POFC

src/main/deploy/pathplanner/autos/1. Hub to Shoot.auto

@@ -1,88 +0,0 @@
-{
-  "version": "2025.0",
-  "command": {
-    "type": "sequential",
-    "data": {
-      "commands": [
-        {
-          "type": "path",
-          "data": {
-            "pathName": "1.1 Hub to Shoot"
-          }
-        },
-        {
-          "type": "deadline",
-          "data": {
-            "commands": [
-              {
-                "type": "named",
-                "data": {
-                  "name": "ChassisAlignShoot"
-                }
-              },
-              {
-                "type": "wait",
-                "data": {
-                  "waitTime": 10.0
-                }
-              }
-            ]
-          }
-        },
-        {
-          "type": "path",
-          "data": {
-            "pathName": "1.2 Shoot to Depot Path"
-          }
-        },
-        {
-          "type": "deadline",
-          "data": {
-            "commands": [
-              {
-                "type": "named",
-                "data": {
-                  "name": "RunIntake"
-                }
-              },
-              {
-                "type": "wait",
-                "data": {
-                  "waitTime": 10.0
-                }
-              }
-            ]
-          }
-        },
-        {
-          "type": "path",
-          "data": {
-            "pathName": "1.3 Depot to Shoot Path"
-          }
-        },
-        {
-          "type": "deadline",
-          "data": {
-            "commands": [
-              {
-                "type": "named",
-                "data": {
-                  "name": "ChassisAlignShoot"
-                }
-              },
-              {
-                "type": "wait",
-                "data": {
-                  "waitTime": 10.0
-                }
-              }
-            ]
-          }
-        }
-      ]
-    }
-  },
-  "resetOdom": true,
-  "folder": null,
-  "choreoAuto": false
-}

src/main/deploy/pathplanner/autos/Depot. Hub.auto

@@ -1,25 +0,0 @@
-{
-  "version": "2025.0",
-  "command": {
-    "type": "sequential",
-    "data": {
-      "commands": [
-        {
-          "type": "path",
-          "data": {
-            "pathName": "S. Hub. shoot 8. E-Hub"
-          }
-        },
-        {
-          "type": "path",
-          "data": {
-            "pathName": "M. Depot. "
-          }
-        }
-      ]
-    }
-  },
-  "resetOdom": true,
-  "folder": null,
-  "choreoAuto": false
-}

src/main/deploy/pathplanner/autos/Depot. L-Tr..auto

@@ -1,25 +0,0 @@
-{
-  "version": "2025.0",
-  "command": {
-    "type": "sequential",
-    "data": {
-      "commands": [
-        {
-          "type": "path",
-          "data": {
-            "pathName": "S. L-Tre. Preload."
-          }
-        },
-        {
-          "type": "path",
-          "data": {
-            "pathName": "M. Depot. "
-          }
-        }
-      ]
-    }
-  },
-  "resetOdom": true,
-  "folder": null,
-  "choreoAuto": false
-}

src/main/deploy/pathplanner/autos/Depot. R-Tr.auto

@@ -1,25 +0,0 @@
-{
-  "version": "2025.0",
-  "command": {
-    "type": "sequential",
-    "data": {
-      "commands": [
-        {
-          "type": "path",
-          "data": {
-            "pathName": "S. R-Trench. E-Hub"
-          }
-        },
-        {
-          "type": "path",
-          "data": {
-            "pathName": "M. Depot. "
-          }
-        }
-      ]
-    }
-  },
-  "resetOdom": true,
-  "folder": null,
-  "choreoAuto": false
-}

src/main/deploy/pathplanner/autos/POFC.auto

@@ -7,7 +7,7 @@
         {
           "type": "path",
           "data": {
-            "pathName": "S. Hub. shoot 8. E-Hub"
+            "pathName": "POFC Path"
           }
         },
         {
@@ -23,11 +23,23 @@
               {
                 "type": "named",
                 "data": {
-                  "name": "TurretShoot"
+                  "name": "Ultrashooter"
                 }
               }
             ]
           }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Spin Off"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Deploy"
+          }
         }
       ]
     }

src/main/deploy/pathplanner/autos/Relay. L-Tr..auto

@@ -1,19 +0,0 @@
-{
-  "version": "2025.0",
-  "command": {
-    "type": "sequential",
-    "data": {
-      "commands": [
-        {
-          "type": "path",
-          "data": {
-            "pathName": "Relay. L-Tr."
-          }
-        }
-      ]
-    }
-  },
-  "resetOdom": true,
-  "folder": null,
-  "choreoAuto": false
-}

src/main/deploy/pathplanner/autos/Relay. R-Tr..auto

@@ -1,19 +0,0 @@
-{
-  "version": "2025.0",
-  "command": {
-    "type": "sequential",
-    "data": {
-      "commands": [
-        {
-          "type": "path",
-          "data": {
-            "pathName": "Relay. R-Tr."
-          }
-        }
-      ]
-    }
-  },
-  "resetOdom": true,
-  "folder": null,
-  "choreoAuto": false
-}

src/main/deploy/pathplanner/autos/Shoot 8. L-Tr..auto

@@ -1,19 +0,0 @@
-{
-  "version": "2025.0",
-  "command": {
-    "type": "sequential",
-    "data": {
-      "commands": [
-        {
-          "type": "path",
-          "data": {
-            "pathName": "S. L-Tre. Preload."
-          }
-        }
-      ]
-    }
-  },
-  "resetOdom": true,
-  "folder": null,
-  "choreoAuto": false
-}

