From: moo <moogoesmeow123@gmail.com>
Date: Sun, 8 Mar 2026 18:02:45 +0000 (-0700)
Subject: work 3/8
X-Git-Url: https://git.taranathan.com/?a=commitdiff_plain;h=6c4d58047c0176f7651ac9c04384aaa9f069484f;p=FRC2026.git

work 3/8
---

diff --git a/src/main/deploy/pathplanner/paths/#1 Left 2 - Under the trench.path b/src/main/deploy/pathplanner/paths/#1 Left 2 - Under the trench.path
index 66dab9b..80259b3 100644
--- a/src/main/deploy/pathplanner/paths/#1 Left 2 - Under the trench.path	
+++ b/src/main/deploy/pathplanner/paths/#1 Left 2 - Under the trench.path	
@@ -117,8 +117,8 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 2.5,
-    "maxAcceleration": 2.5,
+    "maxVelocity": 2.0,
+    "maxAcceleration": 2.0,
     "maxAngularVelocity": 200.0,
     "maxAngularAcceleration": 300.0,
     "nominalVoltage": 12.0,
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 cbefb89..86db7f0 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	
@@ -125,8 +125,8 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 2.5,
-    "maxAcceleration": 2.5,
+    "maxVelocity": 2.0,
+    "maxAcceleration": 2.0,
     "maxAngularVelocity": 200.0,
     "maxAngularAcceleration": 300.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/#1 Right - Under the trench.path b/src/main/deploy/pathplanner/paths/#1 Right - Under the trench.path
index c50eba8..bddb1c8 100644
--- a/src/main/deploy/pathplanner/paths/#1 Right - Under the trench.path	
+++ b/src/main/deploy/pathplanner/paths/#1 Right - Under the trench.path	
@@ -72,8 +72,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 2.5,
-    "maxAcceleration": 2.5,
+    "maxVelocity": 2.0,
+    "maxAcceleration": 2.0,
     "maxAngularVelocity": 200.0,
     "maxAngularAcceleration": 300.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/#1 Right to neutral to outpost (diagonal).path b/src/main/deploy/pathplanner/paths/#1 Right to neutral to outpost (diagonal).path
index 10247af..2c9b974 100644
--- a/src/main/deploy/pathplanner/paths/#1 Right to neutral to outpost (diagonal).path	
+++ b/src/main/deploy/pathplanner/paths/#1 Right to neutral to outpost (diagonal).path	
@@ -174,8 +174,8 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 2.5,
-    "maxAcceleration": 2.5,
+    "maxVelocity": 2.0,
+    "maxAcceleration": 2.0,
     "maxAngularVelocity": 200.0,
     "maxAngularAcceleration": 300.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/#1(2) Right - Under the trench.path b/src/main/deploy/pathplanner/paths/#1(2) Right - Under the trench.path
index 129bc37..60afbec 100644
--- a/src/main/deploy/pathplanner/paths/#1(2) Right - Under the trench.path	
+++ b/src/main/deploy/pathplanner/paths/#1(2) Right - Under the trench.path	
@@ -143,8 +143,8 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 2.5,
-    "maxAcceleration": 2.5,
+    "maxVelocity": 2.0,
+    "maxAcceleration": 2.0,
     "maxAngularVelocity": 200.0,
     "maxAngularAcceleration": 300.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/#2 Left under the trench.path b/src/main/deploy/pathplanner/paths/#2 Left under the trench.path
index bf307a6..ca7933b 100644
--- a/src/main/deploy/pathplanner/paths/#2 Left under the trench.path	
+++ b/src/main/deploy/pathplanner/paths/#2 Left under the trench.path	
@@ -166,8 +166,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 2.5,
-    "maxAcceleration": 2.5,
+    "maxVelocity": 2.0,
+    "maxAcceleration": 2.0,
     "maxAngularVelocity": 200.0,
     "maxAngularAcceleration": 300.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/#2 Left(No SOTM) under the trench.path b/src/main/deploy/pathplanner/paths/#2 Left(No SOTM) under the trench.path
index 194cb8b..e0e4e33 100644
--- a/src/main/deploy/pathplanner/paths/#2 Left(No SOTM) under the trench.path	
+++ b/src/main/deploy/pathplanner/paths/#2 Left(No SOTM) under the trench.path	
@@ -125,8 +125,8 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 2.5,
-    "maxAcceleration": 2.5,
+    "maxVelocity": 2.0,
+    "maxAcceleration": 2.0,
     "maxAngularVelocity": 200.0,
     "maxAngularAcceleration": 300.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/#2 Right - Under the trench.path b/src/main/deploy/pathplanner/paths/#2 Right - Under the trench.path
