add dynamic to super shuttling

diff --git a/src/main/java/frc/robot/commands/auto_comm/ChoreoPathCommandBuilder.java b/src/main/java/frc/robot/commands/auto_comm/ChoreoPathCommandBuilder.java
index 9485c0249579e3b329e2a4221aecbca3ab02c33c..8216f71ca0c349c7996696f290a160f37d71f4de 100644 (file)
--- a/src/main/java/frc/robot/commands/auto_comm/ChoreoPathCommandBuilder.java
+++ b/src/main/java/frc/robot/commands/auto_comm/ChoreoPathCommandBuilder.java
@@ -280,20 +280,15 @@ public class ChoreoPathCommandBuilder {
         }),
         shuttlingTrajectory.cmd()));
 
-    return routine;
-
-  }
-
-  public AutoRoutine rightSuperShuttling(AutoFactory factory) {
-    AutoRoutine routine = factory.newRoutine("rightSuperShuttling");
-
-    AutoTrajectory shuttlingTrajectory = routine.trajectory("superShuttling").mirrorY();
-
-    routine.active().onTrue(Commands.sequence(
-        shuttlingTrajectory.resetOdometry(),
+    shuttlingTrajectory.done().onTrue(Commands.sequence(
+        new InstantCommand(() -> {
+          hood.forceHoodDown(false);
+        }),
+        new RunSpindexerWithStop(spindexer, turret, hood, intake).raceWith(new IntakeMovementCommand(intake)),
         new InstantCommand(() -> {
           intake.extend();
           intake.spinStart();
+          hood.forceHoodDown(true);
         }),
         shuttlingTrajectory.cmd()));