updates for ARL

.wpilib/wpilib_preferences.json

@@ -2,5 +2,5 @@
     "enableCppIntellisense": false,
     "currentLanguage": "java",
     "projectYear": "2023",
-    "teamNumber": 6413
+    "teamNumber": 9986
 }

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

@@ -26,6 +26,7 @@
 import frc.robot.commands.QuickAuto;
 import frc.robot.commands.Autos.BalanceAuto;
 import frc.robot.commands.Autos.DriveAndBalance;
+import frc.robot.commands.Autos.ScoreDriveCommunityBalance;
 import frc.robot.subsystems.drive.Drive;
 import frc.robot.subsystems.drive.ModuleIOSim;
 import frc.robot.subsystems.drive.ModuleIOSparkMax;
@@ -107,17 +108,19 @@ public RobotContainer() {
 
       }
 
-      m_Chooser.addOption("FullAuto", new AutoDriver(drive, gyro, pose, Trajectories.test, true));
+      // m_Chooser.addOption("FullAuto", new AutoDriver(drive, gyro, pose, Trajectories.test, true));
+      m_Chooser.addOption("Score Drive out of Community then Balance", new ScoreDriveCommunityBalance(drive, gyro));
+      m_Chooser.addOption("Score and Balance", new DriveAndBalance(drive, gyro));
       // Set up auto routines
-      autoChooser.addDefaultOption("Do Nothing", new InstantCommand());
+      // autoChooser.addDefaultOption("Do Nothing", new InstantCommand());
       // autoChooser.addOption("FullAuto", new AutoDriver(drive, gyro, pose, Trajectories.test, true));
       // SmartDashboard.putData(m_Chooser);
       Shuffleboard.getTab("Auto").add(autoChooser.getSendableChooser());
 
 
 
 
-        
+      SmartDashboard.putData("m_chooser", m_Chooser);
         // Configure the button bindings
         configureButtonBindings();
   }
@@ -148,7 +151,10 @@ private void configureButtonBindings() {
   public Command getAutonomousCommand() {
     //  return autoChooser.get();
     //  return new QuickAuto(drive, gyro, 4);
-    return new DriveAndBalance(drive, gyro);
+    // return new DriveAndBalance(drive, gyro);
+    // return new ScoreDriveCommunityBalance(drive, gyro);
+    return m_Chooser.getSelected();
+
 
   }
 }

src/main/java/frc/robot/commands/Autos/ScoreDriveCommunityBalance.java

@@ -0,0 +1,34 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands.Autos;
+
+import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
+import frc.robot.commands.QuickAuto;
+import frc.robot.subsystems.drive.Drive;
+import frc.robot.subsystems.gyro.Gyro;
+
+// NOTE:  Consider using this command inline, rather than writing a subclass.  For more
+// information, see:
+// https://docs.wpilib.org/en/stable/docs/software/commandbased/convenience-features.html
+public class ScoreDriveCommunityBalance extends SequentialCommandGroup {
+  /** Creates a new ScoreDriveCommunityBalance. */
+  public final Drive driveTrainSubsystem;
+  public final Gyro gyroSubsystem;
+
+  public ScoreDriveCommunityBalance(Drive drive, Gyro gyro) {
+    driveTrainSubsystem = drive;
+    gyroSubsystem = gyro;
+    addRequirements(driveTrainSubsystem, gyroSubsystem);
+    // Add your commands in the addCommands() call, e.g.
+    // addCommands(new FooCommand(), new BarCommand());
+    addCommands(
+      new QuickAuto(drive, gyro, 0.5, 0.5),
+      new QuickAuto(drive, gyro, -0.5, 1),
+      new QuickAuto(drive, gyro, 0.5, 5),
+      new QuickAuto(drive, gyro, -0.5, 3),
+      new BalanceAuto(drive, gyro, 11)
+    );
+  }
+}