Synthwave

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

@@ -4,6 +4,12 @@
     "type": "sequential",
     "data": {
       "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "intakeDepotShootLeft.-1"
+          }
+        },
         {
           "type": "path",
           "data": {

src/main/deploy/pathplanner/paths/intakeDepotShootLeft.-1.path

@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 3.5,
+        "y": 5.5
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 3.25,
+        "y": 5.5
+      },
+      "isLocked": false,
+      "linkedName": "preBumpLeft"
+    },
+    {
+      "anchor": {
+        "x": 3.25,
+        "y": 5.5
+      },
+      "prevControl": {
+        "x": 3.5,
+        "y": 5.5
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": "runningStartLeft.0.end"
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "reversed": false,
+  "folder": "IntakeDepotShootLeft",
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "useDefaultConstraints": true
+}

src/main/deploy/pathplanner/paths/intakeDepotShootLeft.0.path

@@ -3,25 +3,25 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 3.54922891566265,
-        "y": 5.510240963855422
+        "x": 3.25,
+        "y": 5.5
       },
       "prevControl": null,
       "nextControl": {
-        "x": 4.549228915662652,
-        "y": 5.510240963855422
+        "x": 4.250000000000002,
+        "y": 5.5
       },
       "isLocked": false,
-      "linkedName": null
+      "linkedName": "runningStartLeft.0.end"
     },
     {
       "anchor": {
         "x": 8.750819277108434,
-        "y": 5.510240963855422
+        "y": 5.5
       },
       "prevControl": {
         "x": 7.750819277108434,
-        "y": 5.510240963855422
+        "y": 5.5
       },
       "nextControl": null,
       "isLocked": false,
@@ -59,7 +59,7 @@
     }
   ],
   "globalConstraints": {
-    "maxVelocity": 1.3,
+    "maxVelocity": 1.6,
     "maxAcceleration": 3.0,
     "maxAngularVelocity": 540.0,
     "maxAngularAcceleration": 720.0,

src/main/deploy/pathplanner/paths/intakeDepotShootLeft.1.path

@@ -4,12 +4,12 @@
     {
       "anchor": {
         "x": 8.750819277108434,
-        "y": 5.510240963855422
+        "y": 5.5
       },
       "prevControl": null,
       "nextControl": {
         "x": 7.750819277108434,
-        "y": 5.510240963855422
+        "y": 5.5
       },
       "isLocked": false,
       "linkedName": "intakeDepotShootLeft.0"

src/main/java/frc/robot/aiming/AimingConstants.java

@@ -40,7 +40,7 @@ private AimingConstants() {}
   public static final LoggedTunableNumber FLYWHEEL_RADIUS_M =
       new LoggedTunableNumber("Aiming/flywheelRadiusM", Units.inchesToMeters(1.5));
   public static final LoggedTunableNumber SPEED_TRANSFER_RATIO =
-      new LoggedTunableNumber("Aiming/speedTransferRatio", 0.555);
+      new LoggedTunableNumber("Aiming/speedTransferRatio", 0.60);
   public static final double SHOOTER_MIN_RPM = 1000.0;
   public static final double SHOOTER_MAX_RPM = 3500.0;
 

src/main/java/frc/robot/subsystems/indexer/IndexerSubsystem.java

@@ -87,6 +87,7 @@ public void periodic() {
       case IDLE:
         resetJamDetection();
         m_IO.stop();
+        m_IO.setIndexerTarget(IndexerState.REVERSING.indexerVelocity());
         break;
       case FEEDING:
         checkForJam();

src/main/java/frc/robot/subsystems/intake/IntakeIOTalonFX.java

@@ -84,9 +84,9 @@ public void configureTalons() {
 
     TalonFXConfiguration configIntakeExtender = new TalonFXConfiguration();
     configIntakeExtender.MotorOutput.NeutralMode = NeutralModeValue.Coast;
-    configIntakeExtender.CurrentLimits.StatorCurrentLimit = 80.0; // this may need to be adjusted
+    configIntakeExtender.CurrentLimits.StatorCurrentLimit = 60.0; // this may need to be adjusted
     configIntakeExtender.CurrentLimits.StatorCurrentLimitEnable = true;
-    configIntakeExtender.CurrentLimits.SupplyCurrentLimit = 80.0; // this may need to be adjusted
+    configIntakeExtender.CurrentLimits.SupplyCurrentLimit = 40.0; // this may need to be adjusted
     configIntakeExtender.CurrentLimits.SupplyCurrentLimitEnable = true;
     configIntakeExtender.Voltage.PeakForwardVoltage = 8.0;
     configIntakeExtender.Voltage.PeakReverseVoltage = -8.0;

src/main/java/frc/robot/subsystems/intake/IntakeSubsystem.java

@@ -49,7 +49,7 @@ public class IntakeSubsystem extends SubsystemBase implements IntakeEvents {
   private final EnumState<IntakeState> currentGoal =
       new EnumState<>("Intake/States", IntakeState.IDLE);
   private static final LoggedTunableNumber ToleranceAngle =
-      new LoggedTunableNumber("Intake/atPosToleranceAngle", 7.5);
+      new LoggedTunableNumber("Intake/atPosToleranceAngle", 10.5);
 
   // Agitation tunables
   private static final LoggedTunableNumber agitateDownAngle =