001package com.stuypulse.robot.commands.auton;
002
003import com.pathplanner.lib.path.PathPlannerPath;
004import com.stuypulse.robot.commands.swerve.SwerveResetPose;
005import com.stuypulse.robot.subsystems.swerve.CommandSwerveDrivetrain;
006import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
007
008public class LBDisrupt extends SequentialCommandGroup {
009
010    public LBDisrupt(PathPlannerPath... paths) {
011        addCommands(new SwerveResetPose(paths[0].getStartingHolonomicPose().get()),
012                CommandSwerveDrivetrain.getInstance().followPathCommand(paths[0]),
013                CommandSwerveDrivetrain.getInstance().followPathCommand(paths[1]),
014                CommandSwerveDrivetrain.getInstance().followPathCommand(paths[2]),
015                CommandSwerveDrivetrain.getInstance().followPathCommand(paths[3]));
016    }
017}