From d65f1726675a91ae9302189dc0fefe2d839ffb7e Mon Sep 17 00:00:00 2001
From: Daniel Tsur <tsur.daniel@gmail.com>
Date: Sun, 25 Jan 2026 20:41:03 +0200
Subject: [PATCH 1/6] Initial Autonomous

---
 .../autos/Depot-Trench-Neutral-Bump.auto      | 93 +++++++++++++++++++
 .../deploy/pathplanner/autos/New Auto.auto    | 12 +++
 src/main/deploy/pathplanner/navgrid.json      |  1 +
 .../pathplanner/paths/Alliance-Climb.path     | 54 +++++++++++
 .../pathplanner/paths/Alliance-DepotD.path    | 54 +++++++++++
 .../pathplanner/paths/Alliance-Outpost.path   | 54 +++++++++++
 .../pathplanner/paths/Alliance-TrenchUL.path  | 54 +++++++++++
 .../pathplanner/paths/BumpL-Alliance.path     | 54 +++++++++++
 .../pathplanner/paths/DepotD-DepotU.path      | 54 +++++++++++
 .../pathplanner/paths/DepotU-TrenchUL.path    | 54 +++++++++++
 .../pathplanner/paths/NeutralM-BumpL.path     | 70 ++++++++++++++
 .../pathplanner/paths/NeutralU-NeutralM.path  | 54 +++++++++++
 .../deploy/pathplanner/paths/New Path.path    | 54 +++++++++++
 .../pathplanner/paths/Outpost-TrenchDL.path   | 70 ++++++++++++++
 .../pathplanner/paths/TrenchUL-NeutralU.path  | 75 +++++++++++++++
 src/main/deploy/pathplanner/settings.json     | 32 +++++++
 .../autonomous/AutonomousConstants.java       | 15 +++
 17 files changed, 854 insertions(+)
 create mode 100644 src/main/deploy/pathplanner/autos/Depot-Trench-Neutral-Bump.auto
 create mode 100644 src/main/deploy/pathplanner/autos/New Auto.auto
 create mode 100644 src/main/deploy/pathplanner/navgrid.json
 create mode 100644 src/main/deploy/pathplanner/paths/Alliance-Climb.path
 create mode 100644 src/main/deploy/pathplanner/paths/Alliance-DepotD.path
 create mode 100644 src/main/deploy/pathplanner/paths/Alliance-Outpost.path
 create mode 100644 src/main/deploy/pathplanner/paths/Alliance-TrenchUL.path
 create mode 100644 src/main/deploy/pathplanner/paths/BumpL-Alliance.path
 create mode 100644 src/main/deploy/pathplanner/paths/DepotD-DepotU.path
 create mode 100644 src/main/deploy/pathplanner/paths/DepotU-TrenchUL.path
 create mode 100644 src/main/deploy/pathplanner/paths/NeutralM-BumpL.path
 create mode 100644 src/main/deploy/pathplanner/paths/NeutralU-NeutralM.path
 create mode 100644 src/main/deploy/pathplanner/paths/New Path.path
 create mode 100644 src/main/deploy/pathplanner/paths/Outpost-TrenchDL.path
 create mode 100644 src/main/deploy/pathplanner/paths/TrenchUL-NeutralU.path
 create mode 100644 src/main/deploy/pathplanner/settings.json
 create mode 100644 src/main/java/frc/robot/subsystems/autonomous/AutonomousConstants.java

