From: maxwtan <100314265+MaxwellTTan20@users.noreply.github.com>
Date: Sat, 14 Mar 2026 02:24:01 +0000 (-0700)
Subject: Auto working with wait command :)
X-Git-Url: https://git.taranathan.com/?a=commitdiff_plain;h=dfcd6af8549ee777103c24576e9cc6c3a51802d1;p=FRC2026.git

Auto working with wait command :)
---

diff --git a/src/main/deploy/pathplanner/autos/Left Week V1.auto b/src/main/deploy/pathplanner/autos/Left Week V1.auto
new file mode 100644
index 0000000..6d01ac5
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/Left Week V1.auto	
@@ -0,0 +1,61 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 0.2
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Extend Intake"
+          }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 0.1
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Start Spindexer"
+          }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 1.0
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Stop Spindexer"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Hood Down"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Full Left Path v3"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/autos/Simple Test (WORKING).auto b/src/main/deploy/pathplanner/autos/Simple Test (WORKING).auto
new file mode 100644
index 0000000..ed1d866
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/Simple Test (WORKING).auto	
@@ -0,0 +1,55 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 1.0
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Extend Intake"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Start Spindexer"
+          }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 1.0
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Stop Spindexer"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Hood Down"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Simple"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/autos/Simple Test.auto b/src/main/deploy/pathplanner/autos/Simple Test.auto
deleted file mode 100644
index ed1d866..0000000
--- a/src/main/deploy/pathplanner/autos/Simple Test.auto	
+++ /dev/null
@@ -1,55 +0,0 @@
-{
-  "version": "2025.0",
-  "command": {
-    "type": "sequential",
-    "data": {
-      "commands": [
-        {
-          "type": "wait",
-          "data": {
-            "waitTime": 1.0
-          }
-        },
-        {
-          "type": "named",
-          "data": {
-            "name": "Extend Intake"
-          }
-        },
-        {
-          "type": "named",
-          "data": {
-            "name": "Start Spindexer"
-          }
-        },
-        {
-          "type": "wait",
-          "data": {
-            "waitTime": 1.0
-          }
-        },
-        {
-          "type": "named",
-          "data": {
-            "name": "Stop Spindexer"
-          }
-        },
-        {
-          "type": "named",
-          "data": {
-            "name": "Hood Down"
-          }
-        },
-        {
-          "type": "path",
-          "data": {
-            "pathName": "Simple"
-          }
-        }
-      ]
-    }
-  },
-  "resetOdom": true,
-  "folder": null,
-  "choreoAuto": false
-}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/Full Left Path v3.path b/src/main/deploy/pathplanner/paths/Full Left Path v3.path
index 548cb99..a872326 100644
--- a/src/main/deploy/pathplanner/paths/Full Left Path v3.path	
+++ b/src/main/deploy/pathplanner/paths/Full Left Path v3.path	
@@ -157,6 +157,19 @@
         "nominalVoltage": 12.0,
         "unlimited": false
       }
+    },
+    {
+      "name": "Starting Slow",
+      "minWaypointRelativePos": 0.0,
+      "maxWaypointRelativePos": 0.1,
+      "constraints": {
+        "maxVelocity": 0.5,
+        "maxAcceleration": 0.5,
+        "maxAngularVelocity": 200.0,
+        "maxAngularAcceleration": 150.0,
+        "nominalVoltage": 12.0,
+        "unlimited": false
+      }
     }
   ],
   "pointTowardsZones": [],
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 4ad78cf..7704aa2 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -137,7 +137,7 @@ public class RobotContainer {
         PathGroupLoader.loadPathGroups();
         // Load the auto command
         try {
-          String leftSideAuto = "Simple Test";
+          String leftSideAuto = "Left Week V1";
           // String rightSideAuto = "Right(2) - Under Trench";
           // String testing = "Straight Test";
           PathPlannerAuto.getPathGroupFromAutoFile(leftSideAuto);