From a34558bb58c08bc3cf516250398f15f2596a0f47 Mon Sep 17 00:00:00 2001
From: samuel desharnais <samdes330@gmail.com>
Date: Mon, 19 Feb 2024 19:20:22 -0500
Subject: [PATCH]

---
 src/main/deploy/pathplanner/autos/9.auto     | 29 ++++++++++++--------
 src/main/deploy/pathplanner/autos/R.H.3.auto | 19 +++++++++++++
 src/main/deploy/pathplanner/autos/R.H.4.auto | 29 ++++++++++++--------
 src/main/deploy/pathplanner/autos/R.H.5.auto | 29 ++++++++++++--------
 4 files changed, 73 insertions(+), 33 deletions(-)

diff --git a/src/main/deploy/pathplanner/autos/9.auto b/src/main/deploy/pathplanner/autos/9.auto
index f1fd8c4..9bd7ff5 100644
--- a/src/main/deploy/pathplanner/autos/9.auto
+++ b/src/main/deploy/pathplanner/autos/9.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"
+                      }
+                    }
+                  ]
                 }
               }
             ]
diff --git a/src/main/deploy/pathplanner/autos/R.H.3.auto b/src/main/deploy/pathplanner/autos/R.H.3.auto
index 8d112a0..051db29 100644
--- a/src/main/deploy/pathplanner/autos/R.H.3.auto
+++ b/src/main/deploy/pathplanner/autos/R.H.3.auto
@@ -39,6 +39,25 @@
                 "data": {
                   "pathName": "6.1"
                 }
+              },
+              {
+                "type": "deadline",
+                "data": {
+                  "commands": [
+                    {
+                      "type": "wait",
+                      "data": {
+                        "waitTime": 3.0
+                      }
+                    },
+                    {
+                      "type": "named",
+                      "data": {
+                        "name": "balyer"
+                      }
+                    }
+                  ]
+                }
               }
             ]
           }
diff --git a/src/main/deploy/pathplanner/autos/R.H.4.auto b/src/main/deploy/pathplanner/autos/R.H.4.auto
index 1cd567a..f58efd3 100644
--- a/src/main/deploy/pathplanner/autos/R.H.4.auto
+++ b/src/main/deploy/pathplanner/autos/R.H.4.auto
@@ -31,25 +31,32 @@
           }
         },
         {
-          "type": "path",
-          "data": {
-            "pathName": "6.1"
-          }
-        },
-        {
-          "type": "deadline",
+          "type": "parallel",
           "data": {
             "commands": [
               {
-                "type": "wait",
+                "type": "path",
                 "data": {
-                  "waitTime": 3.0
+                  "pathName": "6.1"
                 }
               },
               {
-                "type": "named",
+                "type": "deadline",
                 "data": {
-                  "name": "balyer"
+                  "commands": [
+                    {
+                      "type": "wait",
+                      "data": {
+                        "waitTime": 3.0
+                      }
+                    },
+                    {
+                      "type": "named",
+                      "data": {
+                        "name": "balyer"
+                      }
+                    }
+                  ]
                 }
               }
             ]
diff --git a/src/main/deploy/pathplanner/autos/R.H.5.auto b/src/main/deploy/pathplanner/autos/R.H.5.auto
index 2751b1b..cc8132b 100644
--- a/src/main/deploy/pathplanner/autos/R.H.5.auto
+++ b/src/main/deploy/pathplanner/autos/R.H.5.auto
@@ -31,25 +31,32 @@
           }
         },
         {
-          "type": "path",
-          "data": {
-            "pathName": "6.1"
-          }
-        },
-        {
-          "type": "deadline",
+          "type": "parallel",
           "data": {
             "commands": [
               {
-                "type": "wait",
+                "type": "path",
                 "data": {
-                  "waitTime": 3.0
+                  "pathName": "6.1"
                 }
               },
               {
-                "type": "named",
+                "type": "deadline",
                 "data": {
-                  "name": "balyer"
+                  "commands": [
+                    {
+                      "type": "wait",
+                      "data": {
+                        "waitTime": 3.0
+                      }
+                    },
+                    {
+                      "type": "named",
+                      "data": {
+                        "name": "balyer"
+                      }
+                    }
+                  ]
                 }
               }
             ]