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 RBDisrupt extends SequentialCommandGroup {
009
010    public RBDisrupt(PathPlannerPath... paths) {
011        // Get correct paths
012        addCommands(new SwerveResetPose(paths[0].getStartingHolonomicPose().get()),
013                CommandSwerveDrivetrain.getInstance().followPathCommand(paths[0]),
014                CommandSwerveDrivetrain.getInstance().followPathCommand(paths[1]),
015                CommandSwerveDrivetrain.getInstance().followPathCommand(paths[2]),
016                CommandSwerveDrivetrain.getInstance().followPathCommand(paths[3]));
017    }
018}