From: moo <moogoesmeow123@gmail.com>
Date: Mon, 20 Apr 2026 22:02:11 +0000 (-0700)
Subject: taran's dynamic autos
X-Git-Url: https://git.taranathan.com/?a=commitdiff_plain;h=f0b272e0c92bad76fe0f483eaeefbd4b79488668;p=FRC2026.git

taran's dynamic autos
---

diff --git a/src/main/java/frc/robot/commands/auto_comm/DynamicAutoBuilder.java b/src/main/java/frc/robot/commands/auto_comm/DynamicAutoBuilder.java
new file mode 100644
index 0000000..f3430b8
--- /dev/null
+++ b/src/main/java/frc/robot/commands/auto_comm/DynamicAutoBuilder.java
@@ -0,0 +1,97 @@
+package frc.robot.commands.auto_comm;
+
+import edu.wpi.first.wpilibj.Timer;
+import edu.wpi.first.wpilibj2.command.*;
+import frc.robot.commands.gpm.IntakeCommand;
+import frc.robot.commands.gpm.RunSpindexer;
+import frc.robot.subsystems.Intake.Intake;
+import frc.robot.subsystems.PowerControl.BreakerConstants;
+import frc.robot.subsystems.PowerControl.EMABreaker;
+import frc.robot.subsystems.hood.Hood;
+import frc.robot.subsystems.spindexer.Spindexer;
+import frc.robot.subsystems.turret.Turret;
+
+import com.pathplanner.lib.commands.PathPlannerAuto;
+
+public class DynamicAutoBuilder {
+
+    private final Spindexer spindexer;
+    private final Turret turret;
+    private final Hood hood;
+    private final Intake intake;
+    private final EMABreaker breaker;
+
+    public DynamicAutoBuilder(Spindexer spindexer, Turret turret, Hood hood, Intake intake, EMABreaker breaker) {
+        this.spindexer = spindexer;
+        this.turret = turret;
+        this.hood = hood;
+        this.intake = intake;
+        this.breaker = breaker;
+    }
+
+    public Command getLeftDynamicDoubleLiberalSwipe() {
+        return new SequentialCommandGroup(
+                new InstantCommand(() -> {
+                    hood.forceHoodDown(true);
+                    intake.extend();
+                    intake.spinStart();
+                }),
+
+                new PathPlannerAuto("LeftSwipeOne"),
+
+                new InstantCommand(() -> hood.forceHoodDown(false)),
+                runSpindexerWithAbort(),
+                new InstantCommand(() -> hood.forceHoodDown(true)),
+
+                new PathPlannerAuto("LeftSwipeTwo"),
+                new InstantCommand(() -> hood.forceHoodDown(false)),
+                runSpindexerWithAbort(),
+                new InstantCommand(() -> hood.forceHoodDown(true)),
+
+                new PathPlannerAuto("LeftSwipeTwo"),
+                new InstantCommand(() -> hood.forceHoodDown(false)),
+                runSpindexerWithAbort(),
+                new InstantCommand(() -> hood.forceHoodDown(true)),
+
+                new PathPlannerAuto("LeftSwipeTwo"),
+                new InstantCommand(() -> hood.forceHoodDown(false)),
+                runSpindexerWithAbort(),
+                new InstantCommand(() -> hood.forceHoodDown(true))
+        );       
+    }
+
+    public Command getRightDynamicDoubleLiberalSwipe() {
+        return new SequentialCommandGroup(
+                new InstantCommand(() -> hood.forceHoodDown(true)),
+
+                new PathPlannerAuto("RightSwipeOne"),
+                runSpindexerWithAbort(),
+
+                new PathPlannerAuto("RightSwipeTwo"),
+                runSpindexerWithAbort(),
+
+                new PathPlannerAuto("RightSwipeTwo"),
+                runSpindexerWithAbort(),
+
+                new PathPlannerAuto("RightSwipeTwo"),
+                runSpindexerWithAbort());
+    }
+
+    private Command runSpindexerWithAbort() {
+        // should race: when a command finnishes (will always be the wait until command)
+        // then we will end the command
+        // return new RunSpindexer(spindexer, turret, hood, intake).raceWith(new
+        // WaitCommand(5.0));
+
+        var timer = new Timer();
+        timer.start();
+
+        return new RunSpindexer(spindexer, turret, hood, intake).raceWith(
+                new WaitUntilCommand(() -> breaker.getAverageCurrentDraw(BreakerConstants.SPINDEXER_PORTS) < 5.0 && timer.hasElapsed(3.0)));
+
+        // return new ParallelDeadlineGroup(new WaitUntilCommand(() ->
+        // spindexer.spinningAir()), new RunSpindexer(spindexer, turret, hood, intake));
+        // return new ParallelDeadlineGroup(new WaitCommand(5.0), new
+        // RunSpindexer(spindexer, turret, hood, intake));
+    }
+}