From 2e9f5049b7968ab979da80849bc52979d6f9ba5f Mon Sep 17 00:00:00 2001
From: iefomit <timofei.stem@gmail.com>
Date: Tue, 31 Mar 2026 19:57:52 -0700
Subject: [PATCH] new auto, remap

---
 src/main/deploy/pathplanner/paths/Swipe1.path                 | 2 +-
 src/main/java/frc/robot/RobotContainer.java                   | 3 +++
 .../java/frc/robot/controls/PS5ControllerDriverConfig.java    | 4 ++--
 3 files changed, 6 insertions(+), 3 deletions(-)

diff --git a/src/main/deploy/pathplanner/paths/Swipe1.path b/src/main/deploy/pathplanner/paths/Swipe1.path
index 033d22c..09d7866 100644
--- a/src/main/deploy/pathplanner/paths/Swipe1.path
+++ b/src/main/deploy/pathplanner/paths/Swipe1.path
@@ -164,5 +164,5 @@
     "velocity": 0.5,
     "rotation": 0.0
   },
-  "useDefaultConstraints": false
+  "useDefaultConstraints": true
 }
\ No newline at end of file
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 36abc1c..ee132d9 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -283,6 +283,7 @@ public class RobotContainer {
     String rightSideAuto = "Right Week V1";
     String shootOnlyAuto = "Shoot Only Left Week V1";
     String leftLiberalSwipe = "LeftLiberalDoubleSwipe";
+    String rightLiberalSwipe = "RightLiberalDoubleSwipe";
     String leftLiberalSwipeTranslation = "LeftLiberalDoubleSwipeTranslation";
     String leftConservativeSwipe = "LeftConservativeDoubleSwipe";
 
@@ -292,8 +293,10 @@ public class RobotContainer {
     addAuto(shootOnlyAuto);
     addAuto(leftConservativeSwipe);
     addAuto(leftLiberalSwipe);
+    addAuto(rightLiberalSwipe);
     addAuto(leftLiberalSwipeTranslation);
 
+
     // put the Chooser on the SmartDashboard
     SmartDashboard.putData("Auto chooser", autoChooser);
   }
diff --git a/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java b/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
index ae09130..3c13ed9 100644
--- a/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
+++ b/src/main/java/frc/robot/controls/PS5ControllerDriverConfig.java
@@ -174,11 +174,11 @@ public class PS5ControllerDriverConfig extends BaseDriverConfig {
 
         // shooter power modifier
         if (shooter != null) {
-            controller.get(PS5Button.PS).onTrue(new InstantCommand(() -> {
+            controller.get(PS5Button.TRIANGLE).onTrue(new InstantCommand(() -> {
                 double current = SmartDashboard.getNumber("OPERATOR: Shooter Power Modifier", 1.05);
                 SmartDashboard.putNumber("OPERATOR: Shooter Power Modifier", current + 0.05);
             }));
-            controller.get(PS5Button.TRIANGLE).onTrue(new InstantCommand(() -> {
+            controller.get(PS5Button.CROSS).onTrue(new InstantCommand(() -> {
                 double current = SmartDashboard.getNumber("OPERATOR: Shooter Power Modifier", 1.05);
                 SmartDashboard.putNumber("OPERATOR: Shooter Power Modifier", Math.max(0.5, current - 0.05));
             }));
-- 
2.39.5