Dcmp tweaks

src/main/deploy/pathplanner/autos/0 - L.auto

@@ -1,19 +1,25 @@
-{
-  "version": "2025.0",
-  "command": {
-    "type": "sequential",
-    "data": {
-      "commands": [
-        {
-          "type": "path",
-          "data": {
-            "pathName": "Mobility Left"
-          }
-        }
-      ]
-    }
-  },
-  "resetOdom": true,
-  "folder": null,
-  "choreoAuto": true
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "ZeroWrist"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Mobility Left"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": true
 }

src/main/deploy/pathplanner/autos/0 - M.auto

@@ -1,19 +1,25 @@
-{
-  "version": "2025.0",
-  "command": {
-    "type": "sequential",
-    "data": {
-      "commands": [
-        {
-          "type": "path",
-          "data": {
-            "pathName": "Mobility Center"
-          }
-        }
-      ]
-    }
-  },
-  "resetOdom": true,
-  "folder": null,
-  "choreoAuto": true
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "ZeroWrist"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Mobility Center"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": true
 }

src/main/deploy/pathplanner/autos/0 - R.auto

@@ -1,19 +1,25 @@
-{
-  "version": "2025.0",
-  "command": {
-    "type": "sequential",
-    "data": {
-      "commands": [
-        {
-          "type": "path",
-          "data": {
-            "pathName": "Mobility Right"
-          }
-        }
-      ]
-    }
-  },
-  "resetOdom": true,
-  "folder": null,
-  "choreoAuto": true
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "ZeroWrist"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Mobility Right"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": true
 }

src/main/deploy/pathplanner/autos/1 - L.auto

@@ -4,6 +4,12 @@
     "type": "sequential",
     "data": {
       "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "ZeroWrist"
+          }
+        },
         {
           "type": "path",
           "data": {
@@ -15,6 +21,12 @@
           "data": {
             "name": "AutoPlaceRight4"
           }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "ArmToStow"
+          }
         }
       ]
     }

src/main/deploy/pathplanner/autos/1 - M PoleL.auto

@@ -4,6 +4,12 @@
     "type": "sequential",
     "data": {
       "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "ZeroWrist"
+          }
+        },
         {
           "type": "path",
           "data": {
@@ -15,6 +21,12 @@
           "data": {
             "name": "AutoPlaceLeft4"
           }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "ArmToStow"
+          }
         }
       ]
     }

src/main/deploy/pathplanner/autos/1 - M PoleR.auto

@@ -4,6 +4,12 @@
     "type": "sequential",
     "data": {
       "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "ZeroWrist"
+          }
+        },
         {
           "type": "path",
           "data": {
@@ -15,6 +21,12 @@
           "data": {
             "name": "AutoPlaceRight4"
           }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "ArmToStow"
+          }
         }
       ]
     }

src/main/deploy/pathplanner/autos/1 - R.auto

@@ -4,6 +4,12 @@
     "type": "sequential",
     "data": {
       "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "ZeroWrist"
+          }
+        },
         {
           "type": "path",
           "data": {
@@ -15,6 +21,12 @@
           "data": {
             "name": "AutoPlaceLeft4"
           }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "ArmToStow"
+          }
         }
       ]
     }

src/main/deploy/pathplanner/autos/2 - L.auto

@@ -4,6 +4,12 @@
     "type": "sequential",
     "data": {
       "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "ZeroWrist"
+          }
+        },
         {
           "type": "path",
           "data": {
@@ -52,6 +58,12 @@
           "data": {
             "name": "AutoPlaceLeft4"
           }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "ArmToStow"
+          }
         }
       ]
     }

src/main/deploy/pathplanner/autos/2 - R.auto

@@ -4,6 +4,12 @@
     "type": "sequential",
     "data": {
       "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "ZeroWrist"
+          }
+        },
         {
           "type": "path",
           "data": {
@@ -64,6 +70,12 @@
           "data": {
             "name": "AutoPlaceRight4"
           }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "ArmToStow"
+          }
         }
       ]
     }

