mode auto

src/main/deploy/pathplanner/autos/B.C.3.auto

@@ -31,25 +31,32 @@
           }
         },
         {
-          "type": "path",
-          "data": {
-            "pathName": "1.1"
-          }
-        },
-        {
-          "type": "deadline",
+          "type": "parallel",
           "data": {
             "commands": [
               {
-                "type": "wait",
+                "type": "path",
                 "data": {
-                  "waitTime": 3.0
+                  "pathName": "1.1"
                 }
               },
               {
-                "type": "named",
+                "type": "deadline",
                 "data": {
-                  "name": "balyer"
+                  "commands": [
+                    {
+                      "type": "wait",
+                      "data": {
+                        "waitTime": 3.0
+                      }
+                    },
+                    {
+                      "type": "named",
+                      "data": {
+                        "name": "balyer"
+                      }
+                    }
+                  ]
                 }
               }
             ]

src/main/deploy/pathplanner/autos/B.C.4.auto

@@ -31,29 +31,42 @@
           }
         },
         {
-          "type": "path",
-          "data": {
-            "pathName": "1.1"
-          }
-        },
-        {
-          "type": "deadline",
+          "type": "sequential",
           "data": {
             "commands": [
               {
-                "type": "wait",
+                "type": "path",
                 "data": {
-                  "waitTime": 3.0
+                  "pathName": "1.1"
                 }
               },
               {
-                "type": "named",
+                "type": "deadline",
                 "data": {
-                  "name": "balyer"
+                  "commands": [
+                    {
+                      "type": "wait",
+                      "data": {
+                        "waitTime": 3.0
+                      }
+                    },
+                    {
+                      "type": "named",
+                      "data": {
+                        "name": "balyer"
+                      }
+                    }
+                  ]
                 }
               }
             ]
           }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "1.2"
+          }
         }
       ]
     }

src/main/deploy/pathplanner/autos/B.C.5.auto

@@ -31,25 +31,32 @@
           }
         },
         {
-          "type": "path",
-          "data": {
-            "pathName": "1.1"
-          }
-        },
-        {
-          "type": "deadline",
+          "type": "parallel",
           "data": {
             "commands": [
               {
-                "type": "wait",
+                "type": "path",
                 "data": {
-                  "waitTime": 3.0
+                  "pathName": "1.1"
                 }
               },
               {
-                "type": "named",
+                "type": "deadline",
                 "data": {
-                  "name": "balyer"
+                  "commands": [
+                    {
+                      "type": "wait",
+                      "data": {
+                        "waitTime": 3.0
+                      }
+                    },
+                    {
+                      "type": "named",
+                      "data": {
+                        "name": "balyer"
+                      }
+                    }
+                  ]
                 }
               }
             ]

src/main/deploy/pathplanner/autos/B.D.3.auto

@@ -31,25 +31,32 @@
           }
         },
         {
-          "type": "path",
-          "data": {
-            "pathName": "2.1"
-          }
-        },
-        {
-          "type": "deadline",
+          "type": "parallel",
           "data": {
             "commands": [
               {
-                "type": "wait",
+                "type": "path",
                 "data": {
-                  "waitTime": 3.0
+                  "pathName": "2.1"
                 }
               },
               {
-                "type": "named",
+                "type": "deadline",
                 "data": {
-                  "name": "balyer"
+                  "commands": [
+                    {
+                      "type": "wait",
+                      "data": {
+                        "waitTime": 3.0
+                      }
+                    },
+                    {
+                      "type": "named",
+                      "data": {
+                        "name": "balyer"
+                      }
+                    }
+                  ]
                 }
               }
             ]

src/main/deploy/pathplanner/autos/B.D.4.auto

@@ -31,25 +31,32 @@
           }
         },
         {
-          "type": "path",
-          "data": {
-            "pathName": "2.1"
-          }
-        },
-        {
-          "type": "deadline",
+          "type": "parallel",
           "data": {
             "commands": [
               {
-                "type": "wait",
+                "type": "path",
                 "data": {
-                  "waitTime": 3.0
+                  "pathName": "2.1"
                 }
               },
               {
-                "type": "named",
+                "type": "deadline",
                 "data": {
-                  "name": "balyer"
+                  "commands": [
+                    {
+                      "type": "wait",
+                      "data": {
+                        "waitTime": 3.0
+                      }
+                    },
+                    {
+                      "type": "named",
+                      "data": {
+                        "name": "balyer"
+                      }
+                    }
+                  ]
                 }
               }
             ]

src/main/deploy/pathplanner/autos/B.D.5.auto

@@ -31,25 +31,32 @@
           }
         },
         {
-          "type": "path",
-          "data": {
-            "pathName": "2.1"
-          }
-        },
-        {
-          "type": "deadline",
+          "type": "parallel",
           "data": {
             "commands": [
               {
-                "type": "wait",
+                "type": "path",
                 "data": {
-                  "waitTime": 3.0
+                  "pathName": "2.1"
                 }
               },
               {
-                "type": "named",
+                "type": "deadline",
                 "data": {
-                  "name": "balyer"
+                  "commands": [
+                    {
+                      "type": "wait",
+                      "data": {
+                        "waitTime": 3.0
+                      }
+                    },
+                    {
+                      "type": "named",
+                      "data": {
+                        "name": "balyer"
+                      }
+                    }
+                  ]
                 }
               }
             ]

src/main/deploy/pathplanner/autos/B.H.3.auto

@@ -31,9 +31,35 @@
           }
         },
         {
-          "type": "path",
+          "type": "sequential",
           "data": {
-            "pathName": "3.1"
+            "commands": [
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "3.1"
+                }
+              },
+              {
+                "type": "deadline",
+                "data": {
+                  "commands": [
+                    {
+                      "type": "wait",
+                      "data": {
+                        "waitTime": 3.0
+                      }
+                    },
+                    {
+                      "type": "named",
+                      "data": {
+                        "name": "balyer"
+                      }
+                    }
+                  ]
+                }
+              }
+            ]
           }
         },
         {

src/main/deploy/pathplanner/autos/B.H.4.auto

@@ -31,25 +31,32 @@
           }
         },
         {
-          "type": "path",
-          "data": {
-            "pathName": "3.1"
-          }
-        },
-        {
-          "type": "deadline",
+          "type": "parallel",
           "data": {
             "commands": [
               {
-                "type": "wait",
+                "type": "path",
                 "data": {
-                  "waitTime": 3.0
+                  "pathName": "3.1"
                 }
               },
               {
-                "type": "named",
+                "type": "deadline",
                 "data": {
-                  "name": "lancer"
+                  "commands": [
+                    {
+                      "type": "wait",
+                      "data": {
+                        "waitTime": 3.0
+                      }
+                    },
+                    {
+                      "type": "named",
+                      "data": {
+                        "name": "balyer"
+                      }
+                    }
+                  ]
                 }
               }
             ]

src/main/deploy/pathplanner/paths/1.1.path

@@ -39,7 +39,7 @@
   },
   "goalEndState": {
     "velocity": 0,
-    "rotation": 0.3044999237387323,
+    "rotation": -179.69010821508004,
     "rotateFast": false
   },
   "reversed": false,