diff --git a/src/main/deploy/pathplanner/autos/Depot-Trench-Neutral-Bump.auto b/src/main/deploy/pathplanner/autos/Depot-Trench-Neutral-Bump.auto
new file mode 100644
index 0000000..2a54a2e
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/Depot-Trench-Neutral-Bump.auto
@@ -0,0 +1,93 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "Shooter.shoot"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Alliance-DepotD"
+          }
+        },
+        {
+          "type": "sequential",
+          "data": {
+            "commands": [
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "DepotD-DepotU"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "Intake.intake"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "DepotU-TrenchUL"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Shooter.shoot"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "TrenchUL-NeutralU"
+          }
+        },
+        {
+          "type": "sequential",
+          "data": {
+            "commands": [
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "NeutralU-NeutralM"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "Intake.intake"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "NeutralM-BumpL"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Shooter.shoot"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/autos/New Auto.auto b/src/main/deploy/pathplanner/autos/New Auto.auto
new file mode 100644
index 0000000..440a1ea
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/New Auto.auto	
@@ -0,0 +1,12 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": []
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/navgrid.json b/src/main/deploy/pathplanner/navgrid.json
new file mode 100644
index 0000000..ac5f521
--- /dev/null
+++ b/src/main/deploy/pathplanner/navgrid.json
@@ -0,0 +1 @@
+{"field_size":{"x":16.54,"y":8.07},"nodeSizeMeters":0.3,"grid":[[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true],[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,true,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,true,true,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true],[true,true,true,true,true,false,false,false,false,false,false,false,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,true,true,true],[true,true,true,true,true,true,false,false,false,false,false,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,true,true,true,true,false,false,false,false,false,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,true,true,true,true,true],[true,true,true,true,true,true,false,false,false,false,false,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,false,false,false,false,false,false,true,true,true,true,true,true],[true,true,true,true,true,true,false,false,false,false,false,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,false,false,false,false,false,false,true,true,true,true,true,true],[true,true,true,true,true,true,false,false,false,false,false,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,false,false,false,false,false,false,true,true,true,true,true,true],[true,true,true,true,true,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,false,false,false,false,false,false,true,true,true,true,true,true],[true,true,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,true,false,false,false,false,false,false,true,true,true,true,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,false,false,false,false,false,false,false,false,true,true,true,true,true],[true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,true,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true,true,true,true,true,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,false,true,true],[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true],[true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true]]}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/Alliance-Climb.path b/src/main/deploy/pathplanner/paths/Alliance-Climb.path
new file mode 100644
index 0000000..6fe8acd
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/Alliance-Climb.path
@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 2.230697062724346,
+        "y": 4.699098054676632
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 2.2353915259659463,
+        "y": 4.449142134532953
+      },
+      "isLocked": false,
+      "linkedName": "Alliance"
+    },
+    {
+      "anchor": {
+        "x": 1.812909969457193,
+        "y": 3.7744484270396033
+      },
+      "prevControl": {
+        "x": 2.0559676755271257,
+        "y": 3.8329544226299883
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": "Climb"
+    }
+  ],
+  "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": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": -90.0
+  },
+  "useDefaultConstraints": true
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/Alliance-DepotD.path b/src/main/deploy/pathplanner/paths/Alliance-DepotD.path
new file mode 100644
index 0000000..92b0d42
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/Alliance-DepotD.path
@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 2.230697062724346,
+        "y": 4.699098054676632
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 1.9806970627243459,
+        "y": 4.699098054676632
+      },
+      "isLocked": false,
+      "linkedName": "Alliance"
+    },
+    {
+      "anchor": {
+        "x": 0.482,
+        "y": 4.951
+      },
+      "prevControl": {
+        "x": 0.5879311285557767,
+        "y": 4.7245522223493905
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": "DepotD"
+    }
+  ],
+  "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": -90.0
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": -90.0
+  },
+  "useDefaultConstraints": true
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/Alliance-Outpost.path b/src/main/deploy/pathplanner/paths/Alliance-Outpost.path
new file mode 100644
index 0000000..5ab510e
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/Alliance-Outpost.path
@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 2.230697062724346,
+        "y": 4.699098054676632
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 1.9890863260359186,
+        "y": 2.902645853645024
+      },
+      "isLocked": false,
+      "linkedName": "Alliance"
+    },
+    {
+      "anchor": {
+        "x": 0.5,
+        "y": 0.6766148524443565
+      },
+      "prevControl": {
+        "x": 2.3019494066170747,
+        "y": 1.0862829356949055
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": "Outpost"
+    }
+  ],
+  "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": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": -90.0
+  },
+  "useDefaultConstraints": true
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/Alliance-TrenchUL.path b/src/main/deploy/pathplanner/paths/Alliance-TrenchUL.path
new file mode 100644
index 0000000..bdc3487
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/Alliance-TrenchUL.path
@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 2.230697062724346,
+        "y": 4.699098054676632
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 2.2437708907013545,
+        "y": 4.948755970677763
+      },
+      "isLocked": false,
+      "linkedName": "Alliance"
+    },
+    {
+      "anchor": {
+        "x": 3.610745262546267,
+        "y": 7.389868890128567
+      },
+      "prevControl": {
+        "x": 3.6450588608640397,
+        "y": 7.637502847756528
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": "TrenchL"
+    }
+  ],
+  "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": 180.0
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": -90.0
+  },
+  "useDefaultConstraints": true
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/BumpL-Alliance.path b/src/main/deploy/pathplanner/paths/BumpL-Alliance.path
new file mode 100644
index 0000000..283f937
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/BumpL-Alliance.path
@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 3.1424354841902455,
+        "y": 5.654
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 2.697546376573046,
+        "y": 5.341605019928494
+      },
+      "isLocked": false,
+      "linkedName": "BumpL"
+    },
+    {
+      "anchor": {
+        "x": 2.230697062724346,
+        "y": 4.699098054676632
+      },
+      "prevControl": {
+        "x": 2.3790429660943966,
+        "y": 4.900328005114741
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": "Alliance"
+    }
+  ],
+  "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": -90.0
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": -90.0
+  },
+  "useDefaultConstraints": true
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/DepotD-DepotU.path b/src/main/deploy/pathplanner/paths/DepotD-DepotU.path
new file mode 100644
index 0000000..2bf2549
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/DepotD-DepotU.path
@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 0.482,
+        "y": 4.951
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 0.482,
+        "y": 5.201
+      },
+      "isLocked": false,
+      "linkedName": "DepotD"
+    },
