Added EightballAutoMid

Co-Authored-By: kyrarivera <kyrarivera@users.noreply.github.com>

PathWeaver/Groups/EightBallMid

@@ -0,0 +1,3 @@
+EightBallMid0
+EightBallMid1
+EightBallMid2

PathWeaver/Groups/FirstPathGroup

@@ -1,3 +0,0 @@
-FirstPath2
-FirstPath0
-FirstPath1

PathWeaver/Groups/SixBallMid

@@ -0,0 +1,2 @@
+SixBallMid0
+SixBallMid1

PathWeaver/Paths/EightBallMid2

@@ -0,0 +1,3 @@
+X,Y,Tangent X,Tangent Y,Fixed Theta,Name
+7.2,-0.715,1.5,0.0,true,
+6.8,-2.6,-0.6,-0.3,true,

PathWeaver/Paths/EightBallMidComplete

@@ -0,0 +1,5 @@
+X,Y,Tangent X,Tangent Y,Fixed Theta,Name
+3.2,-2.4,0.2,2.5,true,
+5.0,-0.715,3.0,0.0,true,
+7.2,-0.715,1.5,0.0,true,
+6.8,-2.6,-0.6,-0.3,true,

PathWeaver/Paths/FirstPath2

@@ -1,3 +0,0 @@
-X,Y,Tangent X,Tangent Y,Fixed Theta,Name
-7.2,-0.715,1.5,0.0,true,
-6.8264744033479925,-2.6310096463529717,-0.5948912429093554,-0.29744562145467723,true,

PathWeaver/Paths/SixBallMid0

@@ -0,0 +1,3 @@
+X,Y,Tangent X,Tangent Y,Fixed Theta,Name
+3.2,-2.4,0.2,2.5,true,
+5.006107200045366,-0.7154598441848491,2.0,0.0,true,

PathWeaver/Paths/SixBallMid1

@@ -0,0 +1,3 @@
+X,Y,Tangent X,Tangent Y,Fixed Theta,Name
+5.006,-0.715,3.048,0.0,true,
+7.2,-0.7154598441848491,1.0,0.0,true,

PathWeaver/Paths/SixBallMidComplete

@@ -0,0 +1,4 @@
+X,Y,Tangent X,Tangent Y,Fixed Theta,Name
+3.2,-2.4,0.2,2.5,true,
+5.0,-0.715,3.0,0.0,true,
+7.2,-0.715,1.5,0.0,true,

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

@@ -33,6 +33,7 @@ import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
 import edu.wpi.first.wpilibj2.command.button.JoystickButton;
 import frc4388.robot.Constants.DriveConstants;
 import frc4388.robot.Constants.OIConstants;
+import frc4388.robot.commands.auto.EightBallAutoMiddle;
 import frc4388.robot.commands.auto.SixBallAutoMiddle;
 import frc4388.robot.commands.auto.Wait;
 import frc4388.robot.commands.climber.DisengageRachet;
@@ -94,6 +95,8 @@ public class RobotContainer {
     SixBallAutoMiddle m_sixBallAutoMiddle;
     double m_totalTimeAuto;
 
+    EightBallAutoMiddle m_eightBallAutoMiddle;
+
 
     /**
      * The container for the robot. Contains subsystems, OI devices, and commands.
@@ -242,10 +245,14 @@ public class RobotContainer {
 
     public void buildAutos() {
         String[] sixBallAutoMiddlePaths = new String[]{
-            "FirstPath0",
-            "FirstPath1"
+            "SixBallMidComplete"
         };
         m_sixBallAutoMiddle = new SixBallAutoMiddle(m_robotDrive, buildPaths(sixBallAutoMiddlePaths));
+
+        String[] eightBallAutoMiddlePaths = new String[]{
+            "EightBallMidComplete"
+        };
+        m_eightBallAutoMiddle = new EightBallAutoMiddle(m_robotDrive, buildPaths(eightBallAutoMiddlePaths));
     }
 
     /**
@@ -262,7 +269,10 @@ public class RobotContainer {
         // Run path following command, then stop at the end.
         try {
             SmartDashboard.putNumber("Trajectory Total Time", m_totalTimeAuto);
+            
             return m_sixBallAutoMiddle.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0));
+            //return m_eightBallAutoMiddle.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0));
+
         } catch (Exception e) {
             System.err.println("ERROR");
         }

src/main/java/frc4388/robot/commands/auto/EightBallAutoMiddle.java

@@ -0,0 +1,29 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package frc4388.robot.commands.auto;
+
+import edu.wpi.first.wpilibj2.command.RamseteCommand;
+import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
+import frc4388.robot.subsystems.Drive;
+
+// NOTE:  Consider using this command inline, rather than writing a subclass.  For more
+// information, see:
+// https://docs.wpilib.org/en/latest/docs/software/commandbased/convenience-features.html
+public class EightBallAutoMiddle extends SequentialCommandGroup {
+  /**
+   * Creates a new EightBallAutoMiddle.
+   */
+  public EightBallAutoMiddle(Drive drive, RamseteCommand[] paths) {
+    // Add your commands in the super() call, e.g.
+    // super(new FooCommand(), new BarCommand());
+    
+    addCommands(
+      paths[0]
+    );
+  }
+}

src/main/java/frc4388/robot/commands/auto/SixBallAutoMiddle.java

@@ -29,8 +29,7 @@ public class SixBallAutoMiddle extends SequentialCommandGroup {
     // super(new FooCommand(), new BarCommand());
 
     addCommands(
-      paths[0],
-      paths[1]
+      paths[0]
     );
   }
 }