From 1ea651abed7ce91d6fe5cfe67b2abfc1a9c19df2 Mon Sep 17 00:00:00 2001
From: Taran Nathan <moogoesmeow123@gmail.com>
Date: Sun, 3 May 2026 18:11:35 -0500
Subject: [PATCH] add dynamic to super shuttling

---
 .../auto_comm/ChoreoPathCommandBuilder.java     | 17 ++++++-----------
 1 file changed, 6 insertions(+), 11 deletions(-)

diff --git a/src/main/java/frc/robot/commands/auto_comm/ChoreoPathCommandBuilder.java b/src/main/java/frc/robot/commands/auto_comm/ChoreoPathCommandBuilder.java
index 9485c02..8216f71 100644
--- a/src/main/java/frc/robot/commands/auto_comm/ChoreoPathCommandBuilder.java
+++ b/src/main/java/frc/robot/commands/auto_comm/ChoreoPathCommandBuilder.java
@@ -280,20 +280,15 @@ public class ChoreoPathCommandBuilder {
         }),
         shuttlingTrajectory.cmd()));
 
-    return routine;
-
-  }
-
-  public AutoRoutine rightSuperShuttling(AutoFactory factory) {
-    AutoRoutine routine = factory.newRoutine("rightSuperShuttling");
-
-    AutoTrajectory shuttlingTrajectory = routine.trajectory("superShuttling").mirrorY();
-
-    routine.active().onTrue(Commands.sequence(
-        shuttlingTrajectory.resetOdometry(),
+    shuttlingTrajectory.done().onTrue(Commands.sequence(
+        new InstantCommand(() -> {
+          hood.forceHoodDown(false);
+        }),
+        new RunSpindexerWithStop(spindexer, turret, hood, intake).raceWith(new IntakeMovementCommand(intake)),
         new InstantCommand(() -> {
           intake.extend();
           intake.spinStart();
+          hood.forceHoodDown(true);
         }),
         shuttlingTrajectory.cmd()));
 
-- 
2.39.5