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auto #134

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b028b25
Added LED strip utilization
JAMthepersonj Mar 22, 2026
d7d0889
it builds it is simulated needs to be tested
michaelk036 Mar 24, 2026
d00f995
small changes
michaelk036 Mar 25, 2026
c3a74ca
hi
michaelk036 Mar 25, 2026
5174c93
Merge branch 'main' of https://github.com/FRC4048/Java_2026 into MK-p…
JAMthepersonj Mar 25, 2026
04fae72
commit
JAMthepersonj Mar 25, 2026
d695686
COmmit
JAMthepersonj Mar 25, 2026
6029ce5
Merge branch 'main' into MK-path-ten
Sahiltheram Mar 25, 2026
b03750f
Added button to reset auto command
Sahiltheram Mar 26, 2026
23bcf77
commit
JAMthepersonj Mar 26, 2026
3e20032
hi
michaelk036 Mar 26, 2026
3eee674
Merge branch 'MK-path-ten' of https://github.com/FRC4048/Java_2026 in…
michaelk036 Mar 26, 2026
5b9a469
Debug
JAMthepersonj Mar 26, 2026
5621d27
debug
michaelk036 Mar 26, 2026
63606b7
removed shoot&pickup
michaelk036 Mar 26, 2026
a16e73b
Merge branch 'MK-path-ten' of https://github.com/FRC4048/Java_2026 in…
michaelk036 Mar 26, 2026
b67a092
debug
JAMthepersonj Mar 26, 2026
c58189c
Hub Active
JAMthepersonj Mar 26, 2026
cc6c3fa
folder
JAMthepersonj Mar 26, 2026
80a5d71
Merge branch 'main' of https://github.com/FRC4048/Java_2026 into JW-A…
JAMthepersonj Mar 26, 2026
31e27a1
commit
JAMthepersonj Mar 26, 2026
57de67b
Angler constants
JAMthepersonj Mar 26, 2026
3e7f4ad
commit
JAMthepersonj Mar 26, 2026
bcf5380
Added code to turn on the switchable LED channel
the-sun-x Mar 26, 2026
209f632
Merge branch 'JW-Added-LED-colors' of https://github.com/FRC4048/Java…
JAMthepersonj Mar 26, 2026
2834b7c
Merge branch 'JW-Added-LED-colors' of https://github.com/FRC4048/Java…
JAMthepersonj Mar 26, 2026
a48eca1
Commit
JAMthepersonj Mar 27, 2026
1cf5598
changed debug
JAMthepersonj Mar 27, 2026
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102 changes: 63 additions & 39 deletions src/main/deploy/choreo/Depot_Neutral_1.traj
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46 changes: 24 additions & 22 deletions src/main/deploy/choreo/Depot_ToDepot.traj
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Original file line number Diff line number Diff line change
Expand Up @@ -3,8 +3,8 @@
"version":3,
"snapshot":{
"waypoints":[
{"x":2.599, "y":7.33, "heading":3.141592653589793, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
{"x":1.3641765117645264, "y":5.963484287261963, "heading":3.141592653589793, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
{"x":2.599, "y":7.33, "heading":3.141592653589793, "intervals":16, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
{"x":1.2307121753692627, "y":5.964109897613525, "heading":3.141592653589793, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
"constraints":[
{"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
{"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
Expand All @@ -13,12 +13,13 @@
},
"params":{
"waypoints":[
{"x":{"exp":"2.599 m", "val":2.599}, "y":{"exp":"7.33 m", "val":7.33}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":15, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
{"x":{"exp":"1.3641765117645264 m", "val":1.3641765117645264}, "y":{"exp":"5.963484287261963 m", "val":5.963484287261963}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