index dc647bd..fee7abd 100644
--- a/src/main/deploy/pathplanner/paths/#2 Right - Under the trench.path	
+++ b/src/main/deploy/pathplanner/paths/#2 Right - Under the trench.path	
@@ -68,8 +68,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 2.5,
-    "maxAcceleration": 2.5,
+    "maxVelocity": 2.0,
+    "maxAcceleration": 2.0,
     "maxAngularVelocity": 200.0,
     "maxAngularAcceleration": 300.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/#2(2) Right - Under the trench.path b/src/main/deploy/pathplanner/paths/#2(2) Right - Under the trench.path
index 5f8a868..62bb109 100644
--- a/src/main/deploy/pathplanner/paths/#2(2) Right - Under the trench.path	
+++ b/src/main/deploy/pathplanner/paths/#2(2) Right - Under the trench.path	
@@ -170,8 +170,8 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 2.5,
-    "maxAcceleration": 2.5,
+    "maxVelocity": 2.0,
+    "maxAcceleration": 2.0,
     "maxAngularVelocity": 200.0,
     "maxAngularAcceleration": 300.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/#3 Right - Under the trench.path b/src/main/deploy/pathplanner/paths/#3 Right - Under the trench.path
index 92ad611..639dac6 100644
--- a/src/main/deploy/pathplanner/paths/#3 Right - Under the trench.path	
+++ b/src/main/deploy/pathplanner/paths/#3 Right - Under the trench.path	
@@ -45,8 +45,8 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 2.5,
-    "maxAcceleration": 2.5,
+    "maxVelocity": 2.0,
+    "maxAcceleration": 2.0,
     "maxAngularVelocity": 200.0,
     "maxAngularAcceleration": 300.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/#3(No SOTM) Left under the trench.path b/src/main/deploy/pathplanner/paths/#3(No SOTM) Left under the trench.path
index 7d31893..fdb2b57 100644
--- a/src/main/deploy/pathplanner/paths/#3(No SOTM) Left under the trench.path	
+++ b/src/main/deploy/pathplanner/paths/#3(No SOTM) Left under the trench.path	
@@ -84,8 +84,8 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 2.5,
-    "maxAcceleration": 2.5,
+    "maxVelocity": 2.0,
+    "maxAcceleration": 2.0,
     "maxAngularVelocity": 200.0,
     "maxAngularAcceleration": 300.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/DELETE THIS.path b/src/main/deploy/pathplanner/paths/DELETE THIS.path
index 447af74..107dcf0 100644
--- a/src/main/deploy/pathplanner/paths/DELETE THIS.path	
+++ b/src/main/deploy/pathplanner/paths/DELETE THIS.path	
@@ -131,8 +131,8 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 2.5,
-    "maxAcceleration": 2.5,
+    "maxVelocity": 2.0,
+    "maxAcceleration": 2.0,
     "maxAngularVelocity": 200.0,
     "maxAngularAcceleration": 300.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/Duplicated Not Working.path b/src/main/deploy/pathplanner/paths/Duplicated Not Working.path
index c782704..259e22e 100644
--- a/src/main/deploy/pathplanner/paths/Duplicated Not Working.path	
+++ b/src/main/deploy/pathplanner/paths/Duplicated Not Working.path	
@@ -129,8 +129,8 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 2.5,
-    "maxAcceleration": 2.5,
+    "maxVelocity": 2.0,
+    "maxAcceleration": 2.0,
     "maxAngularVelocity": 200.0,
     "maxAngularAcceleration": 300.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/Left bump to full neutral to left climb (diagonal).path b/src/main/deploy/pathplanner/paths/Left bump to full neutral to left climb (diagonal).path
index f8c186d..a3bc47c 100644
--- a/src/main/deploy/pathplanner/paths/Left bump to full neutral to left climb (diagonal).path	
+++ b/src/main/deploy/pathplanner/paths/Left bump to full neutral to left climb (diagonal).path	
@@ -180,8 +180,8 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 2.5,
-    "maxAcceleration": 2.5,
+    "maxVelocity": 2.0,
+    "maxAcceleration": 2.0,
     "maxAngularVelocity": 200.0,
     "maxAngularAcceleration": 300.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/Left to neutral to depot (diagonal).path b/src/main/deploy/pathplanner/paths/Left to neutral to depot (diagonal).path
index 9793380..1212f15 100644
--- a/src/main/deploy/pathplanner/paths/Left to neutral to depot (diagonal).path	
+++ b/src/main/deploy/pathplanner/paths/Left to neutral to depot (diagonal).path	
