From: Taran Nathan <moogoesmeow123@gmail.com>
Date: Sun, 3 May 2026 23:09:35 +0000 (-0500)
Subject: super shuttling code
X-Git-Url: https://git.taranathan.com/?a=commitdiff_plain;h=f0cbaa4b26a40214e80a2743e963d3fd74368f4d;p=FRC2026.git

super shuttling code

super shuttling right
---

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 ae39311..9485c02 100644
--- a/src/main/java/frc/robot/commands/auto_comm/ChoreoPathCommandBuilder.java
+++ b/src/main/java/frc/robot/commands/auto_comm/ChoreoPathCommandBuilder.java
@@ -111,7 +111,6 @@ public class ChoreoPathCommandBuilder {
 
   }
 
-  
   public AutoRoutine leftConservative(AutoFactory factory) {
     AutoRoutine routine = factory.newRoutine("leftConservative");
 
@@ -267,4 +266,38 @@ public class ChoreoPathCommandBuilder {
     return routine;
 
   }
+
+  public AutoRoutine leftSuperShuttling(AutoFactory factory) {
+    AutoRoutine routine = factory.newRoutine("leftSuperShuttling");
+
+    AutoTrajectory shuttlingTrajectory = routine.trajectory("superShuttling");
+
+    routine.active().onTrue(Commands.sequence(
+        shuttlingTrajectory.resetOdometry(),
+        new InstantCommand(() -> {
+          intake.extend();
+          intake.spinStart();
+        }),
+        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(),
+        new InstantCommand(() -> {
+          intake.extend();
+          intake.spinStart();
+        }),
+        shuttlingTrajectory.cmd()));
+
+    return routine;
+
+  }
 }