did a lot

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

@@ -19,6 +19,7 @@ import edu.wpi.first.wpilibj.Joystick;
 import edu.wpi.first.wpilibj.controller.RamseteController;
 import edu.wpi.first.wpilibj.geometry.Pose2d;
 import edu.wpi.first.wpilibj.geometry.Rotation2d;
+import edu.wpi.first.wpilibj.geometry.Transform2d;
 import edu.wpi.first.wpilibj.geometry.Translation2d;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj.trajectory.Trajectory;
@@ -33,6 +34,8 @@ 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.DriveOffLineBackward;
+import frc4388.robot.commands.auto.DriveOffLineForward;
 import frc4388.robot.commands.auto.EightBallAutoMiddle;
 import frc4388.robot.commands.auto.SixBallAutoMiddle;
 import frc4388.robot.commands.auto.Wait;
@@ -92,11 +95,16 @@ public class RobotContainer {
     private final XboxController m_operatorXbox = new XboxController(OIConstants.XBOX_OPERATOR_ID);
 
     /* Autos */
-    SixBallAutoMiddle m_sixBallAutoMiddle;
     double m_totalTimeAuto;
 
+    SixBallAutoMiddle m_sixBallAutoMiddle;
+
     EightBallAutoMiddle m_eightBallAutoMiddle;
 
+    DriveOffLineForward m_driveOffLineForward;
+
+    DriveOffLineBackward m_driveOffLineBackward;
+
 
     /**
      * The container for the robot. Contains subsystems, OI devices, and commands.
@@ -247,12 +255,26 @@ public class RobotContainer {
         String[] sixBallAutoMiddlePaths = new String[]{
             "SixBallMidComplete"
         };
-        m_sixBallAutoMiddle = new SixBallAutoMiddle(m_robotDrive, buildPaths(sixBallAutoMiddlePaths));
+
+        m_sixBallAutoMiddle = new SixBallAutoMiddle(m_robotDrive, buildPaths(sixBallAutoMiddlePaths, false));
 
         String[] eightBallAutoMiddlePaths = new String[]{
             "EightBallMidComplete"
         };
-        m_eightBallAutoMiddle = new EightBallAutoMiddle(m_robotDrive, buildPaths(eightBallAutoMiddlePaths));
+
+        m_eightBallAutoMiddle = new EightBallAutoMiddle(m_robotDrive, buildPaths(eightBallAutoMiddlePaths, false));
+
+        String[] driveOffLineForwardPaths = new String[]{
+            "DriveOffLineForward"
+        };
+
+        m_driveOffLineForward = new DriveOffLineForward(m_robotDrive, buildPaths(driveOffLineForwardPaths, false));
+
+        String[] driveOffLineBackwardPaths = new String[]{
+            "DriveOffLineBackward"
+        };
+
+        m_driveOffLineBackward = new DriveOffLineBackward(m_robotDrive, buildPaths(driveOffLineBackwardPaths, true));
     }
 
     /**
@@ -271,7 +293,9 @@ public class RobotContainer {
             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));
+            //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));
 
         } catch (Exception e) {
             System.err.println("ERROR");
@@ -314,7 +338,7 @@ public class RobotContainer {
         return ramseteCommand;
     }
 
-    public RamseteCommand[] buildPaths(String[] paths) {
+    public RamseteCommand[] buildPaths(String[] paths, boolean isReversed) {
         RamseteCommand[] ramseteCommands = new RamseteCommand[paths.length];
         double[] times = new double[paths.length];
         Trajectory initialTrajectory;
@@ -327,6 +351,7 @@ public class RobotContainer {
                 Path trajectoryPath = Filesystem.getDeployDirectory().toPath().resolve(trajectoryJSON);
                 Trajectory trajectory = TrajectoryUtil.fromPathweaverJson(trajectoryPath);
                 initialTrajectory = trajectory;
+
                 RamseteCommand ramseteCommand = getRamseteCommand(trajectory.relativeTo(initialTrajectory.getInitialPose()));
                 ramseteCommands[0] = ramseteCommand;
                 times[0] = initialTrajectory.getTotalTimeSeconds();

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

@@ -0,0 +1,31 @@
+/*----------------------------------------------------------------------------*/
+/* 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.RunCommand;
+import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
+import frc4388.robot.commands.drive.TurnDegrees;
+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 DriveOffLineBackward extends SequentialCommandGroup {
+  /**
+   * Creates a new DriveOffLineBackward.
+   */
+  public DriveOffLineBackward(Drive drive, RamseteCommand[] paths) {
+    // Add your commands in the super() call, e.g.
+    // super(new FooCommand(), new BarCommand());
+    
+    addCommands(
+      new TankDriveVelocity(drive, -1, -1, 2)
+    );
+  }
+}

src/main/java/frc4388/robot/commands/auto/DriveOffLineForward.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 DriveOffLineForward extends SequentialCommandGroup {
+  /**
+   * Creates a new DriveOffLineForward.
+   */
+  public DriveOffLineForward(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/TankDriveVelocity.java

@@ -0,0 +1,67 @@
+/*----------------------------------------------------------------------------*/
+/* 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.CommandBase;
+import frc4388.robot.subsystems.Drive;
+
+public class TankDriveVelocity extends CommandBase {
+  Drive m_drive;
+  double m_leftTargetVel;
+  double m_rightTargetVel;
+
+  double m_targetTime;
+  double m_firstTimeSec;
+  double m_currentTimeSec;
+  double m_diffSec;
+
+  /**
+   * Creates a new TankDriveVelocity.
+   */
+  public TankDriveVelocity(Drive subsystem, double leftTargetVel, double rightTargetVel, double targetTime) {
+    // Use addRequirements() here to declare subsystem dependencies.
+    m_drive = subsystem;
+    m_leftTargetVel = leftTargetVel;
+    m_rightTargetVel = rightTargetVel;
+    m_targetTime = targetTime;
+    addRequirements(subsystem);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    m_firstTimeSec = (System.currentTimeMillis() / 1000);
+    m_diffSec = 0;
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    m_currentTimeSec = (System.currentTimeMillis() / 1000);
+    m_diffSec = m_currentTimeSec - m_firstTimeSec;
+    
+    if (m_diffSec < m_targetTime) {
+      m_drive.tankDriveVelocity(m_leftTargetVel, m_rightTargetVel);
+    }
+
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    if (m_diffSec >= m_targetTime) {
+      return true;
+    }
+    return false;
+  }
+}