Path/Auto Template

Disclaimer: WIP and untested on 2026 hardware; adapt to your path library and tune constraints. Custom code built on WPILib APIs (not official WPILib sample).

Purpose: Run a PathPlanner path with events for intake/shot, plus a taxi-only fallback.

Code (Java, PathPlanner)
Assumes you have PathPlanner set up with a path named “FuelL1”.

public class AutoFactory {
  private final DriveSubsystem drive;
  private final IntakeSubsystem intake;
  private final ShooterSubsystem shooter;
  private final IndexerSubsystem indexer;

  public AutoFactory(DriveSubsystem drive, IntakeSubsystem intake, ShooterSubsystem shooter, IndexerSubsystem indexer) {
    this.drive = drive;
    this.intake = intake;
    this.shooter = shooter;
    this.indexer = indexer;
  }

  public Command fuelL1Auto() {
    HashMap<String, Command> events = new HashMap<>();
    events.put("INTAKE_ON", new InstantCommand(intake::in, intake));
    events.put("INTAKE_OFF", new InstantCommand(intake::stop, intake));
    events.put("SHOOT", new FireCommand(shooter, indexer, () -> HubShiftTimer.HubState.ACTIVE));

    PathPlannerTrajectory traj = PathPlanner.loadPath("FuelL1",
        new PathConstraints(3.0, 2.0));

    return new SequentialCommandGroup(
      new InstantCommand(() -> drive.resetOdometry(traj.getInitialHolonomicPose())),
      AutoBuilder.followPathWithEvents(traj, events)
    );
  }

  public Command taxiOnly() {
    PathPlannerTrajectory traj = PathPlanner.loadPath("Taxi",
        new PathConstraints(2.0, 2.0));
    return new SequentialCommandGroup(
      new InstantCommand(() -> drive.resetOdometry(traj.getInitialHolonomicPose())),
      AutoBuilder.followPath(traj)
    );
  }
}

How to test

• Sim: run paths without robot; check odometry reset and event markers fire.
• Field: start pose aligned to initial pose; verify intake/shot events trigger in order.
• Provide a taxi-only path for venues where full auto is risky.

Pitfalls

• Ensure odometry reset matches starting pose on the carpet.
• Constrain speeds so you don’t slip; tune kinematics and feedforward first.