{"x":{"exp":"2.599 m", "val":2.599}, "y":{"exp":"7.33 m", "val":7.33}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":16, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false},
{"x":{"exp":"1.2307121753692627 m", "val":1.2307121753692627}, "y":{"exp":"5.964109897613525 m", "val":5.964109897613525}, "heading":{"exp":"180 deg", "val":3.141592653589793}, "intervals":40, "split":false, "fixTranslation":true, "fixHeading":true, "overrideIntervals":false}],
"constraints":[
{"from":"first", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
{"from":"last", "to":null, "data":{"type":"StopPoint", "props":{}}, "enabled":true},
{"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false}],
{"from":"first", "to":"last", "data":{"type":"KeepInRectangle", "props":{"x":{"exp":"0 m", "val":0.0}, "y":{"exp":"0 m", "val":0.0}, "w":{"exp":"16.541 m", "val":16.541}, "h":{"exp":"8.0692 m", "val":8.0692}}}, "enabled":false},
{"from":0, "to":1, "data":{"type":"MaxVelocity", "props":{"max":{"exp":"0.4 m / s", "val":0.4}}}, "enabled":true}],
"targetDt":{
"exp":"0.05 s",
"val":0.05
Expand Down Expand Up @@ -49,24 +50,25 @@
"differentialTrackWidth":0.5588
},
"sampleType":"Swerve",
"waypoints":[0.0,0.73983],
"waypoints":[0.0,0.75837],
"samples":[
{"t":0.0, "x":2.599, "y":7.33, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-9.0702, "ay":-10.03752, "alpha":0.0, "fx":[-102.85431,-102.85431,-102.85431,-102.85431], "fy":[-113.82358,-113.82358,-113.82358,-113.82358]},
{"t":0.04932, "x":2.58797, "y":7.31779, "heading":3.14159, "vx":-0.44736, "vy":-0.49507, "omega":0.0, "ax":-9.06889, "ay":-10.03607, "alpha":0.0, "fx":[-102.83943,-102.83943,-102.83943,-102.83943], "fy":[-113.80711,-113.80711,-113.80711,-113.80711]},
{"t":0.09864, "x":2.55487, "y":7.28117, "heading":3.14159, "vx":-0.89466, "vy":-0.99007, "omega":0.0, "ax":-9.06705, "ay":-10.03404, "alpha":0.0, "fx":[-102.81858,-102.81858,-102.81858,-102.81858], "fy":[-113.78404,-113.78404,-113.78404,-113.78404]},
{"t":0.14797, "x":2.49972, "y":7.22013, "heading":3.14159, "vx":-1.34186, "vy":-1.48497, "omega":0.0, "ax":-9.06429, "ay":-10.03098, "alpha":0.0, "fx":[-102.78728,-102.78728,-102.78728,-102.78728], "fy":[-113.7494,-113.7494,-113.7494,-113.7494]},
{"t":0.19729, "x":2.42251, "y":7.13469, "heading":3.14159, "vx":-1.78893, "vy":-1.97972, "omega":0.0, "ax":-9.05968, "ay":-10.02588, "alpha":0.0, "fx":[-102.73502,-102.73502,-102.73502,-102.73502], "fy":[-113.69156,-113.69156,-113.69156,-113.69156]},
{"t":0.24661, "x":2.32325, "y":7.02485, "heading":3.14159, "vx":-2.23578, "vy":-2.47422, "omega":0.0, "ax":-9.05044, "ay":-10.01565, "alpha":0.0, "fx":[-102.63022,-102.63022,-102.63022,-102.63022], "fy":[-113.57559,-113.57559,-113.57559,-113.57559]},
{"t":0.29593, "x":2.20197, "y":6.89063, "heading":3.14159, "vx":-2.68216, "vy":-2.96821, "omega":0.0, "ax":-9.02258, "ay":-9.98482, "alpha":0.0, "fx":[-102.31433,-102.31433,-102.31433,-102.31433], "fy":[-113.22601,-113.22601,-113.22601,-113.22601]},
{"t":0.34526, "x":2.05871, "y":6.73209, "heading":3.14159, "vx":-3.12718, "vy":-3.46069, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]},
{"t":0.39458, "x":1.90447, "y":6.5614, "heading":3.14159, "vx":-3.12718, "vy":-3.46069, "omega":0.0, "ax":9.02258, "ay":9.98482, "alpha":0.0, "fx":[102.31433,102.31433,102.31433,102.31433], "fy":[113.22601,113.22601,113.22601,113.22601]},
