add jim auto

src/main/deploy/pathplanner/autos/Jim auto.auto

@@ -0,0 +1,50 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 1.4662605074140238,
+      "y": 4.602358762492133
+    },
+    "rotation": 180.0
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "named",
+          "data": {
+            "name": "CloseAimShoot"
+          }
+        },
+        {
+          "type": "parallel",
+          "data": {
+            "commands": [
+              {
+                "type": "path",
+                "data": {
+                  "pathName": "Jim"
+                }
+              },
+              {
+                "type": "named",
+                "data": {
+                  "name": "SpitNotes"
+                }
+              }
+            ]
+          }
+        },
+        {
+          "type": "named",
+          "data": {
+            "name": "KillShooter"
+          }
+        }
+      ]
+    }
+  },
+  "folder": "Source",
+  "choreoAuto": false
+}

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

@@ -0,0 +1,96 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 1.4662605074140238,
+        "y": 4.602358762492133
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 2.6373441619921745,
+        "y": 1.8503121742334787
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 5.729005010078493,
+        "y": 0.7612043754757987
+      },
+      "prevControl": {
+        "x": 5.239716153483543,
+        "y": 0.786956420559745
+      },
+      "nextControl": {
+        "x": 6.3965226931880395,
+        "y": 0.7260718658384518
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 8.293678213604645,
+        "y": 0.7612043754757987
+      },
+      "prevControl": {
+        "x": 6.958642847385552,
+        "y": 0.7377827023842345
+      },
+      "nextControl": {
+        "x": 8.343670520705135,
+        "y": 0.7620814334951056
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 8.293678213604645,
+        "y": 7.436381206571257
+      },
+      "prevControl": {
+        "x": 8.293678213604645,
+        "y": 6.436381206571257
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [
+    {
+      "name": "New Constraints Zone",
+      "minWaypointRelativePos": 1.6500000000000001,
+      "maxWaypointRelativePos": 3.0,
+      "constraints": {
+        "maxVelocity": 2.0,
+        "maxAcceleration": 4.0,
+        "maxAngularVelocity": 360.0,
+        "maxAngularAcceleration": 720.0
+      }
+    }
+  ],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 4.0,
+    "maxAcceleration": 4.0,
+    "maxAngularVelocity": 360.0,
+    "maxAngularAcceleration": 720.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": -177.22978420279964,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": "Source",
+  "previewStartingState": {
+    "rotation": 180.0,
+    "velocity": 0
+  },
+  "useDefaultConstraints": true
+}

src/main/java/frc/robot/RobotContainer.java

@@ -89,6 +89,15 @@ public RobotContainer() {
     NamedCommands.registerCommand("CloseAimShoot", new ZeroShoulder().andThen(new AimShoot(true)));
     NamedCommands.registerCommand("KillShooter", new SetShooterVelocity(0.0, false));
 
+    NamedCommands.registerCommand(
+      "SpitNotes",
+      new ParallelCommandGroup(
+        new SetIntakeVelocity(4_000.0),
+        new SetFeederVelocity(3_000.0),
+        new SetShooterVelocity(3_600.0, false)
+      )
+    );
+
     AutoBuilder.configureHolonomic(
       m_drivetrain::getRobotPose2d,
       m_drivetrain::setRobotPose2d,
@@ -111,6 +120,7 @@ public RobotContainer() {
     autoChooser.addOption("Center upper auto", new PathPlannerAuto("Center upper 4-note"));
     autoChooser.addOption("Center lower auto", new PathPlannerAuto("Center lower 4-note"));
     autoChooser.addOption("Source auto", new PathPlannerAuto("Source auto"));
+    autoChooser.addOption("Jim auto", new PathPlannerAuto("Jim auto"));
 
     SmartDashboard.putData("Auto chooser", autoChooser);