From 2a3ee216ae266ce0ab44ce82e7d9c1346858760f Mon Sep 17 00:00:00 2001
From: Kyra <101209@psdschools.org>
Date: Wed, 11 Mar 2020 17:49:09 -0600
Subject: [PATCH] Added the ten ball auto command

---
 .../java/frc4388/robot/RobotContainer.java    | 12 +++++++-
 .../commands/auto/TenBallAutoMiddle.java      | 28 +++++++++++++++++++
 2 files changed, 39 insertions(+), 1 deletion(-)
 create mode 100644 src/main/java/frc4388/robot/commands/auto/TenBallAutoMiddle.java

diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index 5bb9e90..771b2f1 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -39,6 +39,7 @@ import frc4388.robot.commands.auto.DriveOffLineForward;
 import frc4388.robot.commands.auto.EightBallAutoMiddle;
 import frc4388.robot.commands.auto.FiveBallAutoMiddle;
 import frc4388.robot.commands.auto.SixBallAutoMiddle;
+import frc4388.robot.commands.auto.TenBallAutoMiddle;
 import frc4388.robot.commands.InterruptSubystem;
 import frc4388.robot.commands.auto.AutoPath1FromCenter;
 import frc4388.robot.commands.auto.Wait;
@@ -115,6 +116,8 @@ public class RobotContainer {
 
     FiveBallAutoMiddle m_fiveBallAutoMiddle;
 
+    TenBallAutoMiddle m_tenBallAutoMiddle;
+
 
     /**
      * The container for the robot. Contains subsystems, OI devices, and commands.
@@ -295,6 +298,12 @@ public class RobotContainer {
         };
 
         m_fiveBallAutoMiddle = new FiveBallAutoMiddle(m_robotDrive, buildPaths(fiveBallAutoMiddlePaths));
+
+        String[] tenBallAutoMiddlePaths = new String[]{
+            "TenBallMidComplete"
+        };
+
+        m_tenBallAutoMiddle = new TenBallAutoMiddle(m_robotDrive, buildPaths(tenBallAutoMiddlePaths));
     }
 
     /**
@@ -316,7 +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_fiveBallAutoMiddle.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0));
+            return m_tenBallAutoMiddle.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0));
 
         } catch (Exception e) {
             System.err.println("ERROR");
diff --git a/src/main/java/frc4388/robot/commands/auto/TenBallAutoMiddle.java b/src/main/java/frc4388/robot/commands/auto/TenBallAutoMiddle.java
new file mode 100644
index 0000000..7ff19da
--- /dev/null
+++ b/src/main/java/frc4388/robot/commands/auto/TenBallAutoMiddle.java
@@ -0,0 +1,28 @@
+/*----------------------------------------------------------------------------*/
+/* 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 TenBallAutoMiddle extends SequentialCommandGroup {
+  /**
+   * Creates a new TenBallAutoMiddle.
+   */
+  public TenBallAutoMiddle(Drive drive, RamseteCommand[] paths) {
+    // Add your commands in the super() call, e.g.
+    // super(new FooCommand(), new BarCommand());
+    addCommands(
+      paths[0]
+    );
+  }
+}