Stub of Autonomous Motion Stuff

src/main/deploy/pathplanner/autos/West Test Auto.auto

@@ -0,0 +1,25 @@
+{
+  "version": 1.0,
+  "startingPose": {
+    "position": {
+      "x": 2.0,
+      "y": 7.0
+    },
+    "rotation": 0
+  },
+  "command": {
+    "type": "sequential",
+    "data": {
+      "commands": [
+        {
+          "type": "path",
+          "data": {
+            "pathName": "West Test Path"
+          }
+        }
+      ]
+    }
+  },
+  "folder": null,
+  "choreoAuto": false
+}

src/main/deploy/pathplanner/paths/West Test Path.path

@@ -0,0 +1,52 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 2.0,
+        "y": 7.0
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 3.0,
+        "y": 7.0
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 4.502775862694583,
+        "y": 7.0
+      },
+      "prevControl": {
+        "x": 3.502775862694583,
+        "y": 7.0
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 0,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": null,
+  "previewStartingState": {
+    "rotation": 0,
+    "velocity": 0
+  },
+  "useDefaultConstraints": true
+}

src/main/java/frc/robot/RobotContainer.java

@@ -13,6 +13,8 @@
 
 package frc.robot;
 
+import com.pathplanner.lib.commands.PathPlannerAuto;
+
 import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.wpilibj.GenericHID;
 import edu.wpi.first.wpilibj.XboxController;
@@ -40,9 +42,12 @@
 import frc.robot.subsystems.drive.ModuleIOSparkMax;
 
 /**
- * This class is where the bulk of the robot should be declared. Since Command-based is a
- * "declarative" paradigm, very little robot logic should actually be handled in the {@link Robot}
- * periodic methods (other than the scheduler calls). Instead, the structure of the robot (including
+ * This class is where the bulk of the robot should be declared. Since
+ * Command-based is a
+ * "declarative" paradigm, very little robot logic should actually be handled in
+ * the {@link Robot}
+ * periodic methods (other than the scheduler calls). Instead, the structure of
+ * the robot (including
  * subsystems, commands, and button mappings) should be declared here.
  */
 public class RobotContainer {
@@ -55,27 +60,27 @@ public class RobotContainer {
   private final Mast m_mast;
   private final Climber m_climber;
   public static final TopFeederSensor m_topFeederSensor = new TopFeederSensor();
-  public static final TopIncrementerSensor m_topIncrementerSensor = new TopIncrementerSensor();
-  ;
+  public static final TopIncrementerSensor m_topIncrementerSensor = new TopIncrementerSensor();;
 
   // Controller
   private final CommandXboxController driverPad = new CommandXboxController(0);
   private final CommandXboxController operPad = new CommandXboxController(1);
 
-  /** The container for the robot. Contains subsystems, OI devices, and commands. */
+  /**
+   * The container for the robot. Contains subsystems, OI devices, and commands.
+   */
   public RobotContainer() {
     switch (Constants.currentMode) {
       case REAL:
         // Real robot, instantiate hardware IO implementations
         switch (Constants.currentRobot) {
           case PROTO:
-            drive =
-                new Drive(
-                    new GyroIOPigeon2(false),
-                    new ModuleIOSparkMax(0), // FL
-                    new ModuleIOSparkMax(1), // FR
-                    new ModuleIOSparkMax(2), // BL
-                    new ModuleIOSparkMax(3)); // BR
+            drive = new Drive(
+                new GyroIOPigeon2(false),
+                new ModuleIOSparkMax(0), // FL
+                new ModuleIOSparkMax(1), // FR
+                new ModuleIOSparkMax(2), // BL
+                new ModuleIOSparkMax(3)); // BR
 
             m_intake = null;
             m_feeder = null;
@@ -86,13 +91,12 @@ public RobotContainer() {
             break;
 
           case REAL:
-            drive =
-                new Drive(
-                    new GyroIOPigeon2(false),
-                    new ModuleIOSparkFlex(0), // FL
-                    new ModuleIOSparkFlex(1), // FR
-                    new ModuleIOSparkFlex(2), // BL
-                    new ModuleIOSparkFlex(3)); // BR
+            drive = new Drive(
+                new GyroIOPigeon2(false),
+                new ModuleIOSparkFlex(0), // FL
+                new ModuleIOSparkFlex(1), // FR
+                new ModuleIOSparkFlex(2), // BL
+                new ModuleIOSparkFlex(3)); // BR
 
             m_intake = new Intake();
             m_feeder = new Feeder();
@@ -104,13 +108,17 @@ public RobotContainer() {
 
           case SUITCASE:
           default:
-            drive =
-                new Drive(
-                    new GyroIO() {},
-                    new ModuleIO() {},
-                    new ModuleIO() {},
-                    new ModuleIO() {},
-                    new ModuleIO() {});
+            drive = new Drive(
+                new GyroIO() {
+                },
+                new ModuleIO() {
+                },
+                new ModuleIO() {
+                },
+                new ModuleIO() {
+                },
+                new ModuleIO() {
+                });
 
             m_intake = null;
             m_feeder = null;
@@ -124,13 +132,13 @@ public RobotContainer() {
 
       case SIM:
         // Sim robot, instantiate physics sim IO implementations
-        drive =
-            new Drive(
-                new GyroIO() {},
-                new ModuleIOSim(),
-                new ModuleIOSim(),
-                new ModuleIOSim(),
-                new ModuleIOSim());
+        drive = new Drive(
+            new GyroIO() {
+            },
+            new ModuleIOSim(),
+            new ModuleIOSim(),
+            new ModuleIOSim(),
+            new ModuleIOSim());
         m_intake = new Intake();
         m_feeder = new Feeder();
         m_incrementer = new Incrementer();
@@ -141,13 +149,17 @@ public RobotContainer() {
 
       default:
         // Replayed robot, disable IO implementations
-        drive =
-            new Drive(
-                new GyroIO() {},
-                new ModuleIO() {},
-                new ModuleIO() {},
-                new ModuleIO() {},
-                new ModuleIO() {});
+        drive = new Drive(
+            new GyroIO() {
+            },
+            new ModuleIO() {
+            },
+            new ModuleIO() {
+            },
+            new ModuleIO() {
+            },
+            new ModuleIO() {
+            });
         m_intake = null;
         m_feeder = null;
         m_incrementer = null;
@@ -162,9 +174,11 @@ public RobotContainer() {
   }
 
   /**
-   * Use this method to define your button->command mappings. Buttons can be created by
+   * Use this method to define your button->command mappings. Buttons can be
+   * created by
    * instantiating a {@link GenericHID} or one of its subclasses ({@link
-   * edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then passing it to a {@link
+   * edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then passing
+   * it to a {@link
    * edu.wpi.first.wpilibj2.command.button.JoystickButton}.
    */
   private void configureButtonBindings() {
@@ -228,7 +242,7 @@ private void configureButtonBindings() {
 
         /********************************************************************
          * Operator Commands
-         * *****************************************************************/
+         *****************************************************************/
         // Mast Preset for Climbing
         operPad.rightBumper().whileTrue(Commands.sequence(m_mast.setTask(Mast.Task.CLIMBING)));
 
@@ -300,6 +314,6 @@ private void configureButtonBindings() {
    * @return the command to run in autonomous
    */
   public Command getAutonomousCommand() {
-    return null;
+    return new PathPlannerAuto("West Test Auto");
   }
 }