From 9b8d32473d3b004e0ca3a470e7222a6f4a59898b Mon Sep 17 00:00:00 2001
From: drive station <drivestation@3636.team>
Date: Wed, 16 Oct 2024 17:21:25 -0700
Subject: [PATCH] invert joysticks and add new auto

---
 .../autos/Amp 1 Piece, Mobility.auto          | 56 +++++++++++++++++++
 .../subsystems/drivetrain/Drivetrain.kt       |  4 +-
 .../frc2024/subsystems/shooter/PivotIO.kt     |  2 +-
 3 files changed, 59 insertions(+), 3 deletions(-)
 create mode 100644 src/main/deploy/pathplanner/autos/Amp 1 Piece, Mobility.auto

diff --git a/src/main/deploy/pathplanner/autos/Amp 1 Piece, Mobility.auto b/src/main/deploy/pathplanner/autos/Amp 1 Piece, Mobility.auto
new file mode 100644
index 0000000..beb178c
--- /dev/null
+++ b/src/main/deploy/pathplanner/autos/Amp 1 Piece, Mobility.auto	
@@ -0,0 +1,56 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 0.7003471493721009,
+      "y": 6.668600082397461
+    },
+    "rotation": 60.52408484195273
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "ensureNoteSecure"
+          }
+        },
+        {
+          "type": "race",
+          "data": {
+            "commands": [
+              {
+                "type": "named",
+                "data": {
+                  "name": "revAimSpeaker"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "shootWhenReady"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "stow"
+          }
+        },
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Amp 1-Piece, Mobility 2"
+          }
+        }
+      ]
+    }
+  },
+  "folder": "Amp Side",
+  "choreoAuto": true
+}
\ No newline at end of file
diff --git a/src/main/java/com/frcteam3636/frc2024/subsystems/drivetrain/Drivetrain.kt b/src/main/java/com/frcteam3636/frc2024/subsystems/drivetrain/Drivetrain.kt
index 3d965fd..401eb4a 100644
--- a/src/main/java/com/frcteam3636/frc2024/subsystems/drivetrain/Drivetrain.kt
+++ b/src/main/java/com/frcteam3636/frc2024/subsystems/drivetrain/Drivetrain.kt
@@ -241,8 +241,8 @@ object Drivetrain : Subsystem, TalonFXStatusProvider {
 
                 chassisSpeeds =
                     ChassisSpeeds.fromFieldRelativeSpeeds(
-                        translationInput.x * FREE_SPEED.baseUnitMagnitude() * TRANSLATION_SENSITIVITY,
-                        translationInput.y * FREE_SPEED.baseUnitMagnitude() * TRANSLATION_SENSITIVITY,
+                        -translationInput.x * FREE_SPEED.baseUnitMagnitude() * TRANSLATION_SENSITIVITY,
+                        -translationInput.y * FREE_SPEED.baseUnitMagnitude() * TRANSLATION_SENSITIVITY,
                         -rotationJoystick.x * TAU * ROTATION_SENSITIVITY,
                         gyroRotation.toRotation2d()
                     )
diff --git a/src/main/java/com/frcteam3636/frc2024/subsystems/shooter/PivotIO.kt b/src/main/java/com/frcteam3636/frc2024/subsystems/shooter/PivotIO.kt
index a469544..871ee3f 100644
--- a/src/main/java/com/frcteam3636/frc2024/subsystems/shooter/PivotIO.kt
+++ b/src/main/java/com/frcteam3636/frc2024/subsystems/shooter/PivotIO.kt
@@ -264,7 +264,7 @@ class PivotIOKraken : PivotIO {
         const val PROFILE_JERK = 80.0
 
         val HARDSTOP_OFFSET: Rotation2d = Rotation2d.fromDegrees(-27.0)
-        val ABSOLUTE_ENCODER_OFFSET: Rotation2d = Rotation2d.fromDegrees(219.5) + HARDSTOP_OFFSET
+        val ABSOLUTE_ENCODER_OFFSET: Rotation2d = Rotation2d.fromDegrees(229.5) + HARDSTOP_OFFSET
     }
 
     override val talonCANStatuses = listOf(leftMotor.version, rightMotor.version)