+    {
+      "anchor": {
+        "x": 0.482,
+        "y": 6.51
+      },
+      "prevControl": {
+        "x": 0.482,
+        "y": 6.76
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": "DepotU"
+    }
+  ],
+  "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": -90.0
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": -90.0
+  },
+  "useDefaultConstraints": true
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/DepotU-TrenchUL.path b/src/main/deploy/pathplanner/paths/DepotU-TrenchUL.path
new file mode 100644
index 0000000..b5c8094
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/DepotU-TrenchUL.path
@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 0.482,
+        "y": 6.51
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 1.1240891992420388,
+        "y": 6.828710641299977
+      },
+      "isLocked": false,
+      "linkedName": "DepotU"
+    },
+    {
+      "anchor": {
+        "x": 3.6,
+        "y": 7.39
+      },
+      "prevControl": {
+        "x": 2.8655257504316123,
+        "y": 7.258988001934107
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": "TrenchUL"
+    }
+  ],
+  "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": 180.0
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": -90.0
+  },
+  "useDefaultConstraints": true
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/NeutralM-BumpL.path b/src/main/deploy/pathplanner/paths/NeutralM-BumpL.path
new file mode 100644
index 0000000..f1dea81
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/NeutralM-BumpL.path
@@ -0,0 +1,70 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 7.733767772001379,
+        "y": 4.591418859242256
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 6.493069507495777,
+        "y": 5.782383896868634
+      },
+      "isLocked": false,
+      "linkedName": "NeutralM"
+    },
+    {
+      "anchor": {
+        "x": 5.652266590500484,
+        "y": 5.654
+      },
+      "prevControl": {
+        "x": 5.402266590500484,
+        "y": 5.654
+      },
+      "nextControl": {
+        "x": 5.902266590500484,
+        "y": 5.654
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 3.1424354841902455,
+        "y": 5.654
+      },
+      "prevControl": {
+        "x": 3.391869822275747,
+        "y": 5.637191936939436
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": "BumpL"
+    }
+  ],
+  "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": -90.0
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 96.944
+  },
+  "useDefaultConstraints": true
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/NeutralU-NeutralM.path b/src/main/deploy/pathplanner/paths/NeutralU-NeutralM.path
new file mode 100644
index 0000000..554ada7
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/NeutralU-NeutralM.path
@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 7.0069443142016095,
+        "y": 6.631213852438146
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 7.225329169697595,
+        "y": 6.509525500941392
+      },
+      "isLocked": false,
+      "linkedName": "NeutralU"
+    },
+    {
+      "anchor": {
+        "x": 7.733767772001379,
+        "y": 4.591418859242256
+      },
+      "prevControl": {
+        "x": 7.869332796469781,
+        "y": 5.879501338406852
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": "NeutralM"
+    }
+  ],
+  "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": 96.94434252981222
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 133.91160391206455
+  },
+  "useDefaultConstraints": true
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/New Path.path b/src/main/deploy/pathplanner/paths/New Path.path
new file mode 100644
index 0000000..bb93d95
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/New Path.path	
@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 3.6,
+        "y": 0.6766148524443565
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 4.6,
+        "y": 0.6766148524443567
+      },
+      "isLocked": false,
+      "linkedName": "TrenchDL"
+    },
+    {
+      "anchor": {
+        "x": 7.007,
+        "y": 6.631
+      },
+      "prevControl": {
+        "x": 6.089196860397296,
+        "y": 6.233964237208511
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "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": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": -90.0
+  },
+  "useDefaultConstraints": true
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/Outpost-TrenchDL.path b/src/main/deploy/pathplanner/paths/Outpost-TrenchDL.path
new file mode 100644
index 0000000..8127059
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/Outpost-TrenchDL.path
@@ -0,0 +1,70 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 0.5,
+        "y": 0.6766148524443565
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 1.5,
+        "y": 0.6766148524443567
+      },
+      "isLocked": false,
+      "linkedName": "Outpost"
+    },
+    {
+      "anchor": {
+        "x": 2.143,
+        "y": 0.8
+      },
+      "prevControl": {
+        "x": 1.8929999999999998,
+        "y": 0.8000000000000002
+      },
+      "nextControl": {
+        "x": 2.393,
+        "y": 0.7999999999999999
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 3.6,
+        "y": 0.6766148524443565
+      },
+      "prevControl": {
+        "x": 3.1618596615943186,
+        "y": 0.6766148524443565
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": "TrenchDL"
+    }
+  ],
+  "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": -90.0
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0.0,
+    "rotation": 0.0
+  },
+  "useDefaultConstraints": true
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/TrenchUL-NeutralU.path b/src/main/deploy/pathplanner/paths/TrenchUL-NeutralU.path
new file mode 100644
index 0000000..80b3d4f
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/TrenchUL-NeutralU.path
@@ -0,0 +1,75 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 3.610745262546267,
+        "y": 7.389868890128567
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 4.144993723761676,
+        "y": 7.454781805381108
+      },
+      "isLocked": false,
+      "linkedName": "TrenchL"
+    },
+    {
+      "anchor": {
+        "x": 6.192141591664908,
+        "y": 7.389868890128567
+      },
+      "prevControl": {
+        "x": 5.952390083217673,
+        "y": 7.460715302862561
+      },
+      "nextControl": {
+        "x": 6.431893100112142,
+        "y": 7.319022477394573
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 7.0069443142016095,
+        "y": 6.631213852438146
+      },
+      "prevControl": {
+        "x": 6.969006340429836,
+        "y": 6.878318506676167
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": "NeutralU"
+    }
+  ],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 0.757914225260417,
+      "rotationDegrees": 180.0
+    }
+  ],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0.0,
+    "rotation": 133.91160391206455
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 180.0
+  },
+  "useDefaultConstraints": true
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/settings.json b/src/main/deploy/pathplanner/settings.json
new file mode 100644
index 0000000..5bf438c
--- /dev/null
+++ b/src/main/deploy/pathplanner/settings.json
@@ -0,0 +1,32 @@
+{
+  "robotWidth": 0.9,
+  "robotLength": 0.9,
+  "holonomicMode": true,
+  "pathFolders": [],
+  "autoFolders": [],
+  "defaultMaxVel": 3.0,
+  "defaultMaxAccel": 3.0,
+  "defaultMaxAngVel": 540.0,
+  "defaultMaxAngAccel": 720.0,
+  "defaultNominalVoltage": 12.0,
+  "robotMass": 74.088,
+  "robotMOI": 6.883,
+  "robotTrackwidth": 0.546,
+  "driveWheelRadius": 0.048,
+  "driveGearing": 5.143,
+  "maxDriveSpeed": 5.45,
+  "driveMotorType": "krakenX60",
+  "driveCurrentLimit": 60.0,
+  "wheelCOF": 1.2,
+  "flModuleX": 0.273,
+  "flModuleY": 0.273,
+  "frModuleX": 0.273,
+  "frModuleY": -0.273,
+  "blModuleX": -0.273,
+  "blModuleY": 0.273,
+  "brModuleX": -0.273,
+  "brModuleY": -0.273,
+  "bumperOffsetX": 0.0,
+  "bumperOffsetY": 0.0,
+  "robotFeatures": []
+}
\ No newline at end of file
diff --git a/src/main/java/frc/robot/subsystems/autonomous/AutonomousConstants.java b/src/main/java/frc/robot/subsystems/autonomous/AutonomousConstants.java
new file mode 100644
index 0000000..161953b
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/autonomous/AutonomousConstants.java
@@ -0,0 +1,15 @@
+package frc.robot.subsystems.autonomous;
+
+import static edu.wpi.first.units.Units.Meters;
+
+import edu.wpi.first.math.controller.PIDController;
+import edu.wpi.first.units.measure.Distance;
+
+public class AutonomousConstants {
+  public static final PIDController kTranslationPID = new PIDController(5, 0, 0);
+  public static final PIDController kAnglePID = new PIDController(2, 0, 0);
+  public static final Distance kMinDistanceToPathfind = Meters.of(1);
+  public static final Distance kDistanceFromHub = Meters.of(2);
+  public static final String kDefaultAuto = "DefaultAuto";
+  public static Distance kDistanceFromOutpost = Meters.of(0.7);
+}

