From f84dc19eb40855a1e2083401456ee78fe653fa0c Mon Sep 17 00:00:00 2001
From: Jordan <117786700+jordanjcoderman@users.noreply.github.com>
Date: Sat, 7 Oct 2023 13:42:39 -0700
Subject: [PATCH 1/5] Adjust mid 2 autos to score farther from grid

---
 src/main/deploy/pathplanner/BlueMidBump2Balance.path | 6 +++---
 src/main/deploy/pathplanner/BlueMidFlat2Balance.path | 8 ++++----
 src/main/deploy/pathplanner/RedMidBump2Balance.path  | 6 +++---
 src/main/deploy/pathplanner/RedMidFlat2Balance.path  | 6 +++---
 4 files changed, 13 insertions(+), 13 deletions(-)

diff --git a/src/main/deploy/pathplanner/BlueMidBump2Balance.path b/src/main/deploy/pathplanner/BlueMidBump2Balance.path
index 793bae3..1605028 100644
--- a/src/main/deploy/pathplanner/BlueMidBump2Balance.path
+++ b/src/main/deploy/pathplanner/BlueMidBump2Balance.path
@@ -204,15 +204,15 @@
     },
     {
       "anchorPoint": {
-        "x": 2.0100000000000002,
+        "x": 2.1599999999999997,
         "y": 2.21
       },
       "prevControl": {
-        "x": 2.290713268427375,
+        "x": 2.4407132684273747,
         "y": 2.186970492412342
       },
       "nextControl": {
-        "x": 2.290713268427375,
+        "x": 2.4407132684273747,
         "y": 2.186970492412342
       },
       "holonomicAngle": -180,
diff --git a/src/main/deploy/pathplanner/BlueMidFlat2Balance.path b/src/main/deploy/pathplanner/BlueMidFlat2Balance.path
index cad85a4..e299138 100644
--- a/src/main/deploy/pathplanner/BlueMidFlat2Balance.path
+++ b/src/main/deploy/pathplanner/BlueMidFlat2Balance.path
@@ -204,15 +204,15 @@
     },
     {
       "anchorPoint": {
-        "x": 2.0100000000000002,
+        "x": 2.1599999999999997,
         "y": 3.295436560477984
       },
       "prevControl": {
-        "x": 2.3079645372056725,
+        "x": 2.457964537205672,
         "y": 3.319907525286175
       },
       "nextControl": {
-        "x": 2.3079645372056725,
+        "x": 2.457964537205672,
         "y": 3.319907525286175
       },
       "holonomicAngle": -180,
@@ -300,4 +300,4 @@
       ]
     }
   ]
-}
+}
\ No newline at end of file
diff --git a/src/main/deploy/pathplanner/RedMidBump2Balance.path b/src/main/deploy/pathplanner/RedMidBump2Balance.path
index 4c92ec5..a668bd7 100644
--- a/src/main/deploy/pathplanner/RedMidBump2Balance.path
+++ b/src/main/deploy/pathplanner/RedMidBump2Balance.path
@@ -204,15 +204,15 @@
     },
     {
       "anchorPoint": {
-        "x": 14.530000000000001,
+        "x": 14.379999999999999,
         "y": 2.21
       },
       "prevControl": {
-        "x": 14.249286731572626,
+        "x": 14.099286731572624,
         "y": 2.186970492412342
       },
       "nextControl": {
-        "x": 14.249286731572626,
+        "x": 14.099286731572624,
         "y": 2.186970492412342
       },
       "holonomicAngle": 0,
diff --git a/src/main/deploy/pathplanner/RedMidFlat2Balance.path b/src/main/deploy/pathplanner/RedMidFlat2Balance.path
index b5f7bb1..b4240c6 100644
--- a/src/main/deploy/pathplanner/RedMidFlat2Balance.path
+++ b/src/main/deploy/pathplanner/RedMidFlat2Balance.path
@@ -204,15 +204,15 @@
     },
     {
       "anchorPoint": {
-        "x": 14.530000000000001,
+        "x": 14.379999999999999,
         "y": 3.295436560477984
       },
       "prevControl": {
-        "x": 14.232035462794329,
+        "x": 14.082035462794327,
         "y": 3.319907525286175
       },
       "nextControl": {
-        "x": 14.232035462794329,
+        "x": 14.082035462794327,
         "y": 3.319907525286175
       },
       "holonomicAngle": 0,

From 30e3201b9227247f2200417c8b4c9c1376a3ad62 Mon Sep 17 00:00:00 2001
From: Jordan <117786700+jordanjcoderman@users.noreply.github.com>
Date: Sat, 7 Oct 2023 13:56:12 -0700
Subject: [PATCH 2/5] Revert "Adjust mid 2 autos to score farther from grid"

