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followChoreoPathSeekNoteAndSpit("SourceDrop543Source.1", 0.2), + followChoreoPathSeekNoteAndSpit("SourceDrop543Source.1", 0.7), efficientlyPreWarmShootAndDrive("SourceDrop543Source.2", "SourceDrop543Source.3", AutoNote.M4), efficientlyPreWarmShootAndDrive("SourceDrop543Source.4", "SourceDrop543Source.5", AutoNote.M3), driveBackPreWarmAndShoot("SourceDrop543Source.6"), rotateToHeadingAndSeek( - () -> autoFlipRotation(Rotation2d.fromRadians(1.0)), + () -> autoFlipRotation(GeometryUtil.kRotationHalfPi), () -> Configuration.isRedAlliance() ? AutoNote.SR : AutoNote.SB), aimAndShoot()) .withName("SourceDrop543SourceAuto"); @@ -683,7 +683,7 @@ public AutonomousCommand sourceDrop543source() { public AutonomousCommand sourceDrop54source() { var command = loggedSequence( print("Started source drop 54 source auto"), - followChoreoPathSeekNoteAndSpit("SourceDrop543Source.1", 0.2), + followChoreoPathSeekNoteAndSpit("SourceDrop543Source.1", 1), efficientlyPreWarmShootAndDrive("SourceDrop543Source.2", "SourceDrop543Source.3", AutoNote.M4), driveBackPreWarmAndShoot("SourceDrop543Source.4"), rotateToHeadingAndSeek(