From 530a35ce5db2327407aaee0d40aa4c2159edd348 Mon Sep 17 00:00:00 2001
From: Daniel Tsur <tsur.daniel@gmail.com>
Date: Thu, 5 Feb 2026 19:15:35 +0200
Subject: [PATCH 2/6] Added some autonomous paths according to Ifergan's
 request

---
 .../autos/Depot-Trench-Neutral-Bump.auto      |  6 +-
 .../deploy/pathplanner/autos/New Auto.auto    | 12 ---
 .../autos/Outpost-Trench-Neutral-Bump.auto    | 74 ++++++++++++++++++
 ...{New Path.path => NeutralD-NeutralMD.path} | 24 +++---
 .../pathplanner/paths/NeutralMD-BumperDL.path | 75 +++++++++++++++++++
 ...utralM-BumpL.path => NeutralMU-BumpL.path} | 29 ++++---
 ...-NeutralM.path => NeutralU-NeutralMU.path} | 18 ++---
 .../pathplanner/paths/Outpost-TrenchDL.path   |  2 +-
 .../pathplanner/paths/TrenchDL-NeutralD.path  | 75 +++++++++++++++++++
 .../pathplanner/paths/TrenchUL-NeutralU.path  | 24 +++---
 10 files changed, 278 insertions(+), 61 deletions(-)
 delete mode 100644 src/main/deploy/pathplanner/autos/New Auto.auto
 create mode 100644 src/main/deploy/pathplanner/autos/Outpost-Trench-Neutral-Bump.auto
 rename src/main/deploy/pathplanner/paths/{New Path.path => NeutralD-NeutralMD.path} (66%)
 create mode 100644 src/main/deploy/pathplanner/paths/NeutralMD-BumperDL.path
 rename src/main/deploy/pathplanner/paths/{NeutralM-BumpL.path => NeutralMU-BumpL.path} (70%)
 rename src/main/deploy/pathplanner/paths/{NeutralU-NeutralM.path => NeutralU-NeutralMU.path} (74%)
 create mode 100644 src/main/deploy/pathplanner/paths/TrenchDL-NeutralD.path

