From ff890dc236645616f366e0289fb083f4836b4d6b Mon Sep 17 00:00:00 2001
From: Retro5290 <114537600+Retro5290@users.noreply.github.com>
Date: Wed, 12 Feb 2025 10:49:44 -0800
Subject: [PATCH 01/13] a

---
 src/auto.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/src/auto.cpp b/src/auto.cpp
index 04878b8..fb5e346 100644
--- a/src/auto.cpp
+++ b/src/auto.cpp
@@ -572,6 +572,7 @@ void autonomous() {
         case AutonomousMode::RED_RING:
             red_ring_auto();
             break;
+            
         case AutonomousMode::RED_STAKE:
             red_stake_auto();
             break;

From e64608a77c962f1265d7310710448273279aae2d Mon Sep 17 00:00:00 2001
From: Retro5290 <114537600+Retro5290@users.noreply.github.com>
Date: Wed, 12 Feb 2025 10:53:12 -0800
Subject: [PATCH 02/13] asdfghjkl

---
 src/auto.cpp | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/src/auto.cpp b/src/auto.cpp
index fb5e346..2c1079d 100644
--- a/src/auto.cpp
+++ b/src/auto.cpp
@@ -569,6 +569,11 @@ void autonomous() {
         case AutonomousMode::SKILLS:
             skills_auto();
             break;
+
+
+
+
+            
         case AutonomousMode::RED_RING:
             red_ring_auto();
             break;

From 7db63ddc2f46901d280d2831fff2b96f0bdb7371 Mon Sep 17 00:00:00 2001
From: Retro5290 <allenliam08@gmail.com>
Date: Wed, 12 Feb 2025 16:42:28 -0800
Subject: [PATCH 03/13] Lb Code and project.pros

idfk
---
 project.pros | 8 ++++----
 src/main.cpp | 2 +-
 2 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/project.pros b/project.pros
index 3a047ee..2504e08 100644
--- a/project.pros
+++ b/project.pros
@@ -1,7 +1,7 @@
 {
   "py/object": "pros.conductor.project.Project",
   "py/state": {
-    "project_name": "Maina",
+    "project_name": "I Miss Jerry",
     "target": "v5",
     "templates": {
       "LemLib": {
@@ -298,9 +298,9 @@
       }
     },
     "upload_options": {
-      "slot": 1,
-      "description": "",
-      "icon": "pizza"
+      "slot": 7,
+      "description": "Bad Code fr",
+      "icon": "planet"
     },
     "use_early_access": false
   }
diff --git a/src/main.cpp b/src/main.cpp
index f7d1adc..679ae95 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -28,7 +28,7 @@ namespace controls {
         static constexpr double LB_POSITIONS[] = {
             0.0,    // IDLE
             4800.0,  // INTAKE    
-            6000.0   // CLEAR
+            18000.0   // CLEAR
         };
 
         static constexpr int LB_POSITION_LOSS_BOUNDARY = 6000;

From 44cfd8262941ba8ac4c2b4b65710e8e73024f06e Mon Sep 17 00:00:00 2001
From: Retro5290 <allenliam08@gmail.com>
Date: Thu, 13 Feb 2025 10:45:57 -0800
Subject: [PATCH 04/13] im so done

---
 include/auto.h | 2 +-
 project.pros   | 4 ++--
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/include/auto.h b/include/auto.h
index 110d217..ba42c27 100644
--- a/include/auto.h
+++ b/include/auto.h
@@ -8,6 +8,6 @@ void red_stake_auto();
 void blue_ring_auto();
 void blue_stake_auto();
 void test_auto();
-
+void liam_skills();
 
 #endif // _AUTO_H_ 
\ No newline at end of file
diff --git a/project.pros b/project.pros
index 2504e08..1a4610e 100644
--- a/project.pros
+++ b/project.pros
@@ -1,7 +1,7 @@
 {
   "py/object": "pros.conductor.project.Project",
   "py/state": {
-    "project_name": "I Miss Jerry",
+    "project_name": "why is this happening",
     "target": "v5",
     "templates": {
       "LemLib": {
@@ -298,7 +298,7 @@
       }
     },
     "upload_options": {
-      "slot": 7,
+      "slot": 2,
       "description": "Bad Code fr",
       "icon": "planet"
     },

