Auto Taxi + Stash

Disclaimer: WIP and untested; validate on your field setup. Custom code built on WPILib APIs.

Plan: Taxi to leave zone, drop/preload fuel in a safe spot (no hub scoring), to avoid penalties and preserve fuel.

Code (Java/PathPlanner)

public class TaxiStashAuto {
  private final DriveSubsystem drive;

  public TaxiStashAuto(DriveSubsystem drive) {
    this.drive = drive;
  }

  public Command build() {
    PathPlannerTrajectory traj = PathPlanner.loadPath("TaxiStash",
        new PathConstraints(2.0, 2.0));
    return new SequentialCommandGroup(
      new InstantCommand(() -> drive.resetOdometry(traj.getInitialHolonomicPose())),
      AutoBuilder.followPath(traj)
      // Add drop action if needed (e.g., open intake) here
    );
  }
}