This reverts commit f84dc19eb40855a1e2083401456ee78fe653fa0c.
---
 src/main/deploy/pathplanner/BlueMidBump2Balance.path | 6 +++---
 src/main/deploy/pathplanner/BlueMidFlat2Balance.path | 8 ++++----
 src/main/deploy/pathplanner/RedMidBump2Balance.path  | 6 +++---
 src/main/deploy/pathplanner/RedMidFlat2Balance.path  | 6 +++---
 4 files changed, 13 insertions(+), 13 deletions(-)

diff --git a/src/main/deploy/pathplanner/BlueMidBump2Balance.path b/src/main/deploy/pathplanner/BlueMidBump2Balance.path
index 1605028..793bae3 100644
--- a/src/main/deploy/pathplanner/BlueMidBump2Balance.path
+++ b/src/main/deploy/pathplanner/BlueMidBump2Balance.path
@@ -204,15 +204,15 @@
     },
     {
       "anchorPoint": {
-        "x": 2.1599999999999997,
+        "x": 2.0100000000000002,
         "y": 2.21
       },
       "prevControl": {
-        "x": 2.4407132684273747,
+        "x": 2.290713268427375,
         "y": 2.186970492412342
       },
       "nextControl": {
-        "x": 2.4407132684273747,
+        "x": 2.290713268427375,
         "y": 2.186970492412342
       },
       "holonomicAngle": -180,
diff --git a/src/main/deploy/pathplanner/BlueMidFlat2Balance.path b/src/main/deploy/pathplanner/BlueMidFlat2Balance.path
index e299138..cad85a4 100644
--- a/src/main/deploy/pathplanner/BlueMidFlat2Balance.path
+++ b/src/main/deploy/pathplanner/BlueMidFlat2Balance.path
@@ -204,15 +204,15 @@
     },
     {
       "anchorPoint": {
-        "x": 2.1599999999999997,
+        "x": 2.0100000000000002,
         "y": 3.295436560477984
       },
       "prevControl": {
-        "x": 2.457964537205672,
+        "x": 2.3079645372056725,
         "y": 3.319907525286175
       },
       "nextControl": {
-        "x": 2.457964537205672,
+        "x": 2.3079645372056725,
         "y": 3.319907525286175
       },
       "holonomicAngle": -180,
@@ -300,4 +300,4 @@
       ]
     }
   ]
-}
\ No newline at end of file
+}
diff --git a/src/main/deploy/pathplanner/RedMidBump2Balance.path b/src/main/deploy/pathplanner/RedMidBump2Balance.path
index a668bd7..4c92ec5 100644
--- a/src/main/deploy/pathplanner/RedMidBump2Balance.path
+++ b/src/main/deploy/pathplanner/RedMidBump2Balance.path
@@ -204,15 +204,15 @@
     },
     {
       "anchorPoint": {
-        "x": 14.379999999999999,
+        "x": 14.530000000000001,
         "y": 2.21
       },
       "prevControl": {
-        "x": 14.099286731572624,
+        "x": 14.249286731572626,
         "y": 2.186970492412342
       },
       "nextControl": {
-        "x": 14.099286731572624,
+        "x": 14.249286731572626,
         "y": 2.186970492412342
       },
       "holonomicAngle": 0,
diff --git a/src/main/deploy/pathplanner/RedMidFlat2Balance.path b/src/main/deploy/pathplanner/RedMidFlat2Balance.path
index b4240c6..b5f7bb1 100644
--- a/src/main/deploy/pathplanner/RedMidFlat2Balance.path
+++ b/src/main/deploy/pathplanner/RedMidFlat2Balance.path
@@ -204,15 +204,15 @@
     },
     {
       "anchorPoint": {
-        "x": 14.379999999999999,
+        "x": 14.530000000000001,
         "y": 3.295436560477984
       },
       "prevControl": {
-        "x": 14.082035462794327,
+        "x": 14.232035462794329,
         "y": 3.319907525286175
       },
       "nextControl": {
-        "x": 14.082035462794327,
+        "x": 14.232035462794329,
         "y": 3.319907525286175
       },
       "holonomicAngle": 0,

From d8c160a95e5551ff156072134f89fc197b140d56 Mon Sep 17 00:00:00 2001
From: rkanemoto <73001957+rkanemoto@users.noreply.github.com>
Date: Tue, 10 Oct 2023 16:35:36 -0700
Subject: [PATCH 3/5] Auto changes from Calgames

