auto stuff

diff --git a/src/main/deploy/pathplanner/paths/Over the bump diagonal.path b/src/main/deploy/pathplanner/paths/Over the bump diagonal.path
index 6138a9ecad98ad8e291e95092a40f3b53faf35f9..9f5a2c1c048b8044f1e334d3b549242b84d184f9 100644 (file)
--- a/src/main/deploy/pathplanner/paths/Over the bump diagonal.path
+++ b/src/main/deploy/pathplanner/paths/Over the bump diagonal.path
@@ -119,7 +119,14 @@
     }
   ],
   "pointTowardsZones": [],
-  "eventMarkers": [],
+  "eventMarkers": [
+    {
+      "name": "Auto shoot",
+      "waypointRelativePos": 0.0,
+      "endWaypointRelativePos": 1.115860517435307,
+      "command": null
+    }
+  ],
   "globalConstraints": {
     "maxVelocity": 3.0,
     "maxAcceleration": 3.0,

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 68afc6f2467b0dcdd5620f1d1f17be7ad59c039b..377285c816d512c2b3e9088bcdc48549402901df 100644 (file)
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -7,6 +7,7 @@ import org.json.simple.parser.ParseException;
 import org.littletonrobotics.junction.Logger;
 
 import com.pathplanner.lib.auto.AutoBuilder;
+import com.pathplanner.lib.auto.NamedCommands;
 import com.pathplanner.lib.commands.PathPlannerAuto;
 
 import edu.wpi.first.math.geometry.Pose2d;
@@ -20,6 +21,8 @@ import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.commands.DoNothing;
 import frc.robot.commands.drive_comm.DefaultDriveCommand;
 import frc.robot.commands.gpm.AimAtPose;
+import frc.robot.commands.gpm.SimpleAutoShoot;
+import frc.robot.commands.gpm.TurretAutoShoot;
 import frc.robot.commands.vision.ShutdownAllPis;
 import frc.robot.constants.AutoConstants;
 import frc.robot.constants.Constants;
@@ -154,7 +157,7 @@ public class RobotContainer {
   }
 
   public void registerCommands() {
-
+    NamedCommands.registerCommand("Auto shoot", new SimpleAutoShoot(turret, drive, shooter));
   }
 
   public static BooleanSupplier getAllianceColorBooleanSupplier() {