src/main/deploy/pathplanner/autos/Shoot 8. R-Tr..auto

@@ -1,19 +0,0 @@
-{
-  "version": "2025.0",
-  "command": {
-    "type": "sequential",
-    "data": {
-      "commands": [
-        {
-          "type": "path",
-          "data": {
-            "pathName": "S. R-Trench. E-Hub"
-          }
-        }
-      ]
-    }
-  },
-  "resetOdom": true,
-  "folder": null,
-  "choreoAuto": false
-}

src/main/deploy/pathplanner/paths/POFC Path.path

@@ -3,25 +3,25 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 1.347817403708987,
+        "x": 3.524455555555555,
-        "y": 6.0
+        "y": 4.064233333333333
       },
       "prevControl": null,
       "nextControl": {
-        "x": -0.16600570613409404,
+        "x": 2.13655348749465,
-        "y": 5.982268188302426
+        "y": 4.298750985192517
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": -0.9164479315263911,
+        "x": 2.160233333338394,
-        "y": 6.0
+        "y": 4.064233333333333
       },
       "prevControl": {
-        "x": -1.916447931526393,
+        "x": 4.076363279649531,
-        "y": 6.0
+        "y": 3.9399616579759327
       },
       "nextControl": null,
       "isLocked": false,
@@ -42,7 +42,7 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": 0.0
+    "rotation": 178.3516554952644
   },
   "reversed": false,
   "folder": null,

src/main/java/frc/robot/RobotContainer.java

@@ -4,6 +4,7 @@
 package frc.robot;
 
 import com.pathplanner.lib.auto.NamedCommands;
+import com.pathplanner.lib.events.EventTrigger;
 
 import edu.wpi.first.wpilibj.GenericHID.RumbleType;
 import edu.wpi.first.wpilibj2.command.Command;
@@ -36,7 +37,6 @@ public class RobotContainer {
     private final CommandXboxController m_driverController
             = new CommandXboxController(OperatorConstants.kDriverControllerPort);
 
-    // private final CommandPS4Controller m_driverController = new CommandPS4Controller(OperatorConstants.kDriverControllerPort);
     public final DriveSubsystem driveSubsystem = new DriveSubsystem(m_driverController);
 
     public final IntakeSubsystem intakeSubsystem = new IntakeSubsystem();
@@ -50,13 +50,15 @@ public class RobotContainer {
      * commands.
      */
     public RobotContainer() {
-
-        // turretSubsystem.setDefaultCommand(new AutoTurretCommand(turretSubsystem, driveSubsystem));
         turretSubsystem.homeTurret();
         hopperSubsystem.spindexerOn();
         // Configure the trigger bindings
         configureBindings();
 
+        NamedCommands.registerCommand("Deploy", intakeSubsystem.deploy());
+        NamedCommands.registerCommand("Spin Off", hopperSubsystem.spinOff());
+        NamedCommands.registerCommand("Ultrashooter", new UltraShooterCommand(hopperSubsystem, turretSubsystem, driveSubsystem));
+        
         NamedCommands.registerCommand("ChassisAlignShoot", new AutoShootCommandChassisTurret(driveSubsystem, hopperSubsystem, turretSubsystem));
         NamedCommands.registerCommand("RunIntake", intakeSubsystem.intake(m_driverController.getHID()));
         NamedCommands.registerCommand("TurretShoot", new AutoTurretShootCommand(hopperSubsystem, turretSubsystem, intakeSubsystem, driveSubsystem));
@@ -93,8 +95,7 @@ public class RobotContainer {
      */
     public Command getAutonomousCommand() {
         // An example command will be run in autonomous
-        return Commands.parallel(intakeSubsystem.deploy(), Commands.run(() -> {
+        return Commands.parallel(Commands.run(() -> 
-            turretSubsystem.homeTurret();
+        {turretSubsystem.homeTurret();}, turretSubsystem), driveSubsystem.getAutoCommand());
-        }, turretSubsystem), driveSubsystem.getAutoCommand());
     }
 }

src/main/java/frc/robot/commands/UltraShooterCommand.java

@@ -15,8 +15,8 @@ import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.DriverStation.Alliance;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.Command;
-import edu.wpi.first.wpilibj2.command.CommandScheduler;
 import edu.wpi.first.wpilibj2.command.Commands;
+import edu.wpi.first.wpilibj2.command.CommandScheduler;
 import frc.robot.Constants;
 import frc.robot.Constants.ShootingRegion;
 import frc.robot.Utils;
@@ -47,6 +47,7 @@ public class UltraShooterCommand extends Command{
     
     @Override
     public void initialize() {
+        hopperSubsystem.spindexerOn();
         hopperSubsystem.stopKicker();                                       // Make sure kicker is off when command is called
         CommandScheduler.getInstance().schedule(waitCommand);               // Kick off a wait timer so robot doesn't shoot until hopper is ready
         alliance = DriverStation.getAlliance().get();                       // Fetch our alliance
@@ -213,5 +214,4 @@ public class UltraShooterCommand extends Command{
 
         Logger.recordOutput("UltraShooter-State", "INACTIVE");
     }
-
 }

src/main/java/frc/robot/subsystems/HopperSubsystem.java

@@ -99,6 +99,8 @@ public class HopperSubsystem extends TestableSubsystem {
         });
     }
 
+    public Command spinOff() {return this.runOnce(() -> {spindexerOff();});}
+
 
     @Override
     public void periodic() {