{"t":0.4439, "x":1.7612, "y":6.40285, "heading":3.14159, "vx":-2.68216, "vy":-2.96821, "omega":0.0, "ax":9.05044, "ay":10.01565, "alpha":0.0, "fx":[102.63022,102.63022,102.63022,102.63022], "fy":[113.57559,113.57559,113.57559,113.57559]},
{"t":0.49322, "x":1.63992, "y":6.26864, "heading":3.14159, "vx":-2.23578, "vy":-2.47422, "omega":0.0, "ax":9.05968, "ay":10.02588, "alpha":0.0, "fx":[102.73502,102.73502,102.73502,102.73502], "fy":[113.69156,113.69156,113.69156,113.69156]},
{"t":0.54254, "x":1.54067, "y":6.1588, "heading":3.14159, "vx":-1.78893, "vy":-1.97972, "omega":0.0, "ax":9.06429, "ay":10.03098, "alpha":0.0, "fx":[102.78728,102.78728,102.78728,102.78728], "fy":[113.7494,113.7494,113.7494,113.7494]},
{"t":0.59187, "x":1.46346, "y":6.07336, "heading":3.14159, "vx":-1.34186, "vy":-1.48497, "omega":0.0, "ax":9.06705, "ay":10.03404, "alpha":0.0, "fx":[102.81858,102.81858,102.81858,102.81858], "fy":[113.78404,113.78404,113.78404,113.78404]},
{"t":0.64119, "x":1.4083, "y":6.01232, "heading":3.14159, "vx":-0.89466, "vy":-0.99007, "omega":0.0, "ax":9.06889, "ay":10.03607, "alpha":0.0, "fx":[102.83943,102.83943,102.83943,102.83943], "fy":[113.80711,113.80711,113.80711,113.80711]},
{"t":0.69051, "x":1.37521, "y":5.97569, "heading":3.14159, "vx":-0.44736, "vy":-0.49507, "omega":0.0, "ax":9.0702, "ay":10.03752, "alpha":0.0, "fx":[102.85431,102.85431,102.85431,102.85431], "fy":[113.82358,113.82358,113.82358,113.82358]},
{"t":0.73983, "x":1.36418, "y":5.96348, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
{"t":0.0, "x":2.599, "y":7.33, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":-9.57413, "ay":-9.55736, "alpha":0.0, "fx":[-108.56884,-108.56884,-108.56884,-108.56884], "fy":[-108.37859,-108.37859,-108.37859,-108.37859]},
{"t":0.0474, "x":2.58825, "y":7.31926, "heading":3.14159, "vx":-0.4538, "vy":-0.453, "omega":0.0, "ax":-9.5727, "ay":-9.55592, "alpha":0.0, "fx":[-108.55254,-108.55254,-108.55254,-108.55254], "fy":[-108.36231,-108.36231,-108.36231,-108.36231]},
{"t":0.0948, "x":2.55598, "y":7.28706, "heading":3.14159, "vx":-0.90753, "vy":-0.90594, "omega":0.0, "ax":-9.57068, "ay":-9.55391, "alpha":0.0, "fx":[-108.52973,-108.52973,-108.52973,-108.52973], "fy":[-108.33954,-108.33954,-108.33954,-108.33954]},
{"t":0.14219, "x":2.50222, "y":7.23339, "heading":3.14159, "vx":-1.36116, "vy":-1.35877, "omega":0.0, "ax":-9.56767, "ay":-9.5509, "alpha":0.0, "fx":[-108.49553,-108.49553,-108.49553,-108.49553], "fy":[-108.30541,-108.30541,-108.30541,-108.30541]},
{"t":0.18959, "x":2.42695, "y":7.15826, "heading":3.14159, "vx":-1.81465, "vy":-1.81147, "omega":0.0, "ax":-9.56265, "ay":-9.54589, "alpha":0.0, "fx":[-108.43862,-108.43862,-108.43862,-108.43862], "fy":[-108.2486,-108.2486,-108.2486,-108.2486]},
{"t":0.23699, "x":2.3302, "y":7.06167, "heading":3.14159, "vx":-2.2679, "vy":-2.26393, "omega":0.0, "ax":-9.55264, "ay":-9.5359, "alpha":0.0, "fx":[-108.32513,-108.32513,-108.32513,-108.32513], "fy":[-108.1353,-108.1353,-108.1353,-108.1353]},
{"t":0.28439, "x":2.21198, "y":6.94365, "heading":3.14159, "vx":-2.72068, "vy":-2.71591, "omega":0.0, "ax":-9.52289, "ay":-9.5062, "alpha":0.0, "fx":[-107.98774,-107.98774,-107.98774,-107.98774], "fy":[-107.7985,-107.7985,-107.7985,-107.7985]},
{"t":0.33179, "x":2.07232, "y":6.80425, "heading":3.14159, "vx":-3.17205, "vy":-3.16649, "omega":0.0, "ax":-6.33629, "ay":-6.32519, "alpha":0.0, "fx":[-71.85235,-71.85235,-71.85235,-71.85235], "fy":[-71.72644,-71.72644,-71.72644,-71.72644]},
{"t":0.37919, "x":1.91486, "y":6.64705, "heading":3.14159, "vx":-3.47238, "vy":-3.46629, "omega":0.0, "ax":6.33629, "ay":6.32519, "alpha":0.0, "fx":[71.85235,71.85235,71.85235,71.85235], "fy":[71.72644,71.72644,71.72644,71.72644]},
{"t":0.42658, "x":1.75739, "y":6.48986, "heading":3.14159, "vx":-3.17205, "vy":-3.16649, "omega":0.0, "ax":9.52289, "ay":9.5062, "alpha":0.0, "fx":[107.98774,107.98774,107.98774,107.98774], "fy":[107.7985,107.7985,107.7985,107.7985]},
{"t":0.47398, "x":1.61774, "y":6.35046, "heading":3.14159, "vx":-2.72068, "vy":-2.71591, "omega":0.0, "ax":9.55264, "ay":9.5359, "alpha":0.0, "fx":[108.32513,108.32513,108.32513,108.32513], "fy":[108.1353,108.1353,108.1353,108.1353]},
{"t":0.52138, "x":1.49951, "y":6.23244, "heading":3.14159, "vx":-2.2679, "vy":-2.26393, "omega":0.0, "ax":9.56265, "ay":9.54589, "alpha":0.0, "fx":[108.43862,108.43862,108.43862,108.43862], "fy":[108.2486,108.2486,108.2486,108.2486]},
{"t":0.56878, "x":1.40276, "y":6.13585, "heading":3.14159, "vx":-1.81465, "vy":-1.81147, "omega":0.0, "ax":9.56767, "ay":9.5509, "alpha":0.0, "fx":[108.49553,108.49553,108.49553,108.49553], "fy":[108.30541,108.30541,108.30541,108.30541]},
{"t":0.61618, "x":1.32749, "y":6.06072, "heading":3.14159, "vx":-1.36116, "vy":-1.35877, "omega":0.0, "ax":9.57068, "ay":9.55391, "alpha":0.0, "fx":[108.52973,108.52973,108.52973,108.52973], "fy":[108.33954,108.33954,108.33954,108.33954]},
{"t":0.66358, "x":1.27373, "y":6.00705, "heading":3.14159, "vx":-0.90753, "vy":-0.90594, "omega":0.0, "ax":9.5727, "ay":9.55592, "alpha":0.0, "fx":[108.55254,108.55254,108.55254,108.55254], "fy":[108.36231,108.36231,108.36231,108.36231]},
{"t":0.71097, "x":1.24147, "y":5.97485, "heading":3.14159, "vx":-0.4538, "vy":-0.453, "omega":0.0, "ax":9.57413, "ay":9.55736, "alpha":0.0, "fx":[108.56884,108.56884,108.56884,108.56884], "fy":[108.37859,108.37859,108.37859,108.37859]},
{"t":0.75837, "x":1.23071, "y":5.96411, "heading":3.14159, "vx":0.0, "vy":0.0, "omega":0.0, "ax":0.0, "ay":0.0, "alpha":0.0, "fx":[0.0,0.0,0.0,0.0], "fy":[0.0,0.0,0.0,0.0]}],
"splits":[0]
},
"events":[]
Expand Down
21 changes: 18 additions & 3 deletions src/main/java/frc/robot/Robot.java
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Original file line number Diff line number Diff line change
Expand Up @@ -17,7 +17,10 @@
import edu.wpi.first.wpilibj2.command.CommandScheduler;
import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
import frc.robot.autochooser.FieldLocation;
import frc.robot.commands.auto.ClearAutonomousCommand;
import frc.robot.constants.Constants;
import frc.robot.utils.BlinkinPattern;
import frc.robot.constants.enums.ShootingState.ShootState;
import frc.robot.utils.diag.Diagnostics;
import frc.robot.utils.logging.TimeoutLogger;
import frc.robot.utils.logging.commands.CommandLogger;
Expand Down Expand Up @@ -89,6 +92,11 @@ public Robot() {
// Instantiate our RobotContainer. This will perform all our button bindings, and put our
// autonomous chooser on the dashboard.
robotContainer = new RobotContainer();
if(Constants.DEBUG){
SmartDashboard.putData(
"Auto/Clear Autonomous Command",
new ClearAutonomousCommand(this::clearAutonomousCommand, robotContainer.getShootingState()));
}
}

