auto updates

.vscode/spellright.dict

@@ -151,3 +151,4 @@ tync
 imumode
 imu
 integratable
+beltonAuton

simgui-window.json

@@ -33,7 +33,7 @@
     },
     "###/SmartDashboard/Auto Chooser": {
       "Collapsed": "0",
-      "Pos": "412,375",
+      "Pos": "339,243",
       "Size": "307,60"
     },
     "###/SmartDashboard/Auto Visualizer": {
@@ -83,8 +83,8 @@
     },
     "###Joysticks": {
       "Collapsed": "0",
-      "Pos": "1349,649",
-      "Size": "976,278"
+      "Pos": "1,385",
+      "Size": "976,252"
     },
     "###Keyboard 0 Settings": {
       "Collapsed": "0",
@@ -141,7 +141,7 @@
     },
     "Robot State": {
       "Collapsed": "0",
-      "Pos": "239,223",
+      "Pos": "187,186",
       "Size": "118,134"
     }
   }

src/main/deploy/pathplanner/autos/TroughRush2.auto

@@ -0,0 +1,31 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "4 - L4 Trough Rush"
+          }
+        },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 1.0
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "3 - L4 Trough Rush"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": false,
+  "folder": null,
+  "choreoAuto": false
+}

src/main/deploy/pathplanner/paths/2 Alt - L4 Trough Rush.path

@@ -3,13 +3,13 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 5.315941011235955,
-        "y": 5.44
+        "x": 5.225561797752809,
+        "y": 5.273876404494382
       },
       "prevControl": null,
       "nextControl": {
-        "x": 4.907435777683204,
-        "y": 5.718000370983683
+        "x": 4.817056564200057,
+        "y": 5.551876775478065
       },
       "isLocked": false,
       "linkedName": null

src/main/deploy/pathplanner/settings.json

@@ -52,7 +52,7 @@
     "{\"name\":\"Line\",\"type\":\"line\",\"data\":{\"start\":{\"x\":0.14,\"y\":-0.35},\"end\":{\"x\":0.15,\"y\":-0.04},\"strokeWidth\":0.01}}",
     "{\"name\":\"Line\",\"type\":\"line\",\"data\":{\"start\":{\"x\":0.09,\"y\":-0.35},\"end\":{\"x\":0.15,\"y\":-0.04},\"strokeWidth\":0.01}}",
     "{\"name\":\"Line\",\"type\":\"line\",\"data\":{\"start\":{\"x\":0.03,\"y\":-0.35},\"end\":{\"x\":0.15,\"y\":-0.04},\"strokeWidth\":0.01}}",
-    "{\"name\":\"Arm Front\",\"type\":\"line\",\"data\":{\"start\":{\"x\":0.46,\"y\":0.0},\"end\":{\"x\":0.754,\"y\":0.0},\"strokeWidth\":0.075}}",
-    "{\"name\":\"Arm Back\",\"type\":\"line\",\"data\":{\"start\":{\"x\":-0.754,\"y\":0.0},\"end\":{\"x\":-0.46,\"y\":0.0},\"strokeWidth\":0.075}}"
+    "{\"name\":\"Arm Front\",\"type\":\"line\",\"data\":{\"start\":{\"x\":0.46,\"y\":0.0},\"end\":{\"x\":0.5743,\"y\":0.0},\"strokeWidth\":0.075}}",
+    "{\"name\":\"Arm Back\",\"type\":\"line\",\"data\":{\"start\":{\"x\":-0.5740000000000001,\"y\":0.0},\"end\":{\"x\":-0.46,\"y\":0.0},\"strokeWidth\":0.075}}"
   ]
 }

src/main/java/frc/robot/auton/Auton.java

@@ -61,27 +61,11 @@ public void setupSelectors() {
         // pathChooser.addOption("3 Meter", SpectrumAuton("3 Meter", false));
         // pathChooser.addOption("5 Meter", SpectrumAuton("5 Meter", false));
 
-        pathChooser.addOption("BeltonAuto", beltonAuton(false));
-
-        pathChooser.addOption(
-                "3847 | Left | L4 Trough Rush", SpectrumAuton("Blue Left - L4 Trough Rush", false));
-        pathChooser.addOption(
-                "3847 | Right | L4 Trough Rush", SpectrumAuton("Blue Left - L4 Trough Rush", true));
-        pathChooser.addOption(
-                "3847 | Center | L4 Trough Rush",
-                SpectrumAuton("Blue Center - L4 Trough Rush", false));
-
-        pathChooser.addOption(
-                "3847 | Left | L4 Leave", SpectrumAuton("Blue Left - L4 Leave", false));
-        pathChooser.addOption(
-                "3847 | Right | L4 Leave", SpectrumAuton("Blue Left - L4 Leave", true));
-        pathChooser.addOption(
-                "3847 | Center | L4 Leave", SpectrumAuton("Blue Center - L4 Leave", false));
-
-        // pathChooser.addOption("8515 | Center - Photon", SpectrumAuton("Photon Blue Center",
-        // false));
-        // pathChooser.addOption("8515 | Left - Photon", SpectrumAuton("Photon Blue Left", false));
-        // pathChooser.addOption("8515 | Right - Photon", SpectrumAuton("Photon Blue Left", true));
+        pathChooser.addOption("Left | 2-L4 Belton Auto", beltonAuton(false));
+        pathChooser.addOption("Right | 2-L4 Belton Auto", beltonAuton(true));
+
+        // pathChooser.addOption("Left | 2.5-L4 Belton Auto", beltonAuton2(false));
+        // pathChooser.addOption("Right | 2.5-L4 Belton Auto", beltonAuton2(true));
 
         SmartDashboard.putData("Auto Chooser", pathChooser);
     }
@@ -117,6 +101,17 @@ public Command beltonAuton(boolean mirrored) {
                 .andThen(aimL4score(), SpectrumAuton("TroughRush", mirrored), aimL4score());
     }
 
+    public Command beltonAuton2(boolean mirrored) {
+        return SpectrumAuton("L4-SideStart", mirrored)
+                .withTimeout(2)
+                .andThen(
+                        aimL4score(),
+                        SpectrumAuton("TroughRush", mirrored),
+                        aimL4score(),
+                        SpectrumAuton("TroughRush2", mirrored),
+                        aimL4score());
+    }
+
     public Command aimL4score() {
         return SwerveStates.reefAimDrive().withTimeout(1.2).alongWith(l4score());
     }