From e57531de8374b686cc22e5252be02e069465a71b Mon Sep 17 00:00:00 2001
From: blueberry <jpothen8@gmail.com>
Date: Fri, 9 Feb 2024 16:23:09 -0800
Subject: [PATCH] added commands for other autos

---
 .../robot2024/auto/routines/Experimental1PieceTaxi.kt |  5 +----
 .../robot2024/auto/routines/Experimental3PieceMid.kt  | 11 ++++++-----
 .../robot2024/auto/routines/ExperimentalTaxi.kt       |  7 +------
 3 files changed, 8 insertions(+), 15 deletions(-)

diff --git a/src/main/kotlin/frc/team449/robot2024/auto/routines/Experimental1PieceTaxi.kt b/src/main/kotlin/frc/team449/robot2024/auto/routines/Experimental1PieceTaxi.kt
index c16d4f8..9b9a898 100644
--- a/src/main/kotlin/frc/team449/robot2024/auto/routines/Experimental1PieceTaxi.kt
+++ b/src/main/kotlin/frc/team449/robot2024/auto/routines/Experimental1PieceTaxi.kt
@@ -1,6 +1,5 @@
 package frc.team449.robot2024.auto.routines
 
-import edu.wpi.first.wpilibj2.command.WaitCommand
 import frc.team449.control.auto.ChoreoRoutine
 import frc.team449.control.auto.ChoreoRoutineStructure
 import frc.team449.control.auto.ChoreoTrajectory
@@ -17,9 +16,7 @@ class Experimental1PieceTaxi(
       drive = robot.drive,
       parallelEventMap = hashMapOf(),
       stopEventMap = hashMapOf(
-        0 to WaitCommand(1.5),
-        1 to WaitCommand(1.5),
-        2 to WaitCommand(1.5)
+        0 to AutoUtil.autoShoot(robot)
       ),
       debug = true
     )
diff --git a/src/main/kotlin/frc/team449/robot2024/auto/routines/Experimental3PieceMid.kt b/src/main/kotlin/frc/team449/robot2024/auto/routines/Experimental3PieceMid.kt
index 6ef3818..8f12019 100644
--- a/src/main/kotlin/frc/team449/robot2024/auto/routines/Experimental3PieceMid.kt
+++ b/src/main/kotlin/frc/team449/robot2024/auto/routines/Experimental3PieceMid.kt
@@ -1,6 +1,5 @@
 package frc.team449.robot2024.auto.routines
 
-import edu.wpi.first.wpilibj2.command.WaitCommand
 import frc.team449.control.auto.ChoreoRoutine
 import frc.team449.control.auto.ChoreoRoutineStructure
 import frc.team449.control.auto.ChoreoTrajectory
@@ -15,11 +14,13 @@ class Experimental3PieceMid(
   override val routine =
     ChoreoRoutine(
       drive = robot.drive,
-      parallelEventMap = hashMapOf(),
+      parallelEventMap = hashMapOf(
+        0 to AutoUtil.autoIntake(robot)
+      ),
       stopEventMap = hashMapOf(
-        0 to WaitCommand(1.5),
-        1 to WaitCommand(1.5),
-        2 to WaitCommand(1.5)
+        0 to AutoUtil.autoShoot(robot),
+        1 to AutoUtil.autoShoot(robot),
+        2 to AutoUtil.autoShoot(robot)
       ),
       debug = true
     )
diff --git a/src/main/kotlin/frc/team449/robot2024/auto/routines/ExperimentalTaxi.kt b/src/main/kotlin/frc/team449/robot2024/auto/routines/ExperimentalTaxi.kt
index 1718b14..32a2bf0 100644
--- a/src/main/kotlin/frc/team449/robot2024/auto/routines/ExperimentalTaxi.kt
+++ b/src/main/kotlin/frc/team449/robot2024/auto/routines/ExperimentalTaxi.kt
@@ -1,6 +1,5 @@
 package frc.team449.robot2024.auto.routines
 
-import edu.wpi.first.wpilibj2.command.WaitCommand
 import frc.team449.control.auto.ChoreoRoutine
 import frc.team449.control.auto.ChoreoRoutineStructure
 import frc.team449.control.auto.ChoreoTrajectory
@@ -16,11 +15,7 @@ class ExperimentalTaxi(
     ChoreoRoutine(
       drive = robot.drive,
       parallelEventMap = hashMapOf(),
-      stopEventMap = hashMapOf(
-        0 to WaitCommand(1.5),
-        1 to WaitCommand(1.5),
-        2 to WaitCommand(1.5)
-      ),
+      stopEventMap = hashMapOf(),
       debug = true
     )