From 987eac457482b8bc94c3edb3dee3cb8224b6d9f4 Mon Sep 17 00:00:00 2001
From: Victor C <vich2021@gmail.com>
Date: Thu, 9 Apr 2026 11:59:25 -0700
Subject: [PATCH 1/2] edited pathplanner right auto to be safer

---
 .../pathplanner/paths/FirstCycleRight.path    | 36 +++++++++----------
 .../pathplanner/paths/SecondCycleRight.path   | 24 ++++++-------
 2 files changed, 30 insertions(+), 30 deletions(-)

diff --git a/src/main/deploy/pathplanner/paths/FirstCycleRight.path b/src/main/deploy/pathplanner/paths/FirstCycleRight.path
index e4921dd1..cb32b1b7 100644
--- a/src/main/deploy/pathplanner/paths/FirstCycleRight.path
+++ b/src/main/deploy/pathplanner/paths/FirstCycleRight.path
@@ -16,48 +16,48 @@
     },
     {
       "anchor": {
-        "x": 7.504845059357542,
-        "y": 1.3144065700651766
+        "x": 7.376986951364176,
+        "y": 1.361340450771056
       },
       "prevControl": {
-        "x": 6.829058463314399,
-        "y": 0.5373698829729924
+        "x": 6.701200355321033,
+        "y": 0.5843037636788718
       },
       "nextControl": {
-        "x": 7.668903909913637,
-        "y": 1.5030456263451872
+        "x": 7.541045801920271,
+        "y": 1.5499795070510667
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 7.3115467877094975,
-        "y": 3.4767954201582865
+        "x": 6.73143534994069,
+        "y": 3.297995255041518
       },
       "prevControl": {
-        "x": 8.884254955045044,
-        "y": 2.9510337592701927
+        "x": 8.304143517276245,
+        "y": 2.772233594153424
       },
       "nextControl": {
-        "x": 6.37622982619491,
-        "y": 3.7894750446151453
+        "x": 5.796118388426103,
+        "y": 3.6106748794983767
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 5.210230834885388,
-        "y": 2.547092401846678
+        "x": 4.977686832740215,
+        "y": 2.4802965599051015
       },
       "prevControl": {
-        "x": 5.901383796943115,
-        "y": 2.7195510358522097
+        "x": 5.668839794797942,
+        "y": 2.6527551939106333
       },
       "nextControl": {
-        "x": 4.427452434749036,
-        "y": 2.3517711039177316
+        "x": 4.194908432603863,
+        "y": 2.284975261976155
       },
       "isLocked": false,
       "linkedName": null
diff --git a/src/main/deploy/pathplanner/paths/SecondCycleRight.path b/src/main/deploy/pathplanner/paths/SecondCycleRight.path
index 0cf2b9f9..36c3ebe3 100644
--- a/src/main/deploy/pathplanner/paths/SecondCycleRight.path
+++ b/src/main/deploy/pathplanner/paths/SecondCycleRight.path
@@ -96,32 +96,32 @@
     },
     {
       "anchor": {
-        "x": 6.941919663640595,
-        "y": 2.274901216247672
+        "x": 6.9143416370106765,
+        "y": 2.286631079478054
       },
       "prevControl": {
-        "x": 7.102799071384903,
-        "y": 2.6875112852889993
+        "x": 7.075221044754985,
+        "y": 2.6992411485193815
       },
       "nextControl": {
-        "x": 6.722046996494741,
-        "y": 1.7109901623510817
+        "x": 6.694468969864822,
+        "y": 1.7227200255814639
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 4.692769873137803,
-        "y": 2.4328996935133453
+        "x": 4.546764819987586,
+        "y": 2.6663886949099935
       },
       "prevControl": {
-        "x": 5.80281866101594,
-        "y": 2.1379342780591113
+        "x": 5.654961735764574,
+        "y": 2.429686441054715
       },
       "nextControl": {
-        "x": 4.237817899646556,
-        "y": 2.5537908645483447
+        "x": 4.086408986753175,
+        "y": 2.7647171253095766
       },
       "isLocked": false,
       "linkedName": null

From 86e06cdf2819a5cb08b860fc3dba0b1923fef834 Mon Sep 17 00:00:00 2001
From: Victor C <vich2021@gmail.com>
Date: Thu, 9 Apr 2026 13:50:02 -0700
Subject: [PATCH 2/2] Update FirstCycleRight.path

---
 src/main/deploy/pathplanner/paths/FirstCycleRight.path | 10 ++++++++--
 1 file changed, 8 insertions(+), 2 deletions(-)

diff --git a/src/main/deploy/pathplanner/paths/FirstCycleRight.path b/src/main/deploy/pathplanner/paths/FirstCycleRight.path
index cb32b1b7..7b8cc564 100644
--- a/src/main/deploy/pathplanner/paths/FirstCycleRight.path
+++ b/src/main/deploy/pathplanner/paths/FirstCycleRight.path
@@ -8,8 +8,8 @@
       },
       "prevControl": null,
       "nextControl": {
-        "x": 4.99313591773743,
-        "y": 1.0654726461307877
+        "x": 4.99920521945433,
+        "y": 0.7265480427046258
       },
       "isLocked": false,
       "linkedName": null
@@ -129,6 +129,12 @@
         }
       }
     },
+    {
+      "name": "WaitForRotationAndHoodAndShooterToBeAtGoalCommandGroup",
+      "waypointRelativePos": 2.59,
+      "endWaypointRelativePos": 4.0,
+      "command": null
+    },
     {
       "name": "WarmupShooterNear",
       "waypointRelativePos": 2.5945444915254248,