From 05afb94573f8647e5db0df3643e94ed18b32c410 Mon Sep 17 00:00:00 2001
From: Retro5290 <allenliam08@gmail.com>
Date: Thu, 13 Feb 2025 12:18:38 -0800
Subject: [PATCH 05/13] yep

---
 src/auto.cpp | 138 ++++++++++++++++++++++++++++++++++++++++++++++++++-
 1 file changed, 136 insertions(+), 2 deletions(-)

diff --git a/src/auto.cpp b/src/auto.cpp
index 2c1079d..74d4a48 100644
--- a/src/auto.cpp
+++ b/src/auto.cpp
@@ -9,11 +9,12 @@ enum class AutonomousMode {
     RED_STAKE,
     BLUE_RING,
     BLUE_STAKE,      
-    TEST
+    TEST,
+    liam_skills
 };
   
 // Current autonomous selection
-static AutonomousMode current_auto = AutonomousMode::SKILLS;
+static AutonomousMode current_auto = AutonomousMode::liam_skills;
 
 namespace autosetting {
     struct IntakeState {
@@ -593,3 +594,136 @@ void autonomous() {
     }
 }
 
+void liam_skills() {
+    //here
+// Q1
+    // Ring 1
+    float point1x = -21;
+    float point1y = 26.03;
+
+    // Ring 2
+    float point2x = 29.899;
+    float point2y = 50.305;
+
+    // Ring 3, 4, 5
+    float point3x = -60.015;
+    float point3y = 49.917;
+
+    // Ring 6
+    float point4x = -45.45;
+    float point4y = 60.209;
+
+    // Corner
+    float point5x = -61.763;
+    float point5y = 62.928;
+
+    // Q2
+    // Stake 2 (part 1)
+    float point6x = -46.809;
+    float point6y = 34.381;
+
+    // Stake 2 (part 2)
+    float point7x = -47.198;
+    float point7y = -26.015;
+
+    // Ring 1
+    float point8x = -23.506;
+    float point8y = -26.419;
+
+    // Ring 2
+    float point9x = 29.899;
+    float point9y = -50.305;
+
+    // Ring 3, 4, 5
+    float point10x = -60.015;
+    float point10y = -49.917;
+
+    // Ring 6
+    float point11x = -45.45;
+    float point11y = -60.209;
+
+    // Corner
+    float point12x = -61.763;
+    float point12y = -62.928;
+
+
+    try {
+        robot::drivetrain::chassis.setPose(-55.635, 0, 270);
+        robot::mechanisms::lbRotationSensor.set_position(4800);
+        
+        autosetting::run_LB(25000);
+        pros::delay(600);
+
+        robot::drivetrain::chassis.moveToPoint(-47, 0, 1000, {.forwards = false});
+        robot::drivetrain::chassis.waitUntilDone();
+        autosetting::run_LB(0);
+
+
+        robot::drivetrain::chassis.turnToHeading(180, 1000);
+        robot::drivetrain::chassis.moveToPoint(-47, 26.03, 1000, {.forwards = false, .maxSpeed = 60});
+        robot::drivetrain::chassis.waitUntil(21); // 11 
+        robot::mechanisms::clamp.set_value(true);
+        robot::drivetrain::chassis.waitUntilDone();
+        robot::mechanisms::lbMotor.set_brake_mode(pros::E_MOTOR_BRAKE_COAST);
+        robot::mechanisms::lbMotor.move_velocity(0);
+
+        // Q1 ---
+        robot::drivetrain::chassis.turnToPoint(point1x, point1y, 1000); 
+        robot::drivetrain::chassis.waitUntilDone();  
+        autosetting::run_intake(20000);
+        autosetting::pickup_ring(point1x, point1y, 9, 4); //1111111
+
+        pros::delay(200);
+        robot::drivetrain::chassis.turnToPoint(point2x, point2y, 1000);
+        autosetting::pickup_ring(point2x, point2y, 9, 4); //2222222