diff --git a/src/main/deploy/pathplanner/autos/Depot-Trench-Neutral-Bump.auto b/src/main/deploy/pathplanner/autos/Depot-Trench-Neutral-Bump.auto
index 2a54a2e..8863bfc 100644
--- a/src/main/deploy/pathplanner/autos/Depot-Trench-Neutral-Bump.auto
+++ b/src/main/deploy/pathplanner/autos/Depot-Trench-Neutral-Bump.auto
@@ -54,13 +54,13 @@
           }
         },
         {
-          "type": "sequential",
+          "type": "deadline",
           "data": {
             "commands": [
               {
                 "type": "path",
                 "data": {
-                  "pathName": "NeutralU-NeutralM"
+                  "pathName": "NeutralU-NeutralMU"
                 }
               },
               {
@@ -75,7 +75,7 @@
         {
           "type": "path",
           "data": {
-            "pathName": "NeutralM-BumpL"
+            "pathName": "NeutralMU-BumpL"
           }
         },
         {
diff --git a/src/main/deploy/pathplanner/autos/New Auto.auto b/src/main/deploy/pathplanner/autos/New Auto.auto
deleted file mode 100644
index 440a1ea..0000000
--- a/src/main/deploy/pathplanner/autos/New Auto.auto	
+++ /dev/null
@@ -1,12 +0,0 @@
-{
-  "version": "2025.0",
-  "command": {
-    "type": "sequential",
-    "data": {
-      "commands": []
-    }
-  },
-  "resetOdom": true,
-  "folder": null,
-  "choreoAuto": false
-}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/autos/Outpost-Trench-Neutral-Bump.auto b/src/main/deploy/pathplanner/autos/Outpost-Trench-Neutral-Bump.auto
new file mode 100644
index 0000000..02a15c8
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/Outpost-Trench-Neutral-Bump.auto
@@ -0,0 +1,74 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "Shooter.shoot"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Alliance-Outpost"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Outpost-TrenchDL"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Shooter.shoot"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "TrenchDL-NeutralD"
+          }
+        },
+        {
+          "type": "deadline",
+          "data": {
+            "commands": [
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "NeutralD-NeutralMD"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "Intake.intake"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "NeutralMD-BumperDL"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Shooter.shoot"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/New Path.path b/src/main/deploy/pathplanner/paths/NeutralD-NeutralMD.path
similarity index 66%
rename from src/main/deploy/pathplanner/paths/New Path.path
rename to src/main/deploy/pathplanner/paths/NeutralD-NeutralMD.path
index bb93d95..3bd1aae 100644
--- a/src/main/deploy/pathplanner/paths/New Path.path	
+++ b/src/main/deploy/pathplanner/paths/NeutralD-NeutralMD.path
@@ -3,29 +3,29 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 3.6,
-        "y": 0.6766148524443565
+        "x": 7.442304680718316,
+        "y": 1.9429927967212826
       },
       "prevControl": null,
       "nextControl": {
-        "x": 4.6,
-        "y": 0.6766148524443567
+        "x": 7.655103216100622,
+        "y": 2.416507084599248
       },
       "isLocked": false,
-      "linkedName": "TrenchDL"
+      "linkedName": "NeutralD"
     },
     {
       "anchor": {
-        "x": 7.007,
-        "y": 6.631
+        "x": 7.756220323350695,
+        "y": 3.3657628303810405
       },
       "prevControl": {
-        "x": 6.089196860397296,
-        "y": 6.233964237208511
+        "x": 7.679015179669417,
+        "y": 2.412192166928892
       },
       "nextControl": null,
       "isLocked": false,
-      "linkedName": null
+      "linkedName": "NeutralMD"
     }
   ],
   "rotationTargets": [],
@@ -42,13 +42,13 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": 0.0
+    "rotation": -98.11710595229022
   },
   "reversed": false,
   "folder": null,
   "idealStartingState": {
     "velocity": 0,
-    "rotation": -90.0
+    "rotation": -110.47222947446986
   },
   "useDefaultConstraints": true
 }
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/NeutralMD-BumperDL.path b/src/main/deploy/pathplanner/paths/NeutralMD-BumperDL.path
new file mode 100644
index 0000000..1d2bf0f
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/NeutralMD-BumperDL.path
@@ -0,0 +1,75 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 7.756220323350695,
+        "y": 3.3657628303810405
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 7.157829714174624,
+        "y": 2.495566750985605
+      },
+      "isLocked": false,
+      "linkedName": "NeutralMD"
+    },
+    {
+      "anchor": {
+        "x": 5.874267289903429,
+        "y": 2.4661024961118345
+      },
+      "prevControl": {
+        "x": 6.124267289903429,
+        "y": 2.4661024961118345
+      },
+      "nextControl": {
+        "x": 5.624267289903429,
+        "y": 2.4661024961118345
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 3.4309254246464485,
+        "y": 2.4661024961118345
+      },
+      "prevControl": {
+        "x": 4.312563365178831,
+        "y": 2.5058140914139555
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 0.7649885751668688,
+      "rotationDegrees": 180.0
+    }
+  ],
+  "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": 180.0
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": -98.117
+  },
+  "useDefaultConstraints": true
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/NeutralM-BumpL.path b/src/main/deploy/pathplanner/paths/NeutralMU-BumpL.path
similarity index 70%
rename from src/main/deploy/pathplanner/paths/NeutralM-BumpL.path
rename to src/main/deploy/pathplanner/paths/NeutralMU-BumpL.path
index f1dea81..ebaa729 100644
--- a/src/main/deploy/pathplanner/paths/NeutralM-BumpL.path
+++ b/src/main/deploy/pathplanner/paths/NeutralMU-BumpL.path
@@ -3,28 +3,28 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 7.733767772001379,
-        "y": 4.591418859242256
+        "x": 7.7933333310727715,
+        "y": 5.253605946858724
       },
       "prevControl": null,
       "nextControl": {
-        "x": 6.493069507495777,
-        "y": 5.782383896868634
+        "x": 7.1601158311631945,
+        "y": 5.61453717436614
       },
       "isLocked": false,
       "linkedName": "NeutralM"
     },
     {
       "anchor": {
-        "x": 5.652266590500484,
+        "x": 5.905539935076678,
         "y": 5.654
       },
       "prevControl": {
-        "x": 5.402266590500484,
+        "x": 6.730088725999998,
         "y": 5.654
       },
       "nextControl": {
-        "x": 5.902266590500484,
+        "x": 5.655539935076681,
         "y": 5.654
       },
       "isLocked": false,
@@ -36,15 +36,20 @@
         "y": 5.654
       },
       "prevControl": {
-        "x": 3.391869822275747,
-        "y": 5.637191936939436
+        "x": 2.892435484190245,
+        "y": 5.654
       },
       "nextControl": null,
       "isLocked": false,
-      "linkedName": "BumpL"
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 0.9677713634898372,
+      "rotationDegrees": 180.0
     }
   ],
-  "rotationTargets": [],
   "constraintZones": [],
   "pointTowardsZones": [],
   "eventMarkers": [],
@@ -58,7 +63,7 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": -90.0
+    "rotation": 180.0
   },
   "reversed": false,
   "folder": null,
diff --git a/src/main/deploy/pathplanner/paths/NeutralU-NeutralM.path b/src/main/deploy/pathplanner/paths/NeutralU-NeutralMU.path
similarity index 74%
rename from src/main/deploy/pathplanner/paths/NeutralU-NeutralM.path
rename to src/main/deploy/pathplanner/paths/NeutralU-NeutralMU.path
index 554ada7..7f5e230 100644
--- a/src/main/deploy/pathplanner/paths/NeutralU-NeutralM.path
+++ b/src/main/deploy/pathplanner/paths/NeutralU-NeutralMU.path
@@ -3,25 +3,25 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 7.0069443142016095,
-        "y": 6.631213852438146
+        "x": 7.203352146855107,
+        "y": 6.74392458654333
       },
       "prevControl": null,
       "nextControl": {
-        "x": 7.225329169697595,
-        "y": 6.509525500941392
+        "x": 7.573420153582537,
+        "y": 6.307320836385092
       },
       "isLocked": false,
       "linkedName": "NeutralU"
     },
     {
       "anchor": {
-        "x": 7.733767772001379,
-        "y": 4.591418859242256
+        "x": 7.7933333310727715,
+        "y": 5.253605946858724
       },
       "prevControl": {
-        "x": 7.869332796469781,
-        "y": 5.879501338406852
+        "x": 7.780415232340495,
+        "y": 6.116668418601708
       },
       "nextControl": null,
       "isLocked": false,
@@ -42,7 +42,7 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": 96.94434252981222
+    "rotation": 96.94434252981223
   },
   "reversed": false,
   "folder": null,
diff --git a/src/main/deploy/pathplanner/paths/Outpost-TrenchDL.path b/src/main/deploy/pathplanner/paths/Outpost-TrenchDL.path
index 8127059..6e76f9f 100644
--- a/src/main/deploy/pathplanner/paths/Outpost-TrenchDL.path
+++ b/src/main/deploy/pathplanner/paths/Outpost-TrenchDL.path
@@ -58,7 +58,7 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": -90.0
+    "rotation": 180.0
   },
   "reversed": false,
   "folder": null,
diff --git a/src/main/deploy/pathplanner/paths/TrenchDL-NeutralD.path b/src/main/deploy/pathplanner/paths/TrenchDL-NeutralD.path
new file mode 100644
index 0000000..1888a68
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/TrenchDL-NeutralD.path
@@ -0,0 +1,75 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 3.6,
+        "y": 0.677
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 4.6,
+        "y": 0.6770000000000003
+      },
+      "isLocked": false,
+      "linkedName": "TrenchDL"
+    },
+    {
+      "anchor": {
+        "x": 6.192,
+        "y": 0.677
+      },
+      "prevControl": {
+        "x": 5.946161451913672,
+        "y": 0.6315752460127169
+      },
+      "nextControl": {
+        "x": 7.395477213541667,
+        "y": 0.8993721901222511
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 7.442304680718316,
+        "y": 1.9429927967212826
+      },
+      "prevControl": {
+        "x": 7.168346877486617,
+        "y": 1.0319485224971072
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": "NeutralD"
+    }
+  ],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 0.7662643877047933,
+      "rotationDegrees": 180.0
+    }
+  ],
+  "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": -110.47222947446986
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 180.0
+  },
+  "useDefaultConstraints": true
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/TrenchUL-NeutralU.path b/src/main/deploy/pathplanner/paths/TrenchUL-NeutralU.path
index 80b3d4f..344e92c 100644
--- a/src/main/deploy/pathplanner/paths/TrenchUL-NeutralU.path
+++ b/src/main/deploy/pathplanner/paths/TrenchUL-NeutralU.path
@@ -4,40 +4,40 @@
     {
       "anchor": {
         "x": 3.610745262546267,
-        "y": 7.389868890128567
+        "y": 7.39
       },
       "prevControl": null,
       "nextControl": {
         "x": 4.144993723761676,
-        "y": 7.454781805381108
+        "y": 7.454912915252541
       },
       "isLocked": false,
       "linkedName": "TrenchL"
     },
     {
       "anchor": {
-        "x": 6.192141591664908,
-        "y": 7.389868890128567
+        "x": 6.192,
+        "y": 7.39
       },
       "prevControl": {
-        "x": 5.952390083217673,
-        "y": 7.460715302862561
+        "x": 5.952248027478147,
+        "y": 7.460844842239082
       },
       "nextControl": {
-        "x": 6.431893100112142,
-        "y": 7.319022477394573
+        "x": 6.4317519725218535,
+        "y": 7.3191551577609175
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 7.0069443142016095,
-        "y": 6.631213852438146
+        "x": 7.203352146855107,
+        "y": 6.74392458654333
       },
       "prevControl": {
-        "x": 6.969006340429836,
-        "y": 6.878318506676167
+        "x": 6.957989258942781,
+        "y": 6.9069793178417065
       },
       "nextControl": null,
       "isLocked": false,

