fix auto command to drive back and intake 4 note

team581 · Apr 7, 2024 · c1e092f · c1e092f
1 parent 2f74f01
commit c1e092f
Showing 1 changed file with 3 additions and 3 deletions.
diff --git a/src/main/java/frc/robot/autos/AutoCommands.java b/src/main/java/frc/robot/autos/AutoCommands.java
@@ -148,23 +148,23 @@ public Command getMidlineNotesAltAmpCommand() {
   }
 
   public Command getMidlineNotesOP4Command() {
-    var red6To4 = PathPlannerPath.fromPathFile("Red 6 to 4");
     var red5ToCenterWingShot = PathPlannerPath.fromPathFile("Red 5 to CWS");
     var redCenterWingShotTo6 = PathPlannerPath.fromPathFile("Red CWS to 6");
     var red6ToStageWingShot = PathPlannerPath.fromPathFile("Red 6 to SWS");
+    var redStageWingShotTo4 = PathPlannerPath.fromPathFile("Red SWS to 4");
 
-    var blue6To4 = PathPlannerPath.fromPathFile("Blue 6 to 4");
     var blue5ToCenterWingShot = PathPlannerPath.fromPathFile("Blue 5 to CWS");
     var blueCenterWingShotTo6 = PathPlannerPath.fromPathFile("Blue CWS to 6");
     var blue6ToStageWingShot = PathPlannerPath.fromPathFile("Blue 6 to SWS");
+    var blueStageWingShotTo4 = PathPlannerPath.fromPathFile("Blue SWS to 4");
 
     return Commands.sequence(
         followPathForAlliance(red5ToCenterWingShot, blue5ToCenterWingShot)
             .andThen(speakerShotWithTimeout())
             .andThen(followPathForAlliance(redCenterWingShotTo6, blueCenterWingShotTo6)),
         followPathForAlliance(red6ToStageWingShot, blue6ToStageWingShot)
             .andThen(speakerShotWithTimeout())
-            .andThen(followPathForAlliance(red6To4, blue6To4)));
+            .andThen(followPathForAlliance(redStageWingShotTo4, blueStageWingShotTo4)));
   }
 
   public Command getMidlineNotes64Command() {