+        pros::delay(200);
+        robot::drivetrain::chassis.turnToPoint(point3x, point3y, 1000);
+        robot::drivetrain::chassis.moveToPoint(point3x, point3y, 4000, {.maxSpeed = 50});
+        pros::delay(200);
+        robot::drivetrain::chassis.turnToPoint(point4x, point4y, 1000);
+        autosetting::pickup_ring(point4x, point4y, 9, 4); //3333333
+        pros::delay(200);
+        robot::drivetrain::chassis.turnToPoint(point5x, point5y, 1000, {.forwards = false});
+        robot::drivetrain::chassis.moveToPoint(point5x, point5y, 1500, {.forwards = false, .maxSpeed = 70});
+        pros::delay(200);
+        robot::mechanisms::clamp.set_value(false);
+
+        // Q2 ---
+        /*
+        robot::drivetrain::chassis.turnToPoint(point6x, point6y, 800, {.minSpeed = 127, .earlyExitRange = 20});
+        robot::drivetrain::chassis.moveToPoint(point6x, point6y, 1500);
+        
+        robot::drivetrain::chassis.turnToPoint(point7x, point7y, 700, {.forwards = false});
+        robot::drivetrain::chassis.moveToPoint(point7x, point7y, 2000, {.forwards = false, .minSpeed = 127, .earlyExitRange = 22});
+        robot::drivetrain::chassis.moveToPose(point7x, point7y, 0, 1500, {.forwards = false, .maxSpeed = 60});
+        robot::drivetrain::chassis.waitUntil(53); // travles total 60.396 in (12)
+        robot::mechanisms::clamp.set_value(true);
+        
+        robot::drivetrain::chassis.turnToPoint(point8x, point8y, 1000); 
+        robot::drivetrain::chassis.waitUntilDone();
+        autosetting::run_intake(20000);
+        robot::drivetrain::chassis.moveToPoint(point8x, point8y, 1000, {.minSpeed = 120, .earlyExitRange = 20});
+        robot::drivetrain::chassis.moveToPoint(point8x, point8y, 1000, {.maxSpeed = 70});
+        pros::delay(200);
+        robot::drivetrain::chassis.turnToPoint(point9x, point9y, 1000);
+        robot::drivetrain::chassis.moveToPoint(point9x, point9y, 1500, {.minSpeed = 127, .earlyExitRange = 20});  
+        robot::drivetrain::chassis.moveToPoint(point9x, point9y, 1500, {.maxSpeed = 70});
+        pros::delay(200);
+        robot::drivetrain::chassis.turnToPoint(point10x, point10y, 1000);
+        robot::drivetrain::chassis.moveToPoint(point10x, point10y, 4000, {.maxSpeed = 50});
+        pros::delay(200);
+        robot::drivetrain::chassis.turnToPoint(point11x, point11y, 1000);
+        robot::drivetrain::chassis.moveToPoint(point11x, point11y, 1500, {.minSpeed = 127, .earlyExitRange = 20});
+        robot::drivetrain::chassis.moveToPoint(point11x, point11y, 1500, {.maxSpeed = 70});
+        pros::delay(200);
+        robot::drivetrain::chassis.turnToPoint(point12x, point12y, 1000, {.forwards = false});
+        robot::drivetrain::chassis.moveToPoint(point12x, point12y, 1500, {.forwards = false, .maxSpeed = 70});
+        pros::delay(200);
+        robot::mechanisms::clamp.set_value(false);
+        */
+        // Q3
+
+
+    //here
+
+    ;}

From d7f4383a4cfbe8551360f2a867baa5e3e22cf41d Mon Sep 17 00:00:00 2001
From: Retro5290 <allenliam08@gmail.com>
Date: Thu, 13 Feb 2025 12:59:11 -0800
Subject: [PATCH 06/13] why wont this work

