Add WIP command schedule

Preload PathPlanner autos
Remove old PathPlanner recorder (again)
Temporarily disable PhotonCamera version check

src/main/java/frc4388/robot/Robot.java

@@ -18,6 +18,7 @@ import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
 import frc4388.robot.commands.ExtenderIntakeCommands.ExtenderIntakeGroup;
+import frc4388.utility.Commander;
 import frc4388.utility.RobotTime;
 import frc4388.utility.Vector2D;
 
@@ -57,7 +58,7 @@ public class Robot extends TimedRobot {
     LOGGER.log(Level.FINE, "Logging Test 6/8");
     LOGGER.log(Level.FINER, "Logging Test 7/8");
     LOGGER.log(Level.FINEST, "Logging Test 8/8");
-
+    Commander.initialize();
     // var path =
     // PathPlannerUtil.Path.read(Filesystem.getDeployDirectory().toPath().resolve("pathplanner").resolve("Move
     // Forward.path").toFile());
@@ -93,7 +94,7 @@ public class Robot extends TimedRobot {
   @Override
   public void robotPeriodic() {
     m_robotTime.updateTimes();
-
+    Commander.periodic();
     Vector2D firstBallPosition = new Vector2D(15.56 - (82.83 / 2.00), 11.21 - 162.00);
     Vector2D secondBallPosition = new Vector2D(-(40.44 * (Math.sqrt(2.00) / 2.00)) - ((82.83 - 7.58) * (Math.sqrt(2.00) / 2.00)) - (82.83 / 2.00), -(40.44 * (Math.sqrt(2.00) / 2.00)) + ((82.83 - 7.58) * (Math.sqrt(2.00) / 2.00)) - (219.25 / 2.00)); // * position of second ball, relative to hub.
     Vector2D firstToSecond = Vector2D.subtract(secondBallPosition, firstBallPosition);
@@ -137,17 +138,6 @@ public class Robot extends TimedRobot {
   public void disabledInit() {
     LOGGER.fine("disabledInit()");
     m_robotTime.endMatchTime();
-    if (isTest()) {
-      // IMPORTANT: Had to chown the pathplanner folder in order to save autos.
-      File outputFile = Filesystem.getDeployDirectory().toPath().resolve("pathplanner")
-          .resolve("recording." + System.currentTimeMillis() + ".path").toFile();
-      if (Boolean.TRUE.equals(Errors.log().getWithDefault(outputFile::createNewFile, false))) {
-        // m_robotContainer.createPath(null, null, false).write(outputFile);
-        LOGGER.log(Level.SEVERE, "Recorded path to {0}.", outputFile.getPath());
-      } else
-        LOGGER.log(Level.SEVERE, "Unable to record path to {0}", outputFile.getPath());
-    }
-
     m_robotContainer.m_robotVisionOdometry.setLEDs(false);
   }
 
@@ -179,7 +169,9 @@ public class Robot extends TimedRobot {
    * This function is called periodically during autonomous.
    */
   @Override
-  public void autonomousPeriodic() {}
+  public void autonomousPeriodic() {
+    final int a = 1;
+  }
 
   @Override
   public void teleopInit() {

src/main/java/frc4388/robot/RobotContainer.java

@@ -122,6 +122,9 @@ public class RobotContainer {
 
   private SendableChooser<SequentialCommandGroup> quickAutoChooser = new SendableChooser<>();
 
+  private final SequentialCommandGroup autoJMove1 = buildAuto(3.0, 3.0, "JMove1");
+  private final SequentialCommandGroup autoJMove2 = buildAuto(3.0, 3.0, "JMove2");
+
 /**
  * SmartDash
  * - Limelight cam X
@@ -625,11 +628,11 @@ public class RobotContainer {
     // ! PathPlanner Testing
     ParallelDeadlineGroup intakeWithPath1 = new ParallelDeadlineGroup(new RunCommandForTime(new RunCommand(() -> m_robotIntake.runAtOutput(-1.0), m_robotIntake), 3.0, true), 
                                                                      new RunCommand(() -> m_robotSerializer.setSerializer(0.8), m_robotSerializer), 
-                                                                     buildAuto(3.0, 3.0, "JMove"));
+                                                                     autoJMove1);
 
     ParallelDeadlineGroup intakeWithPath2 = new ParallelDeadlineGroup(new RunCommandForTime(new RunCommand(() -> m_robotIntake.runAtOutput(-1.0), m_robotIntake), 5.0, true), 
                                                                      new RunCommand(() -> m_robotSerializer.setSerializer(0.8), m_robotSerializer), 
-                                                                     buildAuto(3.0, 3.0, "JMove2"));
+                                                                     autoJMove2);
 
     ParallelCommandGroup extendWhileTurretIsAiming = new ParallelCommandGroup(new RunCommandForTime(new RunCommand(() -> m_robotTurret.runShooterRotatePID((180.0 / Math.PI) * Math.atan2(-(82.83 / 2.00) + 15.56, -(219.25 / 2.00) - 40.44 + 10.00)), m_robotTurret), 1.0, true), new ExtenderIntakeGroup(m_robotIntake, m_robotExtender));
     ParallelCommandGroup intakeWithPathAndTrackTarget = new ParallelCommandGroup(intakeWithPath1, weirdAutoShootingGroup2);

src/main/java/frc4388/robot/subsystems/VisionOdometry.java

@@ -51,6 +51,7 @@ public class VisionOdometry extends SubsystemBase {
 
     setLEDs(false);
     setDriverMode(false);
+    PhotonCamera.setVersionCheckEnabled(false);
   }
 
   /** Gets the vision points from the limelight