src/main/deploy/pathplanner/autos/Pit Test.auto

@@ -0,0 +1,25 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "TestPlaceReefImmobile"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "ArmToStow"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": false,
+  "folder": null,
+  "choreoAuto": true
+}

src/main/java/frc/robot/Robot.java

@@ -23,12 +23,6 @@ public class Robot extends LoggedRobot {
 
   @Override
   public void robotInit() {
-
-    Logger.addDataReceiver(new WPILOGWriter("U/logs"));
-    Logger.addDataReceiver(new NT4Publisher());
-
-    Logger.start();
-
     m_robotContainer = new RobotContainer();
 
     // Set up data receivers & replay source
@@ -93,8 +87,6 @@ public void teleopInit() {
     if (m_autonomousCommand != null) {
       m_autonomousCommand.cancel();
     }
-
-    m_robotContainer.zeroArm().schedule();
   }
 
   @Override

src/main/java/frc/robot/RobotContainer.java

@@ -160,10 +160,16 @@ private void configureBindings() {
 
     backupController.povDown().onTrue(zeroArm());
 
-    backupController.leftBumper().whileTrue(intake.ejectCoralCommand());
+    backupController.leftBumper().whileTrue(intake.runEjectCommand());
 
     backupController.rightBumper().whileTrue(intake.intakeCoralCommand());
 
+    backupController.start().whileTrue(CompoundCommands.armToNet());
+
+    backupController.x().whileTrue(intake.intakeAlgaeCommand());
+
+    backupController.y().whileTrue(intake.ejectAlgaeCommand());
+
     backupController
         .povUp()
         .onTrue(
@@ -198,8 +204,9 @@ private void configureBindings() {
         .onFalse(CompoundCommands.armToStowSafely());
     controller
         .rightTrigger(0.25)
-        .whileTrue(intake.ejectCoralCommand())
-        .onFalse(intake.stopCommand().alongWith(CompoundCommands.armToStow()));
+        .whileTrue(intake.runEjectCommand())
+        .onFalse(
+            intake.stopCommand().alongWith(CompoundCommands.armToStowSafely()).andThen(zeroArm()));
 
     controller
         .rightStick()

src/main/java/frc/robot/constants/ElevatorConstants.java

@@ -93,6 +93,12 @@ public class ElevatorConstants {
 
   public static final double moveVoltage = 5.0;
 
+  /** Maximum speed of elevator in m/s */
+  public static final double MAX_SPEED = 3.6;
+
+  /** Maximum acceleration of elevator in m/s² */
+  public static final double MAX_ACCELERATION = 4.0;
+
   /* Device IDs */
   public static final int motorID = 12;
 

src/main/java/frc/robot/constants/IntakeConstants.java

@@ -8,7 +8,11 @@ public class IntakeConstants {
 
   public static final double INTAKE_CORAL_TOP_MOTOR_VOLTAGE = -3;
   public static final double INTAKE_CORAL_LOW_MOTOR_VOLTAGE = 3;
-  public static final double EJECT_CORAL_TOP_MOTOR_VOLTAGE = 4;
+
+  public static final double BACKWARD_EJECT_CORAL_TOP_MOTOR_VOLTAGE = 3;
+  public static final double FOREWARD_EJECT_CORAL_TOP_MOTOR_VOLTAGE = -3;
+  public static final double BACKWARD_EJECT_CORAL_LOW_MOTOR_VOLTAGE = -3;
+  public static final double FOREWARD_EJECT_CORAL_LOW_MOTOR_VOLTAGE = 3;
 
   public static final double INTAKE_ALGAE_LOW_MOTOR_VOLTAGE = -4;
   public static final double EJECT_ALGAE_LOW_MOTOR_VOLTAGE = 3;