---
 src/auto.cpp | 12 +++++-------
 1 file changed, 5 insertions(+), 7 deletions(-)

diff --git a/src/auto.cpp b/src/auto.cpp
index 74d4a48..745330e 100644
--- a/src/auto.cpp
+++ b/src/auto.cpp
@@ -595,8 +595,7 @@ void autonomous() {
 }
 
 void liam_skills() {
-    //here
-// Q1
+        // Q1
     // Ring 1
     float point1x = -21;
     float point1y = 26.03;
@@ -722,8 +721,7 @@ void liam_skills() {
         robot::mechanisms::clamp.set_value(false);
         */
         // Q3
-
-
-    //here
-
-    ;}
+    } catch (const std::exception& e) {
+        pros::lcd::print(0, "Skills Auto Error: %s", e.what());
+    };
+}

From c09a2e0f46a359e5877539d437cba56322262e89 Mon Sep 17 00:00:00 2001
From: Retro5290 <allenliam08@gmail.com>
Date: Thu, 13 Feb 2025 13:08:37 -0800
Subject: [PATCH 07/13] wtf jerry idk how this works

---
 src/auto.cpp | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/src/auto.cpp b/src/auto.cpp
index 745330e..d9da239 100644
--- a/src/auto.cpp
+++ b/src/auto.cpp
@@ -10,11 +10,12 @@ enum class AutonomousMode {
     BLUE_RING,
     BLUE_STAKE,      
     TEST,
-    liam_skills
+    liam_skills,
+    skills_auto
 };
   
 // Current autonomous selection
-static AutonomousMode current_auto = AutonomousMode::liam_skills;
+static AutonomousMode current_auto = AutonomousMode::skills_auto;
 
 namespace autosetting {
     struct IntakeState {

From c5dac0dcc44778cc65bf810ed8d5031241d02666 Mon Sep 17 00:00:00 2001
From: Retro5290 <allenliam08@gmail.com>
Date: Thu, 13 Feb 2025 13:32:11 -0800
Subject: [PATCH 08/13] WORKING DONT CHANGE

OMFG IT ACTUALY WRKS WWTF WFTF WFTF
---
 src/auto.cpp | 9 ++++++---
 1 file changed, 6 insertions(+), 3 deletions(-)

diff --git a/src/auto.cpp b/src/auto.cpp
index d9da239..f3ee3b1 100644
--- a/src/auto.cpp
+++ b/src/auto.cpp
@@ -10,12 +10,12 @@ enum class AutonomousMode {
     BLUE_RING,
     BLUE_STAKE,      
     TEST,
-    liam_skills,
-    skills_auto
+    LIAM_SKILLS,
+    SKILLS_AUTO
 };
   
 // Current autonomous selection
-static AutonomousMode current_auto = AutonomousMode::skills_auto;
+static AutonomousMode current_auto = AutonomousMode::LIAM_SKILLS;
 
 namespace autosetting {
     struct IntakeState {
@@ -592,6 +592,9 @@ void autonomous() {
         case AutonomousMode::TEST:
             test_auto();
             break;
+        case AutonomousMode::LIAM_SKILLS:
+            liam_skills();
+            break;
     }
 }
 

From 9c9a780279c7c0737a2a7d58de7dfcfba3c2a195 Mon Sep 17 00:00:00 2001
From: Retro5290 <allenliam08@gmail.com>
Date: Thu, 13 Feb 2025 14:09:21 -0800
Subject: [PATCH 09/13] tiutitiyyit

---
 src/auto.cpp | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/src/auto.cpp b/src/auto.cpp
index f3ee3b1..5a4b0b4 100644
--- a/src/auto.cpp
+++ b/src/auto.cpp
@@ -690,6 +690,10 @@ void liam_skills() {
         robot::drivetrain::chassis.moveToPoint(point5x, point5y, 1500, {.forwards = false, .maxSpeed = 70});
         pros::delay(200);
         robot::mechanisms::clamp.set_value(false);
+        //Liam Code
+        pros::delay(500);
+        robot::drivetrain::chassis.turnToPoint(0, 57.96, 1000, {.forwards = true});
+        robot::drivetrain::chassis.moveToPoint(0, 57.69, 1500, {.forwards = true, .maxSpeed = 150});
 