From 1c8ac9fa49766b6a4fb0c6a348f5b0b38830fc57 Mon Sep 17 00:00:00 2001
From: Daniel Tsur <tsur.daniel@gmail.com>
Date: Thu, 5 Feb 2026 20:05:06 +0200
Subject: [PATCH 3/6] Fixed some problems with the paths

---
 .../pathplanner/paths/Alliance-DepotD.path     |  8 ++++----
 .../pathplanner/paths/NeutralD-NeutralMD.path  | 10 +++++-----
 .../pathplanner/paths/TrenchDL-NeutralD.path   | 18 +++++++++---------
 3 files changed, 18 insertions(+), 18 deletions(-)

diff --git a/src/main/deploy/pathplanner/paths/Alliance-DepotD.path b/src/main/deploy/pathplanner/paths/Alliance-DepotD.path
index 92b0d42..e7ec5c2 100644
--- a/src/main/deploy/pathplanner/paths/Alliance-DepotD.path
+++ b/src/main/deploy/pathplanner/paths/Alliance-DepotD.path
@@ -8,8 +8,8 @@
       },
       "prevControl": null,
       "nextControl": {
-        "x": 1.9806970627243459,
-        "y": 4.699098054676632
+        "x": 1.6108769536901408,
+        "y": 5.018044144807038
       },
       "isLocked": false,
       "linkedName": "Alliance"
@@ -20,8 +20,8 @@
         "y": 4.951
       },
       "prevControl": {
-        "x": 0.5879311285557767,
-        "y": 4.7245522223493905
+        "x": 0.7216803717177473,
+        "y": 4.879913296508823
       },
       "nextControl": null,
       "isLocked": false,
diff --git a/src/main/deploy/pathplanner/paths/NeutralD-NeutralMD.path b/src/main/deploy/pathplanner/paths/NeutralD-NeutralMD.path
index 3bd1aae..94359e4 100644
--- a/src/main/deploy/pathplanner/paths/NeutralD-NeutralMD.path
+++ b/src/main/deploy/pathplanner/paths/NeutralD-NeutralMD.path
@@ -3,13 +3,13 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 7.442304680718316,
-        "y": 1.9429927967212826
+        "x": 7.293889555754486,
+        "y": 1.5788881722909434
       },
       "prevControl": null,
       "nextControl": {
-        "x": 7.655103216100622,
-        "y": 2.416507084599248
+        "x": 7.506688091136792,
+        "y": 2.0524024601689086
       },
       "isLocked": false,
       "linkedName": "NeutralD"
@@ -48,7 +48,7 @@
   "folder": null,
   "idealStartingState": {
     "velocity": 0,
-    "rotation": -110.47222947446986
+    "rotation": -110.47222947446987
   },
   "useDefaultConstraints": true
 }
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/TrenchDL-NeutralD.path b/src/main/deploy/pathplanner/paths/TrenchDL-NeutralD.path
index 1888a68..29f253e 100644
--- a/src/main/deploy/pathplanner/paths/TrenchDL-NeutralD.path
+++ b/src/main/deploy/pathplanner/paths/TrenchDL-NeutralD.path
@@ -20,24 +20,24 @@
         "y": 0.677
       },
       "prevControl": {
-        "x": 5.946161451913672,
-        "y": 0.6315752460127169
+        "x": 5.94223538895092,
+        "y": 0.6661538454971256
       },
       "nextControl": {
-        "x": 7.395477213541667,
-        "y": 0.8993721901222511
+        "x": 6.87098866780599,
+        "y": 0.7064854261610243
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 7.442304680718316,
-        "y": 1.9429927967212826
+        "x": 7.293889555754486,
+        "y": 1.5788881722909434
       },
       "prevControl": {
-        "x": 7.168346877486617,
-        "y": 1.0319485224971072
+        "x": 7.16190986915871,
+        "y": 1.0372516988118488
       },
       "nextControl": null,
       "isLocked": false,
@@ -63,7 +63,7 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": -110.47222947446986
+    "rotation": -110.47222947446987
   },
   "reversed": false,
   "folder": null,

From 38c1f62a5aab9647fa6f35d3aeaa3d35be6ec75b Mon Sep 17 00:00:00 2001
From: Daniel Tsur <tsur.daniel@gmail.com>
Date: Sun, 8 Feb 2026 19:12:03 +0200
Subject: [PATCH 4/6] Added climbing autos according to Ifergan's request

---
 .../deploy/pathplanner/autos/Depot-Climb.auto | 76 +++++++++++++++++++
 .../autos/Depot-Trench-Neutral-Bump.auto      |  2 +-
 .../pathplanner/autos/Outpost-Climb.auto      | 50 ++++++++++++
 .../pathplanner/paths/DepotU-Climb.path       | 75 ++++++++++++++++++
 .../pathplanner/paths/Outpost-Climb.path      | 54 +++++++++++++
 5 files changed, 256 insertions(+), 1 deletion(-)
 create mode 100644 src/main/deploy/pathplanner/autos/Depot-Climb.auto
 create mode 100644 src/main/deploy/pathplanner/autos/Outpost-Climb.auto
 create mode 100644 src/main/deploy/pathplanner/paths/DepotU-Climb.path
 create mode 100644 src/main/deploy/pathplanner/paths/Outpost-Climb.path

diff --git a/src/main/deploy/pathplanner/autos/Depot-Climb.auto b/src/main/deploy/pathplanner/autos/Depot-Climb.auto
new file mode 100644
index 0000000..8a92899
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/Depot-Climb.auto
@@ -0,0 +1,76 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "deadline",
+          "data": {
+            "commands": [
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "Alliance-DepotD"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "Shooter.shoot"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "deadline",
+          "data": {
+            "commands": [
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "DepotD-DepotU"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "Intake.intake"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "deadline",
+          "data": {
+            "commands": [
+              {
+                "type": "named",
+                "data": {
+                  "name": "Shooter.shoot"
+                }
+              },
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "DepotU-Climb"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Climber.climb"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/autos/Depot-Trench-Neutral-Bump.auto b/src/main/deploy/pathplanner/autos/Depot-Trench-Neutral-Bump.auto
index 8863bfc..263531a 100644
--- a/src/main/deploy/pathplanner/autos/Depot-Trench-Neutral-Bump.auto
+++ b/src/main/deploy/pathplanner/autos/Depot-Trench-Neutral-Bump.auto
@@ -17,7 +17,7 @@
           }
         },
         {
-          "type": "sequential",
+          "type": "deadline",
           "data": {
             "commands": [
               {
diff --git a/src/main/deploy/pathplanner/autos/Outpost-Climb.auto b/src/main/deploy/pathplanner/autos/Outpost-Climb.auto
new file mode 100644
index 0000000..9d1d9d2
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/Outpost-Climb.auto
@@ -0,0 +1,50 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "deadline",
+          "data": {
+            "commands": [
+              {
+                "type": "named",
+                "data": {
+                  "name": "Shooter.shoot"
+                }
+              },
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "Alliance-Outpost"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Outpost-Climb"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Shooter.shoot"
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "Climber.climb"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/DepotU-Climb.path b/src/main/deploy/pathplanner/paths/DepotU-Climb.path
new file mode 100644
index 0000000..86b8a8d
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/DepotU-Climb.path
@@ -0,0 +1,75 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 0.482,
+        "y": 6.51
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 1.9836971313090879,
+        "y": 6.594117147195584
+      },
+      "isLocked": false,
+      "linkedName": "DepotU"
+    },
+    {
+      "anchor": {
+        "x": 1.9150188789548475,
+        "y": 4.994547914622519
+      },
+      "prevControl": {
+        "x": 1.8713712652231864,
+        "y": 5.535179507711039
+      },
+      "nextControl": {
+        "x": 1.9467514148971299,
+        "y": 4.601499818919395
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 1.812909969457193,
+        "y": 3.7744484270396033
+      },
+      "prevControl": {
+        "x": 2.110974033349687,
+        "y": 4.120037984019396
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": "Climb"
+    }
+  ],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 0.5,
+      "rotationDegrees": -90.0
+    }
+  ],
+  "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": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": -90.0
+  },
+  "useDefaultConstraints": true
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/Outpost-Climb.path b/src/main/deploy/pathplanner/paths/Outpost-Climb.path
new file mode 100644
index 0000000..077b028
--- /dev/null
+++ b/src/main/deploy/pathplanner/paths/Outpost-Climb.path
@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 0.5,
+        "y": 0.6766148524443565
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 1.5450037532282108,
+        "y": 0.6894989351149048
+      },
+      "isLocked": false,
+      "linkedName": "Outpost"
+    },
+    {
+      "anchor": {
+        "x": 1.812909969457193,
+        "y": 3.7744484270396033
+      },
+      "prevControl": {
+        "x": 2.1167587309200058,
+        "y": 3.2763672386036866
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": "Climb"
+    }
+  ],
+  "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": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 0.0
+  },
+  "useDefaultConstraints": true
+}
\ No newline at end of file

