Made two barrel paths

One with many waypoints, and one with only a few. The one with a lot didnt work very well. A jerking motion happens right before making the second loop, almost always

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

@@ -44,6 +44,7 @@ import frc4388.robot.commands.auto.TenBallAutoMiddle;
 import frc4388.robot.commands.InterruptSubystem;
 import frc4388.robot.commands.auto.AutoPath1FromCenter;
 import frc4388.robot.commands.auto.Barrel;
+import frc4388.robot.commands.auto.BarrelMany;
 import frc4388.robot.commands.auto.Wait;
 import frc4388.robot.commands.climber.DisengageRachet;
 import frc4388.robot.commands.climber.RunClimberWithTriggers;
@@ -125,6 +126,7 @@ public class RobotContainer {
 
     Barrel m_barrel;
 
+    BarrelMany m_barrelMany;
 
     /**
      * The container for the robot. Contains subsystems, OI devices, and commands.
@@ -294,6 +296,12 @@ public class RobotContainer {
 
         m_barrel = new Barrel(m_robotDrive, buildPaths(barrel));
         
+        String[] barrelMany = new String[]{
+            "BarrelManyWaypoints"
+        };
+
+        m_barrelMany = new BarrelMany(m_robotDrive, buildPaths(barrelMany));
+        
         String[] eightBallAutoMiddlePaths = new String[]{
             "EightBallMidComplete"
         };
@@ -348,7 +356,7 @@ public class RobotContainer {
             //return m_tenBallAutoMiddle.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0));
             //return m_slalom.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0));
             return m_barrel.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0));
-
+            //return m_barrelMany.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0));
         } catch (Exception e) {
             System.err.println("ERROR");
         }

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

@@ -0,0 +1,27 @@
+/*----------------------------------------------------------------------------*/
+/* 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 BarrelMany extends SequentialCommandGroup {
+  /**
+   * Creates a new BarrelMany.
+   */
+  public BarrelMany(Drive drive, RamseteCommand[] paths) {
+    // Add your commands in the super() call, e.g.
+    addCommands(
+      paths[0]
+    );
+  }
+}