         // Q2 ---
         /*

From c6f96015ecaf8884782d51ad20585e033abc083a Mon Sep 17 00:00:00 2001
From: Retro5290 <allenliam08@gmail.com>
Date: Thu, 13 Feb 2025 18:00:03 -0800
Subject: [PATCH 10/13] idk

---
 src/auto.cpp | 45 ++++++++++++++++++++++++++++++++-------------
 1 file changed, 32 insertions(+), 13 deletions(-)

diff --git a/src/auto.cpp b/src/auto.cpp
index 5a4b0b4..d67f526 100644
--- a/src/auto.cpp
+++ b/src/auto.cpp
@@ -622,31 +622,31 @@ void liam_skills() {
 
     // Q2
     // Stake 2 (part 1)
-    float point6x = -46.809;
+    float point6x = -48.809;
     float point6y = 34.381;
 
     // Stake 2 (part 2)
-    float point7x = -47.198;
-    float point7y = -26.015;
+    float point7x = -44.198;    
+    float point7y = -25.015;
 
     // Ring 1
     float point8x = -23.506;
-    float point8y = -26.419;
+    float point8y = -24.419;
 
     // Ring 2
     float point9x = 29.899;
-    float point9y = -50.305;
+    float point9y = -47.305;
 
     // Ring 3, 4, 5
     float point10x = -60.015;
-    float point10y = -49.917;
+    float point10y = -48.917;
 
     // Ring 6
-    float point11x = -45.45;
-    float point11y = -60.209;
+    float point11x = -48.45;
+    float point11y = -55.209;
 
     // Corner
-    float point12x = -61.763;
+    float point12x = -64.763;
     float point12y = -62.928;
 
 
@@ -690,16 +690,35 @@ void liam_skills() {
         robot::drivetrain::chassis.moveToPoint(point5x, point5y, 1500, {.forwards = false, .maxSpeed = 70});
         pros::delay(200);
         robot::mechanisms::clamp.set_value(false);
-        //Liam Code
+        //Liam Code---------------------------------------
+       /*
+        //go to wall stake
         pros::delay(500);
         robot::drivetrain::chassis.turnToPoint(0, 57.96, 1000, {.forwards = true});
-        robot::drivetrain::chassis.moveToPoint(0, 57.69, 1500, {.forwards = true, .maxSpeed = 150});
+        autosetting::run_LB(4800);
+        robot::drivetrain::chassis.moveToPoint(-3, 55.69, 1500, {.forwards = true, .maxSpeed = 150});
+        autosetting::run_intake(5000);
+        robot::drivetrain::chassis.waitUntilDone(); 
+        robot::drivetrain::chassis.turnToHeading(0, 1000);
+        robot::drivetrain::chassis.waitUntilDone();
+        robot::drivetrain::chassis.moveToPoint(0, 67.69, 1500, {.forwards = true, .maxSpeed = 150});
+        robot::drivetrain::chassis.waitUntilDone();
+        //wall stake
+        autosetting::run_LB(18000);
+        pros::delay(1500);
+        autosetting::run_LB(0);
+        robot::drivetrain::chassis.moveToPoint(0, 38.69, 1500, {.forwards = false, .maxSpeed = 150});
+*/
 
         // Q2 ---
-        /*
+        
         robot::drivetrain::chassis.turnToPoint(point6x, point6y, 800, {.minSpeed = 127, .earlyExitRange = 20});
         robot::drivetrain::chassis.moveToPoint(point6x, point6y, 1500);
         
+        robot::drivetrain::chassis.turnToPoint(point7x-12, point7y, 700, {.forwards = false});
+        robot::drivetrain::chassis.moveToPoint(point7x-12, point7y, 2000, {.forwards = false, .minSpeed = 127, .earlyExitRange = 22});
+        robot::drivetrain::chassis.moveToPose(point7x-12, point7y, 0, 1500, {.forwards = false, .maxSpeed = 60});
+
         robot::drivetrain::chassis.turnToPoint(point7x, point7y, 700, {.forwards = false});
         robot::drivetrain::chassis.moveToPoint(point7x, point7y, 2000, {.forwards = false, .minSpeed = 127, .earlyExitRange = 22});
         robot::drivetrain::chassis.moveToPose(point7x, point7y, 0, 1500, {.forwards = false, .maxSpeed = 60});
@@ -727,7 +746,7 @@ void liam_skills() {
         robot::drivetrain::chassis.moveToPoint(point12x, point12y, 1500, {.forwards = false, .maxSpeed = 70});
         pros::delay(200);
         robot::mechanisms::clamp.set_value(false);
-        */
+        
         // Q3
     } catch (const std::exception& e) {
         pros::lcd::print(0, "Skills Auto Error: %s", e.what());

From 2ffe26ae661ba7474ed2005884501be718866017 Mon Sep 17 00:00:00 2001
From: Retro5290 <114537600+Retro5290@users.noreply.github.com>
Date: Fri, 14 Feb 2025 08:21:10 -0800
Subject: [PATCH 11/13] m

---
 project.pros |   8 ++--
 src/auto.cpp | 103 +++++++++++++++++++++++++++++++++++++++++++++++++--
 src/main.cpp |   2 +-
 3 files changed, 105 insertions(+), 8 deletions(-)

diff --git a/project.pros b/project.pros
index 3a047ee..51ca6ae 100644
--- a/project.pros
+++ b/project.pros
@@ -1,7 +1,7 @@
 {
   "py/object": "pros.conductor.project.Project",
   "py/state": {
-    "project_name": "Maina",
+    "project_name": "Liam-Test",
     "target": "v5",
     "templates": {
       "LemLib": {
@@ -298,9 +298,9 @@
       }
     },
     "upload_options": {
-      "slot": 1,
-      "description": "",
-      "icon": "pizza"
+      "slot": 8,
+      "description": "skilllzzzz",
+      "icon": "planet"
     },
     "use_early_access": false
   }
diff --git a/src/auto.cpp b/src/auto.cpp
index 2c1079d..b6ffdd5 100644
--- a/src/auto.cpp
+++ b/src/auto.cpp
@@ -9,11 +9,12 @@ enum class AutonomousMode {
     RED_STAKE,
     BLUE_RING,
     BLUE_STAKE,      
-    TEST
+    TEST,
+    liam_skills
 };
   
 // Current autonomous selection
-static AutonomousMode current_auto = AutonomousMode::SKILLS;
+static AutonomousMode current_auto = AutonomousMode::liam_skills;
 
 namespace autosetting {
     struct IntakeState {
@@ -573,7 +574,7 @@ void autonomous() {
 
 
 
-            
+
         case AutonomousMode::RED_RING:
             red_ring_auto();
             break;
@@ -593,3 +594,99 @@ void autonomous() {
     }
 }
 
