bad

build.gradle

@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2025.3.1"
+    id "edu.wpi.first.GradleRIO" version "2026.2.1"
 }
 
 java {

settings.gradle

@@ -4,7 +4,7 @@ pluginManagement {
     repositories {
         mavenLocal()
         gradlePluginPortal()
-        String frcYear = '2025'
+        String frcYear = '2026'
         File frcHome
         if (OperatingSystem.current().isWindows()) {
             String publicFolder = System.getenv('PUBLIC')

src/main/deploy/pathplanner/paths/B Coarl Station R.path

@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 1.7684311224489797,
+        "y": 2.13345025510204
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 1.6863520408163264,
+        "y": 1.8424426020408156
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 1.4326530612244897,
+        "y": 1.3201211734693867
+      },
+      "prevControl": {
+        "x": 1.5445790816326532,
+        "y": 1.6932079081632638
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 55.451632943988734
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 65.397205841715
+  },
+  "useDefaultConstraints": true
+}

src/main/java/frc/robot/Constants.java

@@ -208,7 +208,7 @@ public static final class AutoConstants { //TODO: The below constants are used i
     public static final int ELEVATOR_MOTOR_LEFT_ID = 10;
     public static final int ELEVATOR_MOTOR_RIGHT_ID = 11;
     public static final double ELEVATOR_LOWER_LIMIT = 0.335449; //.403809; //TODO: Placeholder
-    //public static final double ELEVATOR_UPPER_LIMIT = 43; //TODO: Placeholder 
+    public static final double ELEVATOR_UPPER_LIMIT = 43; //TODO: Placeholder
     public static final double ELEVATOR_MAX_ROTATIONS_PER_SEC = 80;
     public static final double ELEVATOR_CAN_TO_MOTOR_RATIO = 5.24954/0.916748;
     public static final int ELEVATOR_CAN_CODER_ID = 4;

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

@@ -3,9 +3,12 @@
 import com.pathplanner.lib.auto.AutoBuilder;
 import com.pathplanner.lib.auto.NamedCommands;
 import com.pathplanner.lib.commands.PathPlannerAuto;
+import com.pathplanner.lib.path.PathConstraints;
+import com.pathplanner.lib.path.PathPlannerPath;
 
 import edu.wpi.first.math.geometry.Rotation2d;
 import edu.wpi.first.math.geometry.Translation2d;
+import edu.wpi.first.math.util.Units;
 import edu.wpi.first.wpilibj.GenericHID;
 import edu.wpi.first.wpilibj.Joystick;
 import edu.wpi.first.wpilibj.XboxController;
@@ -180,7 +183,19 @@ private void configureButtonBindings() {
      */
     public Command getAutonomousCommand() {
         // An ExampleCommand will run in autonomous
-        return autoChooser.getSelected();
+        return autoChooser.getSelected(); 
+        // Load the path we want to pathfind to and follow
+PathPlannerPath path = PathPlannerPath.fromPathFile("B Coarl Station R");
+
+// Create the constraints to use while pathfinding. The constraints defined in the path will only be used for the path.
+PathConstraints constraints = new PathConstraints(
+        3.0, 4.0,
+        Units.degreesToRadians(540), Units.degreesToRadians(720));
+
+// Since AutoBuilder is configured, we can use it to build pathfinding commands
+Command pathfindingCommand = AutoBuilder.pathfindThenFollowPath(
+        path,
+        constraints);
         //return new PathPlannerAuto("New Auto");
 
         // Command[] autoCommands = new Command[numOfAutoActions.getSelected()*2];
@@ -224,4 +239,4 @@ public void setupAutoChoosers() {
             hasSetupAutoChoosers = true;
         }
     }
-}
+}

src/main/java/frc/robot/commands/CmdElevatorSetPosition.java → src/main/java/frc/robot/commands/RobotTurn.java

@@ -4,24 +4,33 @@
 
 package frc.robot.commands;
 
+import edu.wpi.first.math.geometry.Translation2d;
 import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.SwerveSubsystem;
 
 /* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
-public class CmdElevatorSetPosition extends Command {
-  /** Creates a new CmdElevatorSetPosition. */
-  public CmdElevatorSetPosition() {
-    // Use addRequirements() here to declare subsystem dependencies.
-  }
+public class RobotTurn extends Command {
+
+
+    private SwerveSubsystem swerveSubsystem;
+
+        /** Creates a new RobotTurn. */
+        public RobotTurn(SwerveSubsystem swerveSubsystem) {
+          // Use addRequirements() here to declare subsystem dependencies.
+          addRequirements(swerveSubsystem );
+          this.swerveSubsystem = swerveSubsystem;
+    }
+
 
   // Called when the command is initially scheduled.
   @Override
   public void initialize() {}
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
-  public void execute() {}
-double speed = 0.0;
-
+  public void execute() {
+    swerveSubsystem.drive(new Translation2d(),1d,false,false );
+  }
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {}