001package com.stuypulse.robot.commands.auton;
002
003import com.pathplanner.lib.path.PathPlannerPath;
004import com.stuypulse.robot.commands.intake.IntakeSetHomingDown;
005import com.stuypulse.robot.commands.swerve.SwerveResetPose;
006import com.stuypulse.robot.subsystems.swerve.CommandSwerveDrivetrain;
007import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
008
009public class RBFerry extends SequentialCommandGroup {
010
011    public RBFerry(PathPlannerPath... paths) {
012        addCommands(
013                new SwerveResetPose(paths[0].getStartingHolonomicPose().get()), CommandSwerveDrivetrain.getInstance()
014                        .followPathCommand(paths[0]),
015                CommandSwerveDrivetrain.getInstance().followPathCommand(paths[1]),
016                CommandSwerveDrivetrain.getInstance().followPathCommand(paths[2]).alongWith(new IntakeSetHomingDown()),
017                CommandSwerveDrivetrain.getInstance().followPathCommand(paths[3]),
018                new IntakeSetHomingDown());
019    }
020}