+void liam_skills() {
+        // Q1
+    // Ring 1
+    float point1x = -21;
+    float point1y = 26.03;
+
+    // Ring 2
+    float point2x = 29.899;
+    float point2y = 50.305;
+
+    // Ring 3, 4, 5
+    float point3x = -60.015;
+    float point3y = 49.917;
+
+    // Ring 6
+    float point4x = -45.45;
+    float point4y = 60.209;
+
+    // Corner
+    float point5x = -61.763;
+    float point5y = 62.928;
+
+    // Q2
+    // Stake 2 (part 1)
+    float point6x = -46.809;
+    float point6y = 34.381;
+
+    // Stake 2 (part 2)
+    float point7x = -47.198;
+    float point7y = -26.015;
+
+    // Ring 1
+    float point8x = -23.506;
+    float point8y = -26.419;
+
+    // Ring 2
+    float point9x = 29.899;
+    float point9y = -50.305;
+
+    // Ring 3, 4, 5
+    float point10x = -60.015;
+    float point10y = -49.917;
+
+    // Ring 6
+    float point11x = -45.45;
+    float point11y = -60.209;
+
+    // Corner
+    float point12x = -61.763;
+    float point12y = -62.928;
+
+
+    try {
+        robot::drivetrain::chassis.setPose(-55.635, 0, 270);
+        robot::mechanisms::lbRotationSensor.set_position(0);
+        /* lb score on alliance stake (currently too big)
+        autosetting::run_LB(25000);
+        pros::delay(600);
+        */
+        robot::drivetrain::chassis.moveToPoint(-47, 0, 1000, {.forwards = false});
+        robot::drivetrain::chassis.waitUntilDone();
+       // autosetting::run_LB(0);
+
+
+        robot::drivetrain::chassis.turnToHeading(180, 1000);
+        robot::drivetrain::chassis.moveToPoint(-47, 26.03, 1000, {.forwards = false, .maxSpeed = 60});
+        robot::drivetrain::chassis.waitUntil(21); // 11 
+        robot::mechanisms::clamp.set_value(true);
+        robot::drivetrain::chassis.waitUntilDone();
+        robot::mechanisms::lbMotor.set_brake_mode(pros::E_MOTOR_BRAKE_COAST);
+        robot::mechanisms::lbMotor.move_velocity(0);
+
+        // Q1 ---
+        robot::drivetrain::chassis.turnToPoint(point1x, point1y, 1000); 
+        robot::drivetrain::chassis.waitUntilDone();  
+        autosetting::run_intake(20000);
+        autosetting::pickup_ring(point1x, point1y, 9, 4); //1111111
+
+        pros::delay(200);
+        robot::drivetrain::chassis.turnToPoint(point2x, point2y, 1000);
+        autosetting::pickup_ring(point2x, point2y, 9, 4); //2222222
+        pros::delay(200);
+        robot::drivetrain::chassis.turnToPoint(point3x, point3y, 1000);
+        robot::drivetrain::chassis.moveToPoint(point3x, point3y, 4000, {.maxSpeed = 50});
+        pros::delay(200);
+        robot::drivetrain::chassis.turnToPoint(point4x, point4y, 1000);
+        autosetting::pickup_ring(point4x, point4y, 9, 4); //3333333
+        pros::delay(200);
+        robot::drivetrain::chassis.turnToPoint(point5x, point5y, 1000, {.forwards = false});
+        robot::drivetrain::chassis.moveToPoint(point5x, point5y, 1500, {.forwards = false, .maxSpeed = 70});
+        pros::delay(200);
+        robot::mechanisms::clamp.set_value(false); 
+    } catch (const std::exception& e) {
+        pros::lcd::print(0, "Liam skills auto error: %s", e.what());
+    }
+}
\ No newline at end of file
diff --git a/src/main.cpp b/src/main.cpp
index f7d1adc..679ae95 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -28,7 +28,7 @@ namespace controls {
         static constexpr double LB_POSITIONS[] = {
             0.0,    // IDLE
             4800.0,  // INTAKE    
-            6000.0   // CLEAR
+            18000.0   // CLEAR
         };
 
         static constexpr int LB_POSITION_LOSS_BOUNDARY = 6000;

From 6fa94e3dbca0565df1250d27e04d28564e871c9f Mon Sep 17 00:00:00 2001
From: Retro5290 <114537600+Retro5290@users.noreply.github.com>
Date: Fri, 14 Feb 2025 09:08:30 -0800
Subject: [PATCH 12/13] law

---
 src/auto.cpp | 53 +++-------------------------------------------------
 1 file changed, 3 insertions(+), 50 deletions(-)

diff --git a/src/auto.cpp b/src/auto.cpp
index ad90bcb..b895020 100644
--- a/src/auto.cpp
+++ b/src/auto.cpp
@@ -630,33 +630,6 @@ void liam_skills() {
 
