From 7d21c401225a29df4b4dae8c78f1174839f31364 Mon Sep 17 00:00:00 2001
From: Team578 Driver Station <leadmentor@fairportrobotics.org>
Date: Mon, 13 Apr 2026 18:48:54 -0400
Subject: [PATCH] Added RunIntake command

---
 .../pathplanner/autos/1. Hub to Shoot.auto    | 19 +++++++++++++++++++
 src/main/java/frc/robot/RobotContainer.java   |  1 +
 2 files changed, 20 insertions(+)

diff --git a/src/main/deploy/pathplanner/autos/1. Hub to Shoot.auto b/src/main/deploy/pathplanner/autos/1. Hub to Shoot.auto
index 619ff88..732cd97 100644
--- a/src/main/deploy/pathplanner/autos/1. Hub to Shoot.auto	
+++ b/src/main/deploy/pathplanner/autos/1. Hub to Shoot.auto	
@@ -35,6 +35,25 @@
             "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": {
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index d6d68cd..f5e2972 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -56,6 +56,7 @@ public class RobotContainer {
         configureBindings();
 
         NamedCommands.registerCommand("ChassisAlignShoot", new AutoShootCommandChassisTurret(driveSubsystem, hopperSubsystem, turretSubsystem));
+        NamedCommands.registerCommand("RunIntake", intakeSubsystem.intake());
 
         turretSubsystem.setDefaultCommand(new AutoTurretCommand(turretSubsystem, driveSubsystem));
     }