From 327f22cbc5e25d5907218653c42f5ebda30b02d7 Mon Sep 17 00:00:00 2001
From: iefomit <timofei.stem@gmail.com>
Date: Tue, 10 Mar 2026 15:39:49 -0700
Subject: [PATCH] + autoshoot (w/ superstructure), optimized stuff

---
 .../pathplanner/paths/Full Left Path.path     | 63 +++++++++++--------
 src/main/java/frc/robot/RobotContainer.java   |  2 +-
 2 files changed, 38 insertions(+), 27 deletions(-)

diff --git a/src/main/deploy/pathplanner/paths/Full Left Path.path b/src/main/deploy/pathplanner/paths/Full Left Path.path
index 3778a95..4b28704 100644
--- a/src/main/deploy/pathplanner/paths/Full Left Path.path	
+++ b/src/main/deploy/pathplanner/paths/Full Left Path.path	
@@ -8,8 +8,8 @@
       },
       "prevControl": null,
       "nextControl": {
-        "x": 7.743473196617387,
-        "y": 7.377736791114949
+        "x": 7.613160638537474,
+        "y": 7.456089060354733
       },
       "isLocked": false,
       "linkedName": null
@@ -20,12 +20,12 @@
         "y": 7.031435349935309
       },
       "prevControl": {
-        "x": 8.10447288300756,
-        "y": 7.230962092735046
+        "x": 8.158547586256232,
+        "y": 7.249527814479931
       },
       "nextControl": {
-        "x": 8.92423686271917,
-        "y": 6.303125799507752
+        "x": 8.855095914053635,
+        "y": 6.006503971702691
       },
       "isLocked": false,
       "linkedName": null
@@ -36,12 +36,12 @@
         "y": 4.352396204033215
       },
       "prevControl": {
-        "x": 8.781602053412554,
-        "y": 4.613384619419231
+        "x": 8.950711711728577,
+        "y": 4.763583302539962
       },
       "nextControl": {
-        "x": 8.168972011382511,
-        "y": 3.8532542717573026
+        "x": 8.178545599863114,
+        "y": 3.9268428966418
       },
       "isLocked": false,
       "linkedName": null
@@ -52,12 +52,12 @@
         "y": 4.503024911032028
       },
       "prevControl": {
-        "x": 6.420187836854095,
-        "y": 4.0694436094907385
+        "x": 6.450845873317412,
+        "y": 4.171158013177291
       },
       "nextControl": {
-        "x": 5.652586346687132,
-        "y": 5.133487302808302
+        "x": 5.527340789702552,
+        "y": 5.063533483349684
       },
       "isLocked": false,
       "linkedName": null
@@ -68,28 +68,28 @@
         "y": 7.268137603795967
       },
       "prevControl": {
-        "x": 6.971268132524162,
-        "y": 6.657769242225851
+        "x": 6.709845339124411,
+        "y": 6.5665940697865075
       },
       "nextControl": {
-        "x": 5.941353937897051,
-        "y": 7.513328524315462
+        "x": 5.8207588839551905,
+        "y": 7.884340787581406
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 0.8784341637010682,
-        "y": 7.268137603795967
+        "x": 0.6013318584144021,
+        "y": 7.134601236249081
       },
       "prevControl": {
-        "x": 4.103847815719562,
-        "y": 7.898024322078127
+        "x": 3.5546210957312354,
+        "y": 7.467259667375804
       },
       "nextControl": {
-        "x": 0.24137764926754224,
-        "y": 7.14372768912171
+        "x": 0.35290289496152694,
+        "y": 7.106618203573367
       },
       "isLocked": false,
       "linkedName": null
@@ -100,8 +100,8 @@
         "y": 5.084021352313167
       },
       "prevControl": {
-        "x": 0.4411298472046822,
-        "y": 5.3813118023937445
+        "x": 0.5558396548739409,
+        "y": 5.465118366137181
       },
       "nextControl": null,
       "isLocked": false,
@@ -228,6 +228,17 @@
         }
       }
     },
+    {
+      "name": "Auto shoot",
+      "waypointRelativePos": 4.6699937481746465,
+      "endWaypointRelativePos": null,
+      "command": {
+        "type": "named",
+        "data": {
+          "name": "Auto shoot"
+        }
+      }
+    },
     {
       "name": "Stop Hood Down",
       "waypointRelativePos": 4.724409448818935,
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 85ed2ed..56ebb66 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -226,7 +226,7 @@ public class RobotContainer {
 
     if (turret != null && drive != null && hood != null && shooter != null && spindexer != null) {
       Command runSpindexer = new RunSpindexer(spindexer, turret);
-      NamedCommands.registerCommand("Auto shoot", new AutoShootCommand(turret, drive, hood, shooter, spindexer));
+      NamedCommands.registerCommand("Auto shoot", new Superstructure(turret, drive, hood, shooter, spindexer));
       NamedCommands.registerCommand("Start Spindexer",
           new InstantCommand(() -> CommandScheduler.getInstance().schedule(runSpindexer)));
       NamedCommands.registerCommand("Stop Spindexer", new InstantCommand(() -> runSpindexer.cancel()));
-- 
2.39.5