Cross The Line Middle

src/main/deploy/pathplanner/autos/Middle Cross The Line.auto

@@ -0,0 +1,19 @@
+{
+  "version": "2025.0",
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "Middle Start Cross The Line"
+          }
+        }
+      ]
+    }
+  },
+  "resetOdom": true,
+  "folder": null,
+  "choreoAuto": false
+}

src/main/deploy/pathplanner/paths/Middle Start Cross The Line.path

@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 7.152226027397259,
+        "y": 4.0926155821917805
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 6.902226027397259,
+        "y": 4.0926155821917805
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 6.86673801369863,
+        "y": 4.0926155821917805
+      },
+      "prevControl": {
+        "x": 7.11673801369863,
+        "y": 4.0926155821917805
+      },
+      "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": 180.0
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 180.0
+  },
+  "useDefaultConstraints": true
+}

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

@@ -88,7 +88,7 @@ public RobotContainer() {
       );
 
       m_chooser.setDefaultOption("Empty Auto", new PathPlannerAuto("Empty Auto"));
-      m_chooser.addOption("Some Auto", new PathPlannerAuto("Some Auto"));
+      m_chooser.addOption("Middle Cross The Line", new PathPlannerAuto("Middle Cross The Line"));
       SmartDashboard.putData(m_chooser);
   }