Pid fix

src/main/deploy/pathplanner/paths/D Down.path

@@ -0,0 +1,58 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 7.79,
+        "y": 7.44
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 8.8067136690449,
+        "y": 6.875822572329668
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 8.273958234114385,
+        "y": 1.219250157994363
+      },
+      "prevControl": {
+        "x": 8.023958234114385,
+        "y": 2.7192501579943613
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 0.1,
+      "rotationDegrees": -89.33055923925507,
+      "rotateFast": true
+    }
+  ],
+  "constraintZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": -89.85909978355855,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": null,
+  "previewStartingState": {
+    "rotation": 0,
+    "velocity": 0
+  },
+  "useDefaultConstraints": false
+}

src/main/deploy/pathplanner/paths/H Up.path

@@ -0,0 +1,58 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 8.03,
+        "y": 1.13
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 8.614658267262964,
+        "y": 1.9091112382373576
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 8.286313237433024,
+        "y": 6.970960905277465
+      },
+      "prevControl": {
+        "x": 8.138582010980988,
+        "y": 5.104730442905827
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 0.1,
+      "rotationDegrees": 90.0,
+      "rotateFast": true
+    }
+  ],
+  "constraintZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 89.88677915821401,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": null,
+  "previewStartingState": {
+    "rotation": 72.98229938417656,
+    "velocity": 0
+  },
+  "useDefaultConstraints": false
+}

src/main/java/com/stuypulse/robot/commands/auton/HGF/ReroutableFourPieceHGF.java

@@ -0,0 +1,17 @@
+package com.stuypulse.robot.commands.auton.HGF;
+
+import com.pathplanner.lib.path.PathPlannerPath;
+
+import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
+
+public class ReroutableFourPieceHGF extends SequentialCommandGroup {
+
+    public ReroutableFourPieceHGF(PathPlannerPath... paths) {
+        PathPlannerPath H_TO_G = paths[6];
+        PathPlannerPath G_TO_F = paths[7];
+
+
+
+    }
+
+}

src/main/java/com/stuypulse/robot/constants/Settings.java

@@ -149,7 +149,7 @@ public interface FF {
 
         public interface RIGHT {
             public interface PID {
-                double kP = 0.00304711;
+                double kP = 0.000304711;
                 double kI = 0;
                 double kD = 0.0;
             }