public static RobotMode getMode() {
Expand Down Expand Up @@ -129,7 +137,7 @@ public void robotPeriodic() {
if (DriverStation.isDSAttached() && allianceColor.isEmpty()) {
allianceColor = DriverStation.getAlliance();
}

SmartDashboard.putBoolean("Hub Active?", hubActive());
if (Constants.DEBUG) {
SmartDashboard.putNumber("driverXbox.getLeftY()", driverXbox.getLeftY());
SmartDashboard.putNumber("driverXbox::getRightX", driverXbox.getRightX());
Expand All @@ -139,7 +147,6 @@ public void robotPeriodic() {
SmartDashboard.putNumber("Robot Y", robotContainer.getDriveBase().getPose().getY());
// Puts data on the elastic dashboard
SmartDashboard.putString("Alliance Color", Robot.allianceColorString());
SmartDashboard.putBoolean("Hub Active?", hubActive());
if (Constants.currentMode == Constants.Mode.SIM) {
Logger.recordOutput("SimPose", robotContainer.getDriveBase().getSimulationPose().get());
Logger.recordOutput("OdomPose", robotContainer.getDriveBase().getSimulationPose().get());
Expand All @@ -159,6 +166,7 @@ public void disabledInit() {

@Override
public void disabledPeriodic() {
robotContainer.getLightStrip().setPattern(BlinkinPattern.RAINBOW_LAVA_PALETTE);
}

/** This autonomous runs the autonomous command selected by your {@link RobotContainer} class. */
Expand Down Expand Up @@ -201,6 +209,13 @@ public void teleopInit() {
}
}

private void clearAutonomousCommand() {
if (autonomousCommand != null) {
autonomousCommand.cancel();
}
autonomousCommand = null;
}

/** This function is called periodically during operator control. */
@Override
public void teleopPeriodic() {
Expand Down Expand Up @@ -319,4 +334,4 @@ public FieldLocation location() {
public Pose2d getStartingLocation() {
return location().getLocation();
}
}
}
10 changes: 9 additions & 1 deletion src/main/java/frc/robot/RobotContainer.java
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Original file line number Diff line number Diff line change
Expand Up @@ -12,6 +12,7 @@
import choreo.auto.AutoRoutine;
import choreo.auto.AutoTrajectory;
import edu.wpi.first.wpilibj.Filesystem;
import edu.wpi.first.wpilibj.PowerDistribution;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.InstantCommand;
Expand Down Expand Up @@ -102,6 +103,9 @@ public class RobotContainer {
// The robot's subsystems and commands are defined here...
private final CommandXboxController controller =
new CommandXboxController(Constants.XBOX_CONTROLLER_PORT);

private final PowerDistribution powerDistribution = new PowerDistribution();

private final ClimberSubsystem climberSubsystem;
private final AnglerSubsystem anglerSubsystem;
private final IntakeSubsystem intakeSubsystem;
Expand Down Expand Up @@ -155,7 +159,8 @@ public RobotContainer() {
apriltagSubsystem = !Constants.TESTBED ? new ApriltagSubsystem(ApriltagSubsystem.createRealIo(), drivebase, truster) : null;
controllerSubsystem = !Constants.TESTBED ? new ControllerSubsystem(drivebase,intakeDeployer, this) : null;
lightStripSubsystem = new LightStripSubsystem(drivebase, shootState);
}
powerDistribution.setSwitchableChannel(true);
}
case REPLAY -> {
anglerSubsystem = new AnglerSubsystem(AnglerSubsystem.createMockIo());
intakeSubsystem = new IntakeSubsystem(IntakeSubsystem.createMockIo());
Expand Down Expand Up @@ -568,4 +573,7 @@ public ShootingState getShootingState() {
public IntakeDeployerSubsystem getDeployer(){
return intakeDeployer;
}
public LightStripSubsystem getLightStrip() {
return lightStripSubsystem;
}
}
6 changes: 3 additions & 3 deletions src/main/java/frc/robot/autochooser/AutoAction.java
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Original file line number Diff line number Diff line change
Expand Up @@ -8,9 +8,9 @@
public enum AutoAction {
DO_NOTHING("Do Nothing"),
SHOOT("Shoot"),
SHOOT_PICKUP("Shoot and Pickup"),
DISTURBANCE("Disturbance"),
NEUTRAL_ZONE("Shoot and Neutral Zone Pickup"),
//SHOOT_PICKUP("Shoot and Pickup"),
//DISTURBANCE("Disturbance"),
//NEUTRAL_ZONE("Shoot and Neutral Zone Pickup"),
INVALID("INVALID");
private final String name;
private static final HashMap<String, AutoAction> nameMap =
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22 changes: 10 additions & 12 deletions src/main/java/frc/robot/autochooser/AutoChooser.java
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Original file line number Diff line number Diff line change
Expand Up @@ -13,11 +13,8 @@
import frc.robot.commands.auto.neutral.OutpostNeutral;
import frc.robot.commands.auto.disturbance.DepotDisturbance;
import frc.robot.commands.auto.disturbance.OutpostDisturbance;
import frc.robot.commands.auto.shoot.DepotShoot;
import frc.robot.commands.auto.shoot.MidShoot;
import frc.robot.commands.auto.shoot.OutpostShoot;
import frc.robot.commands.auto.shoot.Shoot;
import frc.robot.commands.auto.shootpickup.DepotShootPickup;
import frc.robot.commands.auto.shootpickup.OutpostShootPickup;
import frc.robot.commands.auto.DoNothing;
import frc.robot.constants.enums.ShootingState;
import frc.robot.subsystems.AnglerSubsystem;
Expand Down Expand Up @@ -114,18 +111,18 @@ private void populateCommandMap() {