From 272753fb3fbd8b8d9481ede2d3441f759d98a9f9 Mon Sep 17 00:00:00 2001
From: Daniel Tsur <tsur.daniel@gmail.com>
Date: Tue, 17 Feb 2026 18:48:07 +0200
Subject: [PATCH 5/6] Fixed the autos to have the wait command when going to
 the outpost Changed the starting position to be legal (on the starting line)

---
 .../autos/Depot-Trench-Neutral-Bump.auto      | 23 ++++++----
 .../pathplanner/autos/Outpost-Climb.auto      |  6 +++
 .../autos/Outpost-Trench-Neutral-Bump.auto    | 23 +++++++---
 .../pathplanner/paths/Alliance-Climb.path     | 16 +++----
 .../pathplanner/paths/Alliance-DepotD.path    | 43 +++++++++++++++----
 .../pathplanner/paths/Alliance-Outpost.path   | 16 +++----
 .../pathplanner/paths/Alliance-TrenchUL.path  |  2 +-
 .../pathplanner/paths/TrenchDL-NeutralD.path  |  4 +-
 8 files changed, 92 insertions(+), 41 deletions(-)

diff --git a/src/main/deploy/pathplanner/autos/Depot-Trench-Neutral-Bump.auto b/src/main/deploy/pathplanner/autos/Depot-Trench-Neutral-Bump.auto
index 263531a..994150d 100644
--- a/src/main/deploy/pathplanner/autos/Depot-Trench-Neutral-Bump.auto
+++ b/src/main/deploy/pathplanner/autos/Depot-Trench-Neutral-Bump.auto
@@ -36,15 +36,22 @@
           }
         },
         {
-          "type": "path",
-          "data": {
-            "pathName": "DepotU-TrenchUL"
-          }
-        },
-        {
-          "type": "named",
+          "type": "deadline",
           "data": {
-            "name": "Shooter.shoot"
+            "commands": [
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "DepotU-TrenchUL"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "Shooter.shoot"
+                }
+              }
+            ]
           }
         },
         {
diff --git a/src/main/deploy/pathplanner/autos/Outpost-Climb.auto b/src/main/deploy/pathplanner/autos/Outpost-Climb.auto
index 9d1d9d2..b8b6010 100644
--- a/src/main/deploy/pathplanner/autos/Outpost-Climb.auto
+++ b/src/main/deploy/pathplanner/autos/Outpost-Climb.auto
@@ -29,6 +29,12 @@
             "pathName": "Outpost-Climb"
           }
         },
+        {
+          "type": "wait",
+          "data": {
+            "waitTime": 2.0
+          }
+        },
         {
           "type": "named",
           "data": {
diff --git a/src/main/deploy/pathplanner/autos/Outpost-Trench-Neutral-Bump.auto b/src/main/deploy/pathplanner/autos/Outpost-Trench-Neutral-Bump.auto
index 02a15c8..832429d 100644
--- a/src/main/deploy/pathplanner/autos/Outpost-Trench-Neutral-Bump.auto
+++ b/src/main/deploy/pathplanner/autos/Outpost-Trench-Neutral-Bump.auto
@@ -11,21 +11,34 @@
           }
         },
         {
-          "type": "path",
+          "type": "wait",
           "data": {
-            "pathName": "Alliance-Outpost"
+            "waitTime": 2.0
           }
         },
         {
           "type": "path",
           "data": {
-            "pathName": "Outpost-TrenchDL"
+            "pathName": "Alliance-Outpost"
           }
         },
         {
-          "type": "named",
+          "type": "parallel",
           "data": {
-            "name": "Shooter.shoot"
+            "commands": [
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "Outpost-TrenchDL"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "Shooter.shoot"
+                }
+              }
+            ]
           }
         },
         {
diff --git a/src/main/deploy/pathplanner/paths/Alliance-Climb.path b/src/main/deploy/pathplanner/paths/Alliance-Climb.path
index 6fe8acd..a23aa5a 100644
--- a/src/main/deploy/pathplanner/paths/Alliance-Climb.path
+++ b/src/main/deploy/pathplanner/paths/Alliance-Climb.path
@@ -3,16 +3,16 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 2.230697062724346,
-        "y": 4.699098054676632
+        "x": 3.531310051812067,
+        "y": 3.7744484270396033
       },
       "prevControl": null,
       "nextControl": {
-        "x": 2.2353915259659463,
-        "y": 4.449142134532953
+        "x": 3.281310051812067,
+        "y": 3.7744484270396033
       },
       "isLocked": false,
-      "linkedName": "Alliance"
+      "linkedName": "AllianceM"
     },
     {
       "anchor": {
@@ -20,8 +20,8 @@
         "y": 3.7744484270396033
       },
       "prevControl": {
-        "x": 2.0559676755271257,
-        "y": 3.8329544226299883
+        "x": 2.062909969457193,
+        "y": 3.7744484270396033
       },
       "nextControl": null,
       "isLocked": false,
@@ -48,7 +48,7 @@
   "folder": null,
   "idealStartingState": {
     "velocity": 0,
-    "rotation": -90.0
+    "rotation": 0.0
   },
   "useDefaultConstraints": true
 }
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/Alliance-DepotD.path b/src/main/deploy/pathplanner/paths/Alliance-DepotD.path
index e7ec5c2..51d6d85 100644
--- a/src/main/deploy/pathplanner/paths/Alliance-DepotD.path
+++ b/src/main/deploy/pathplanner/paths/Alliance-DepotD.path
@@ -3,16 +3,32 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 2.230697062724346,
-        "y": 4.699098054676632
+        "x": 3.531310051812067,
+        "y": 3.7744484270396033
       },
       "prevControl": null,
       "nextControl": {
-        "x": 1.6108769536901408,
-        "y": 5.018044144807038
+        "x": 2.816114611417779,
+        "y": 4.489643867433892
       },
       "isLocked": false,
-      "linkedName": "Alliance"
+      "linkedName": "AllianceM"
+    },
+    {
+      "anchor": {
+        "x": 1.7500771306355798,
+        "y": 4.951
+      },
+      "prevControl": {
+        "x": 2.1500771306355797,
+        "y": 4.951
+      },
+      "nextControl": {
+        "x": 1.5000771306355798,
+        "y": 4.951
+      },
+      "isLocked": false,
+      "linkedName": null
     },
     {
       "anchor": {
@@ -20,15 +36,24 @@
         "y": 4.951
       },
       "prevControl": {
-        "x": 0.7216803717177473,
-        "y": 4.879913296508823
+        "x": 0.732,
+        "y": 4.951
       },
       "nextControl": null,
       "isLocked": false,
       "linkedName": "DepotD"
     }
   ],
-  "rotationTargets": [],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 0.15,
+      "rotationDegrees": 0.0
+    },
+    {
+      "waypointRelativePos": 0.95,
+      "rotationDegrees": -90.0
+    }
+  ],
   "constraintZones": [],
   "pointTowardsZones": [],
   "eventMarkers": [],
@@ -48,7 +73,7 @@
   "folder": null,
   "idealStartingState": {
     "velocity": 0,
-    "rotation": -90.0
+    "rotation": 0.0
   },
   "useDefaultConstraints": true
 }
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/Alliance-Outpost.path b/src/main/deploy/pathplanner/paths/Alliance-Outpost.path
index 5ab510e..12b3acc 100644
--- a/src/main/deploy/pathplanner/paths/Alliance-Outpost.path
+++ b/src/main/deploy/pathplanner/paths/Alliance-Outpost.path
@@ -3,16 +3,16 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 2.230697062724346,
-        "y": 4.699098054676632
+        "x": 3.6,
+        "y": 0.6766148524443565
       },
       "prevControl": null,
       "nextControl": {
-        "x": 1.9890863260359186,
-        "y": 2.902645853645024
+        "x": 2.5509742132116244,
+        "y": 0.7606059140889831
       },
       "isLocked": false,
-      "linkedName": "Alliance"
+      "linkedName": "AllianceD"
     },
     {
       "anchor": {
@@ -20,8 +20,8 @@
         "y": 0.6766148524443565
       },
       "prevControl": {
-        "x": 2.3019494066170747,
-        "y": 1.0862829356949055
+        "x": 1.4940456113409608,
+        "y": 0.834401360414214
       },
       "nextControl": null,
       "isLocked": false,
@@ -48,7 +48,7 @@
   "folder": null,
   "idealStartingState": {
     "velocity": 0,
-    "rotation": -90.0
+    "rotation": 0.0
   },
   "useDefaultConstraints": true
 }
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/paths/Alliance-TrenchUL.path b/src/main/deploy/pathplanner/paths/Alliance-TrenchUL.path
index bdc3487..a891022 100644
--- a/src/main/deploy/pathplanner/paths/Alliance-TrenchUL.path
+++ b/src/main/deploy/pathplanner/paths/Alliance-TrenchUL.path
@@ -12,7 +12,7 @@
         "y": 4.948755970677763
       },
       "isLocked": false,
-      "linkedName": "Alliance"
+      "linkedName": null
     },
     {
       "anchor": {
diff --git a/src/main/deploy/pathplanner/paths/TrenchDL-NeutralD.path b/src/main/deploy/pathplanner/paths/TrenchDL-NeutralD.path
index 29f253e..9b32d8d 100644
--- a/src/main/deploy/pathplanner/paths/TrenchDL-NeutralD.path
+++ b/src/main/deploy/pathplanner/paths/TrenchDL-NeutralD.path
@@ -20,8 +20,8 @@
         "y": 0.677
       },
       "prevControl": {
-        "x": 5.94223538895092,
-        "y": 0.6661538454971256
+        "x": 5.942235388950917,
+        "y": 0.6661538454971255
       },
       "nextControl": {
         "x": 6.87098866780599,