@@ -242,8 +242,8 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 2.5,
-    "maxAcceleration": 2.5,
+    "maxVelocity": 2.0,
+    "maxAcceleration": 2.0,
     "maxAngularVelocity": 200.0,
     "maxAngularAcceleration": 300.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/Left to neutral to depot.path b/src/main/deploy/pathplanner/paths/Left to neutral to depot.path
index 186cdfa..efb2285 100644
--- a/src/main/deploy/pathplanner/paths/Left to neutral to depot.path	
+++ b/src/main/deploy/pathplanner/paths/Left to neutral to depot.path	
@@ -242,8 +242,8 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 2.5,
-    "maxAcceleration": 2.5,
+    "maxVelocity": 2.0,
+    "maxAcceleration": 2.0,
     "maxAngularVelocity": 200.0,
     "maxAngularAcceleration": 300.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/Straight #2.path b/src/main/deploy/pathplanner/paths/Straight #2.path
index 4593417..2fdda68 100644
--- a/src/main/deploy/pathplanner/paths/Straight #2.path	
+++ b/src/main/deploy/pathplanner/paths/Straight #2.path	
@@ -33,8 +33,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 2.5,
-    "maxAcceleration": 2.5,
+    "maxVelocity": 2.0,
+    "maxAcceleration": 2.0,
     "maxAngularVelocity": 200.0,
     "maxAngularAcceleration": 300.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/Straight #3.path b/src/main/deploy/pathplanner/paths/Straight #3.path
index 5145601..70fb5be 100644
--- a/src/main/deploy/pathplanner/paths/Straight #3.path	
+++ b/src/main/deploy/pathplanner/paths/Straight #3.path	
@@ -33,8 +33,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 2.5,
-    "maxAcceleration": 2.5,
+    "maxVelocity": 2.0,
+    "maxAcceleration": 2.0,
     "maxAngularVelocity": 200.0,
     "maxAngularAcceleration": 300.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/paths/Straight #4.path b/src/main/deploy/pathplanner/paths/Straight #4.path
index d275538..cab67bd 100644
--- a/src/main/deploy/pathplanner/paths/Straight #4.path	
+++ b/src/main/deploy/pathplanner/paths/Straight #4.path	
@@ -33,8 +33,8 @@
   "pointTowardsZones": [],
   "eventMarkers": [],
   "globalConstraints": {
-    "maxVelocity": 2.5,
-    "maxAcceleration": 2.5,
+    "maxVelocity": 2.0,
+    "maxAcceleration": 2.0,
     "maxAngularVelocity": 200.0,
     "maxAngularAcceleration": 300.0,
     "nominalVoltage": 12.0,
diff --git a/src/main/deploy/pathplanner/settings.json b/src/main/deploy/pathplanner/settings.json
index 9e1711b..4eb087b 100644
--- a/src/main/deploy/pathplanner/settings.json
+++ b/src/main/deploy/pathplanner/settings.json
@@ -10,8 +10,8 @@
     "Right Autos"
   ],
   "autoFolders": [],
-  "defaultMaxVel": 2.5,
-  "defaultMaxAccel": 2.5,
+  "defaultMaxVel": 2.0,
+  "defaultMaxAccel": 2.0,
   "defaultMaxAngVel": 200.0,
   "defaultMaxAngAccel": 300.0,
   "defaultNominalVoltage": 12.0,
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 2fd4358..542a5b6 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -213,17 +213,14 @@ public class RobotContainer {
       }));
     }
 
-    if (intake != null && spindexer != null){ 
-      NamedCommands.registerCommand("Spin Intake Rollers", new ParallelCommandGroup(
-        new InstantCommand(()->intake.spin(IntakeConstants.SPEED))
-      ));
-      NamedCommands.registerCommand("Stop Intake Rollers", new ParallelCommandGroup(
-        new InstantCommand(()->intake.spinStop())
-      ));
-      Command intakeMovement = new IntakeMovementCommand(intake);
-      NamedCommands.registerCommand("Start Intake Seizure", new InstantCommand(()-> intakeMovement.schedule()));
-      NamedCommands.registerCommand("Stop Intake Seizure", new InstantCommand(()-> intakeMovement.cancel()));
-    }
+    // if (intake != null && spindexer != null){ 
+    //   NamedCommands.registerCommand("Spin Intake Rollers", new ParallelCommandGroup(
+    //     new InstantCommand(()->intake.spin(IntakeConstants.SPEED))
+    //   ));
+    //   NamedCommands.registerCommand("Stop Intake Rollers", new ParallelCommandGroup(
+    //     new InstantCommand(()->intake.spinStop())
+    //   ));
+    // }
 
     if (turret != null && drive != null && hood != null && shooter != null && spindexer != null){
       Command runSpindexer = new RunSpindexer(spindexer, turret);