//shoot
commandMap.put(new AutoEvent(AutoAction.SHOOT, FieldLocation.DEPOT_SIDE),
new DepotShoot(drivetrain, auto, shooter, shootstate, hopper, feeder, turret, angler));
new Shoot(drivetrain, auto, shooter, shootstate, hopper, feeder, turret, angler, controller, intake));
commandMap.put(new AutoEvent(AutoAction.SHOOT, FieldLocation.MID),
new MidShoot(drivetrain, auto, shooter, shootstate, hopper, feeder, turret, angler));
new Shoot(drivetrain, auto, shooter, shootstate, hopper, feeder, turret, angler, controller, intake));
commandMap.put(new AutoEvent(AutoAction.SHOOT, FieldLocation.OUTPOST_SIDE),
new OutpostShoot(drivetrain, auto, shooter, shootstate, hopper, feeder, turret, angler));
new Shoot(drivetrain, auto, shooter, shootstate, hopper, feeder, turret, angler, controller, intake));

/*
//shoot-pickup
commandMap.put(new AutoEvent(AutoAction.SHOOT_PICKUP, FieldLocation.DEPOT_SIDE),
new DepotShootPickup(drivetrain, auto, shooter, shootstate, hopper, feeder, turret, angler, controller, intake));
commandMap.put(new AutoEvent(AutoAction.SHOOT_PICKUP, FieldLocation.OUTPOST_SIDE),
new OutpostShootPickup(drivetrain, auto, shooter, shootstate, hopper, feeder, turret, angler, intake, controller));


//disturbance
commandMap.put(new AutoEvent(AutoAction.DISTURBANCE, FieldLocation.DEPOT_SIDE),
new DepotDisturbance(drivetrain, auto, shootstate, turret, angler, controller));
Expand All @@ -137,6 +134,7 @@ private void populateCommandMap() {
new DepotNeutral(drivetrain, auto, shootstate, turret, angler, controller));
commandMap.put(new AutoEvent(AutoAction.NEUTRAL_ZONE, FieldLocation.OUTPOST_SIDE),
new OutpostNeutral(drivetrain, auto, shootstate, turret, angler, controller));
*/

}

Expand All @@ -157,11 +155,10 @@ private void populateDescriptionMap() {
"shoot from the middle");
descriptionMap.put(new AutoEvent(AutoAction.SHOOT, FieldLocation.OUTPOST_SIDE),
"shoot from the outpost");

/*
descriptionMap.put(new AutoEvent(AutoAction.SHOOT_PICKUP, FieldLocation.DEPOT_SIDE),
"shoot and pickup from the depot");
descriptionMap.put(new AutoEvent(AutoAction.SHOOT_PICKUP, FieldLocation.OUTPOST_SIDE),
"shoot and pickup from the outpost");


descriptionMap.put(new AutoEvent(AutoAction.DISTURBANCE, FieldLocation.DEPOT_SIDE),
"run the depot disturbance route");
Expand All @@ -172,6 +169,7 @@ private void populateDescriptionMap() {
"shoot and run depot neutral zone cycle");
descriptionMap.put(new AutoEvent(AutoAction.NEUTRAL_ZONE, FieldLocation.OUTPOST_SIDE),
"shoot and run outpost neutral zone cycle");
*/
}

public AutoEvent getSelectedEvent() {
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