finished 5 ball

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

@@ -82,6 +82,8 @@ public class Robot extends TimedRobot {
     m_robotContainer.setDriveNeutralMode(NeutralMode.Brake);
     m_robotContainer.setDriveGearState(true);
     m_robotContainer.resetOdometry(new Pose2d());
+    m_robotContainer.resetGyroYawRobotContainer(0);
+
     //m_robotContainer.configDriveTrainSensors(FeedbackDevice.IntegratedSensor);
 
     /*

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

@@ -325,8 +325,8 @@ public class RobotContainer {
             //return m_eightBallAutoMiddle.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0));
             //return m_driveOffLineForward.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0));
             //return m_driveOffLineBackward.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0));
-            //return m_fiveBallAutoMiddle.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0));
-            return m_tenBallAutoMiddle.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0));
+            return m_fiveBallAutoMiddle.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0));
+            //return m_tenBallAutoMiddle.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0));
 
         } catch (Exception e) {
             System.err.println("ERROR");
@@ -438,6 +438,10 @@ public class RobotContainer {
         m_robotDrive.setOdometry(pose);
     }
 
+    public void resetGyroYawRobotContainer(double angle) {
+        m_robotDrive.resetGyroYaw(angle);
+    }
+
     /**
      * Used for analog inputs like triggers and axises.
      * @return IHandController interface for the Driver Controller.

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

@@ -22,7 +22,7 @@ public class FiveBallAutoMiddle extends SequentialCommandGroup {
     // Use addRequirements() here to declare subsystem dependencies.
     addCommands(
       paths[0],
-      new TankDriveVelocity(drive, -3.1, -0.3, 0.97)
+      new TankDriveVelocity(drive, -3.2, -0.2, 0.8)
     );
   }
 }