From 136abbf9d16086655a7f6b9710a91c6b9697c50f Mon Sep 17 00:00:00 2001
From: eileha <eileenhan369@gmail.com>
Date: Wed, 18 Mar 2026 16:09:20 -0700
Subject: [PATCH] new autos stuff

---
 .../paths/Left Trench Start Shifted.path      | 68 +++++++++++++++++++
 .../paths/Right Trench Start Shifted.path     | 68 +++++++++++++++++++
 2 files changed, 136 insertions(+)
 create mode 100644 src/main/deploy/pathplanner/paths/Left Trench Start Shifted.path
 create mode 100644 src/main/deploy/pathplanner/paths/Right Trench Start Shifted.path

diff --git a/src/main/deploy/pathplanner/paths/Left Trench Start Shifted.path b/src/main/deploy/pathplanner/paths/Left Trench Start Shifted.path
new file mode 100644
index 0000000..5c0e031
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/Left Trench Start Shifted.path	
@@ -0,0 +1,68 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 2.9,
+        "y": 7.623
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 3.150000000000022,
+        "y": 7.623
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 3.0,
+        "y": 7.623
+      },
+      "prevControl": {
+        "x": 2.749999999999994,
+        "y": 7.623
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [
+    {
+      "name": "Constraints Zone",
+      "minWaypointRelativePos": 0,
+      "maxWaypointRelativePos": 1.0,
+      "constraints": {
+        "maxVelocity": 0.5,
+        "maxAcceleration": 0.5,
+        "maxAngularVelocity": 200.0,
+        "maxAngularAcceleration": 300.0,
+        "nominalVoltage": 12.0,
+        "unlimited": false
+      }
+    }
+  ],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 2.0,
+    "maxAcceleration": 2.0,
+    "maxAngularVelocity": 200.0,
+    "maxAngularAcceleration": 300.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "useDefaultConstraints": true
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/Right Trench Start Shifted.path b/src/main/deploy/pathplanner/paths/Right Trench Start Shifted.path
new file mode 100644
index 0000000..b105fa3
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/Right Trench Start Shifted.path	
@@ -0,0 +1,68 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 2.9,
+        "y": 0.4481350154264931
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 3.150000000000022,
+        "y": 0.4481350154264927
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 3.0,
+        "y": 0.4481350154264931
+      },
+      "prevControl": {
+        "x": 2.749999999999994,
+        "y": 0.4481350154264927
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [
+    {
+      "name": "Constraints Zone",
+      "minWaypointRelativePos": 0,
+      "maxWaypointRelativePos": 1.0,
+      "constraints": {
+        "maxVelocity": 0.5,
+        "maxAcceleration": 0.5,
+        "maxAngularVelocity": 200.0,
+        "maxAngularAcceleration": 300.0,
+        "nominalVoltage": 12.0,
+        "unlimited": false
+      }
+    }
+  ],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 2.0,
+    "maxAcceleration": 2.0,
+    "maxAngularVelocity": 200.0,
+    "maxAngularAcceleration": 300.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "useDefaultConstraints": true
+}
\ No newline at end of file
-- 
2.39.5