From f5d9679f05cbcd3fa9462bc7d79a6dcb8af9ad4c Mon Sep 17 00:00:00 2001
From: Daniel Tsur <tsur.daniel@gmail.com>
Date: Tue, 17 Feb 2026 19:33:28 +0200
Subject: [PATCH 6/6] Fixed some logical mistakes with the autos

---
 .../deploy/pathplanner/autos/Depot-Climb.auto |  8 +++---
 .../autos/Outpost-Trench-Neutral-Bump.auto    | 27 ++++++++++++-------
 2 files changed, 21 insertions(+), 14 deletions(-)

diff --git a/src/main/deploy/pathplanner/autos/Depot-Climb.auto b/src/main/deploy/pathplanner/autos/Depot-Climb.auto
index 8a92899..a4efee2 100644
--- a/src/main/deploy/pathplanner/autos/Depot-Climb.auto
+++ b/src/main/deploy/pathplanner/autos/Depot-Climb.auto
@@ -47,15 +47,15 @@
           "data": {
             "commands": [
               {
-                "type": "named",
+                "type": "path",
                 "data": {
-                  "name": "Shooter.shoot"
+                  "pathName": "DepotU-Climb"
                 }
               },
               {
-                "type": "path",
+                "type": "named",
                 "data": {
-                  "pathName": "DepotU-Climb"
+                  "name": "Shooter.shoot"
                 }
               }
             ]
diff --git a/src/main/deploy/pathplanner/autos/Outpost-Trench-Neutral-Bump.auto b/src/main/deploy/pathplanner/autos/Outpost-Trench-Neutral-Bump.auto
index 832429d..7e3e855 100644
--- a/src/main/deploy/pathplanner/autos/Outpost-Trench-Neutral-Bump.auto
+++ b/src/main/deploy/pathplanner/autos/Outpost-Trench-Neutral-Bump.auto
@@ -10,12 +10,6 @@
             "name": "Shooter.shoot"
           }
         },
-        {
-          "type": "wait",
-          "data": {
-            "waitTime": 2.0
-          }
-        },
         {
           "type": "path",
           "data": {
@@ -27,15 +21,28 @@
           "data": {
             "commands": [
               {
-                "type": "path",
+                "type": "named",
                 "data": {
-                  "pathName": "Outpost-TrenchDL"
+                  "name": "Shooter.shoot"
                 }
               },
               {
-                "type": "named",
+                "type": "sequential",
                 "data": {
-                  "name": "Shooter.shoot"
+                  "commands": [
+                    {
+                      "type": "wait",
+                      "data": {
+                        "waitTime": 2.0
+                      }
+                    },
+                    {
+                      "type": "path",
+                      "data": {
+                        "pathName": "Outpost-TrenchDL"
+                      }
+                    }
+                  ]
                 }
               }
             ]