDriveCommand(drive, driver));
         break;