     // Q2
     // Stake 2 (part 1)
-<<<<<<< HEAD
-    float point6x = -46.809;
-    float point6y = 34.381;
-
-    // Stake 2 (part 2)
-    float point7x = -47.198;
-    float point7y = -26.015;
-
-    // Ring 1
-    float point8x = -23.506;
-    float point8y = -26.419;
-
-    // Ring 2
-    float point9x = 29.899;
-    float point9y = -50.305;
-
-    // Ring 3, 4, 5
-    float point10x = -60.015;
-    float point10y = -49.917;
-
-    // Ring 6
-    float point11x = -45.45;
-    float point11y = -60.209;
-
-    // Corner
-    float point12x = -61.763;
-=======
     float point6x = -48.809;
     float point6y = 34.381;
 
@@ -682,13 +655,11 @@ void liam_skills() {
 
     // Corner
     float point12x = -64.763;
->>>>>>> c6f96015ecaf8884782d51ad20585e033abc083a
     float point12y = -62.928;
 
 
     try {
         robot::drivetrain::chassis.setPose(-55.635, 0, 270);
-<<<<<<< HEAD
         robot::mechanisms::lbRotationSensor.set_position(0);
         /* lb score on alliance stake (currently too big)
         autosetting::run_LB(25000);
@@ -697,16 +668,6 @@ void liam_skills() {
         robot::drivetrain::chassis.moveToPoint(-47, 0, 1000, {.forwards = false});
         robot::drivetrain::chassis.waitUntilDone();
        // autosetting::run_LB(0);
-=======
-        robot::mechanisms::lbRotationSensor.set_position(4800);
-        
-        autosetting::run_LB(25000);
-        pros::delay(600);
-
-        robot::drivetrain::chassis.moveToPoint(-47, 0, 1000, {.forwards = false});
-        robot::drivetrain::chassis.waitUntilDone();
-        autosetting::run_LB(0);
->>>>>>> c6f96015ecaf8884782d51ad20585e033abc083a
 
 
         robot::drivetrain::chassis.turnToHeading(180, 1000);
@@ -736,15 +697,8 @@ void liam_skills() {
         robot::drivetrain::chassis.turnToPoint(point5x, point5y, 1000, {.forwards = false});
         robot::drivetrain::chassis.moveToPoint(point5x, point5y, 1500, {.forwards = false, .maxSpeed = 70});
         pros::delay(200);
-<<<<<<< HEAD
         robot::mechanisms::clamp.set_value(false); 
-    } catch (const std::exception& e) {
-        pros::lcd::print(0, "Liam skills auto error: %s", e.what());
-    }
-}
-=======
-        robot::mechanisms::clamp.set_value(false);
-        //Liam Code---------------------------------------
+                //Liam Code---------------------------------------
        /*
         //go to wall stake
         pros::delay(500);
@@ -803,7 +757,6 @@ void liam_skills() {
         
         // Q3
     } catch (const std::exception& e) {
-        pros::lcd::print(0, "Skills Auto Error: %s", e.what());
-    };
+        pros::lcd::print(0, "Liam skills auto error: %s", e.what());
+    }
 }
->>>>>>> c6f96015ecaf8884782d51ad20585e033abc083a

From 133ba51af7c0b4d27a6b70fecbb5f9b151636903 Mon Sep 17 00:00:00 2001
From: Retro5290 <114537600+Retro5290@users.noreply.github.com>
Date: Fri, 14 Feb 2025 09:11:36 -0800
Subject: [PATCH 13/13] dsfdsf

---
 src/auto.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/auto.cpp b/src/auto.cpp
index b895020..e2c7a92 100644
--- a/src/auto.cpp
+++ b/src/auto.cpp
@@ -630,8 +630,8 @@ void liam_skills() {
 
     // Q2
     // Stake 2 (part 1)
-    float point6x = -48.809;
-    float point6y = 34.381;
+    float point6x = -47.285;
+    float point6y = 34.881;
 
     // Stake 2 (part 2)
     float point7x = -44.198;