---
 .../deploy/pathplanner/BlueMidBump2Balance.path  | 16 ++++++++--------
 .../deploy/pathplanner/BlueMidFlat2Balance.path  | 14 +++++++-------
 .../deploy/pathplanner/RedMidBump2Balance.path   | 16 ++++++++--------
 .../deploy/pathplanner/RedMidFlat2Balance.path   | 16 ++++++++--------
 4 files changed, 31 insertions(+), 31 deletions(-)

diff --git a/src/main/deploy/pathplanner/BlueMidBump2Balance.path b/src/main/deploy/pathplanner/BlueMidBump2Balance.path
index 793bae3..58bc677 100644
--- a/src/main/deploy/pathplanner/BlueMidBump2Balance.path
+++ b/src/main/deploy/pathplanner/BlueMidBump2Balance.path
@@ -204,15 +204,15 @@
     },
     {
       "anchorPoint": {
-        "x": 2.0100000000000002,
+        "x": 2.26,
         "y": 2.21
       },
       "prevControl": {
-        "x": 2.290713268427375,
+        "x": 2.5407132684273748,
         "y": 2.186970492412342
       },
       "nextControl": {
-        "x": 2.290713268427375,
+        "x": 2.5407132684273748,
         "y": 2.186970492412342
       },
       "holonomicAngle": -180,
@@ -256,11 +256,11 @@
     },
     {
       "anchorPoint": {
-        "x": 3.41,
+        "x": 3.56,
         "y": 2.21
       },
       "prevControl": {
-        "x": 3.1830242087690497,
+        "x": 3.3330242087690496,
         "y": 2.197953112397453
       },
       "nextControl": null,
@@ -294,10 +294,10 @@
       ]
     },
     {
-      "position": 7.56,
+      "position": 7.25,
       "names": [
-        "superstructureLow"
+        "scoreLow"
       ]
     }
   ]
-}
\ No newline at end of file
+}
diff --git a/src/main/deploy/pathplanner/BlueMidFlat2Balance.path b/src/main/deploy/pathplanner/BlueMidFlat2Balance.path
index cad85a4..2f67300 100644
--- a/src/main/deploy/pathplanner/BlueMidFlat2Balance.path
+++ b/src/main/deploy/pathplanner/BlueMidFlat2Balance.path
@@ -204,15 +204,15 @@
     },
     {
       "anchorPoint": {
-        "x": 2.0100000000000002,
+        "x": 2.26,
         "y": 3.295436560477984
       },
       "prevControl": {
-        "x": 2.3079645372056725,
+        "x": 2.557964537205672,
         "y": 3.319907525286175
       },
       "nextControl": {
-        "x": 2.3079645372056725,
+        "x": 2.557964537205672,
         "y": 3.319907525286175
       },
       "holonomicAngle": -180,
@@ -256,11 +256,11 @@
     },
     {
       "anchorPoint": {
-        "x": 3.41,
+        "x": 3.56,
         "y": 3.3
       },
       "prevControl": {
-        "x": 2.8134678359930785,
+        "x": 2.9634678359930784,
         "y": 3.288637482590345
       },
       "nextControl": null,
@@ -294,9 +294,9 @@
       ]
     },
     {
-      "position": 7.563636363636278,
+      "position": 7.2,
       "names": [
-        "superstructureLow"
+        "scoreLow"
       ]
     }
   ]
diff --git a/src/main/deploy/pathplanner/RedMidBump2Balance.path b/src/main/deploy/pathplanner/RedMidBump2Balance.path
index 4c92ec5..134e55f 100644
--- a/src/main/deploy/pathplanner/RedMidBump2Balance.path
+++ b/src/main/deploy/pathplanner/RedMidBump2Balance.path
@@ -204,15 +204,15 @@
     },
     {
       "anchorPoint": {
-        "x": 14.530000000000001,
+        "x": 14.28,
         "y": 2.21
       },
       "prevControl": {
-        "x": 14.249286731572626,
+        "x": 13.999286731572624,
         "y": 2.186970492412342
       },
       "nextControl": {
-        "x": 14.249286731572626,
+        "x": 13.999286731572624,
         "y": 2.186970492412342
       },
       "holonomicAngle": 0,
@@ -256,11 +256,11 @@
     },
     {
       "anchorPoint": {
-        "x": 13.13,
+        "x": 12.98,
         "y": 2.21
       },
       "prevControl": {
-        "x": 13.356975791230951,
+        "x": 13.206975791230951,
         "y": 2.197953112397453
       },
       "nextControl": null,
@@ -294,10 +294,10 @@
       ]
     },
     {
-      "position": 7.56,
+      "position": 7.25,
       "names": [
-        "superstructureLow"
+        "scoreLow"
       ]
     }
   ]
-}
\ No newline at end of file
+}
diff --git a/src/main/deploy/pathplanner/RedMidFlat2Balance.path b/src/main/deploy/pathplanner/RedMidFlat2Balance.path
index b5f7bb1..b52a3ce 100644
--- a/src/main/deploy/pathplanner/RedMidFlat2Balance.path
+++ b/src/main/deploy/pathplanner/RedMidFlat2Balance.path
@@ -204,15 +204,15 @@
     },
     {
       "anchorPoint": {
-        "x": 14.530000000000001,
+        "x": 14.280000000000001,
         "y": 3.295436560477984
       },
       "prevControl": {
-        "x": 14.232035462794329,
+        "x": 13.982035462794329,
         "y": 3.319907525286175
       },
       "nextControl": {
-        "x": 14.232035462794329,
+        "x": 13.982035462794329,
         "y": 3.319907525286175
       },
       "holonomicAngle": 0,
@@ -256,11 +256,11 @@
     },
     {
       "anchorPoint": {
-        "x": 13.13,
+        "x": 12.98,
         "y": 3.3
       },
       "prevControl": {
-        "x": 13.726532164006922,
+        "x": 13.576532164006922,
         "y": 3.288637482590345
       },
       "nextControl": null,
@@ -294,10 +294,10 @@
       ]
     },
     {
-      "position": 7.563636363636278,
+      "position": 7.25,
       "names": [
-        "superstructureLow"
+        "scoreLow"
       ]
     }
   ]
-}
\ No newline at end of file
+}

