Gil swerve

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

@@ -0,0 +1,87 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "algae path pt1"
+          }
+        },
+        {
+          "type": "parallel",
+          "data": {
+            "commands": [
+              {
+                "type": "named",
+                "data": {
+                  "name": "OuttakeCoralAngle"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "ElevateToL4"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "ReleaseCoral"
+          }
+        },
+        {
+          "type": "parallel",
+          "data": {
+            "commands": [
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "algae path pt2"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "IntakeAlgaeAngle"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "ElevateToL3"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "TakeAlgae"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "algae path pt3"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "PlaceAngle"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}

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

@@ -0,0 +1,106 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "best path pt1"
+          }
+        },
+        {
+          "type": "parallel",
+          "data": {
+            "commands": [
+              {
+                "type": "named",
+                "data": {
+                  "name": "ElevateToL4"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "OuttakeCoralAngle"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "ReleaseCoral"
+          }
+        },
+        {
+          "type": "parallel",
+          "data": {
+            "commands": [
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "best path pt2"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "ElevateToFeeder"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "IntakeCoralAngle"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "IntakeCoral"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "best path pt3"
+          }
+        },
+        {
+          "type": "parallel",
+          "data": {
+            "commands": [
+              {
+                "type": "named",
+                "data": {
+                  "name": "ElevateToL4"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "OuttakeCoralAngle"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "ReleaseCoral"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}

src/main/deploy/pathplanner/autos/just rp auto.auto

@@ -0,0 +1,44 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "just rp path"
+          }
+        },
+        {
+          "type": "parallel",
+          "data": {
+            "commands": [
+              {
+                "type": "named",
+                "data": {
+                  "name": "OuttakeCoralAngle"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "ElevateToL4"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "ReleaseCoral"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}

src/main/deploy/pathplanner/autos/mirror best auto.auto

@@ -0,0 +1,106 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "mirror best path pt1"
+          }
+        },
+        {
+          "type": "parallel",
+          "data": {
+            "commands": [
+              {
+                "type": "named",
+                "data": {
+                  "name": "ElevateToL4"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "OuttakeCoralAngle"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "ReleaseCoral"
+          }
+        },
+        {
+          "type": "parallel",
+          "data": {
+            "commands": [
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "mirror best path pt2"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "ElevateToFeeder"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "IntakeCoralAngle"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "IntakeCoral"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "mirror best path pt3"
+          }
+        },
+        {
+          "type": "parallel",
+          "data": {
+            "commands": [
+              {
+                "type": "named",
+                "data": {
+                  "name": "ElevateToL4"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "OuttakeCoralAngle"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "ReleaseCoral"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}