From 6f9d82faadaf6a6e2adb26697195885b31467b76 Mon Sep 17 00:00:00 2001
From: rkanemoto <73001957+rkanemoto@users.noreply.github.com>
Date: Tue, 10 Oct 2023 16:37:53 -0700
Subject: [PATCH 4/5] Fix evil intake stowing too early

---
 .../frc/robot/managers/SuperstructureManager.java     | 11 +++++++----
 1 file changed, 7 insertions(+), 4 deletions(-)

diff --git a/src/main/java/frc/robot/managers/SuperstructureManager.java b/src/main/java/frc/robot/managers/SuperstructureManager.java
index 7545818..eb529e0 100644
--- a/src/main/java/frc/robot/managers/SuperstructureManager.java
+++ b/src/main/java/frc/robot/managers/SuperstructureManager.java
@@ -211,10 +211,13 @@ public Command getShelfIntakeCommand() {
   }
 
   public Command getShelfIntakeEvilCommand() {
-    return getCommand(States.INTAKING_CONE_SHELF_EVIL)
-        // Interrupt command early, start stowing as soon as we are holding a cone - don't wait
-        // until wrist is at goal (since it gets messed up after the impact with the shelf)
-        .until(() -> intake.getGamePiece() == HeldGamePiece.CONE)
+    return Commands.runOnce(() -> intake.setGamePiece(HeldGamePiece.NOTHING), intake)
+        .andThen(
+            getCommand(States.INTAKING_CONE_SHELF_EVIL)
+                // Interrupt command early, start stowing as soon as we are holding a cone - don't
+                // wait until wrist is at goal (since it gets messed up after the impact with the
+                // shelf)
+                .until(() -> intake.getGamePiece() == HeldGamePiece.CONE))
         .andThen(getCommand(States.STOWED))
         .withName("SuperstructureShelfIntakeEvil");
   }

From 85234a3977af3aa2b970e8039a746511fe7d9556 Mon Sep 17 00:00:00 2001
From: rkanemoto <73001957+rkanemoto@users.noreply.github.com>
Date: Tue, 10 Oct 2023 16:57:47 -0700
Subject: [PATCH 5/5] Shift start position of bump side autos down by 8in/20cm

---
 src/main/deploy/pathplanner/BlueLongSide3.path | 4 ++--
 src/main/deploy/pathplanner/RedLongSide3.path  | 4 ++--
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/src/main/deploy/pathplanner/BlueLongSide3.path b/src/main/deploy/pathplanner/BlueLongSide3.path
index 65ed324..9f027d6 100644
--- a/src/main/deploy/pathplanner/BlueLongSide3.path
+++ b/src/main/deploy/pathplanner/BlueLongSide3.path
@@ -3,12 +3,12 @@
     {
       "anchorPoint": {
         "x": 1.831789277613643,
-        "y": 1.61410638610751
+        "y": 1.4100000000000001
       },
       "prevControl": null,
       "nextControl": {
         "x": 2.233698996273372,
-        "y": 0.3959396976544713
+        "y": 0.19183331154696143
       },
       "holonomicAngle": 180.0,
       "isReversal": false,
diff --git a/src/main/deploy/pathplanner/RedLongSide3.path b/src/main/deploy/pathplanner/RedLongSide3.path
index e2da7cd..441d721 100644
--- a/src/main/deploy/pathplanner/RedLongSide3.path
+++ b/src/main/deploy/pathplanner/RedLongSide3.path
@@ -3,12 +3,12 @@
     {
       "anchorPoint": {
         "x": 14.708210722386356,
-        "y": 1.61410638610751
+        "y": 1.4100000000000001
       },
       "prevControl": null,
       "nextControl": {
         "x": 14.306301003726627,
-        "y": 0.39593969765447135
+        "y": 0.19183331154696148
       },
       "holonomicAngle": 0,
       "isReversal": false,