Shoot in Speaker and Auton Fixes (Auton Routine)

[ChasingCode34]

• [x] Create a path to the shooting position (will need to be determined) [PARALLEL RACE GROUP 1].
• [x] Use the vision system to detect the April Tag on the speaker and align with it [PARALLEL RACE GROUP 1], DriveVisionCommand.
• [x] Run the scoring mechanism to shoot the pre-loaded note into the speaker [SEQUENTIAL], ShootNoteCommand.
• [x] Follow a pre-determined path to travel to NOTE 2 [PARALLEL RACE GROUP 2]
• [x] Detect and align with the note using the vision system [PARALLEL RACE GROUP 2], DriveVisionCommand.
• [x] Intake the NOTE using the acquisition mechanism [SEQUENTIAL], AcquireCommand.
• [x] Follow a pre-determined path to travel back to the shooting position [PARALLEL RACE GROUP 3, PARALLEL COMMAND GROUP 1].
• [x] Use the vision system to detect the April Tag on the speaker and align with it [PARALLEL RACE GROUP 3, PARALLEL COMMAND GROUP 1], DriveVisionCommand.
• [x] Raise the scoring mechanism to speaker height [PARALLEL COMMAND GROUP 1], ScoringPositionCommand.
• [x] Run the storage mechanism to transport the note to the shooter mechanism [SEQUENTIAL], StorageRunCommand.
• [x] Run the scoring mechanism to shoot the pre-loaded note into the speaker [SEQUENTIAL], ShootNoteCommand.
• [x] Follow a pre-determined path to travel to NOTE 3 [PARALLEL RACE GROUP 4, PARALLEL COMMAND GROUP 2]
• [x] Detect and align with the NOTE using the vision system [PARALLEL RACE GROUP 4, PARALLEL COMMAND GROUP 2], a vision command we need to wait on.
• [x] Lower the scoring mechanism to ground height [PARALLEL COMMAND GROUP 2], ScoringPositionCommand.
• [x] Intake the NOTE using the acquisition mechanism [SEQUENTIAL], AcquireCommand.
• [x] Follow a pre-determined path to travel back to travel back to the shooting position [PARALLEL RACE GROUP 5, PARALLEL COMMAND GROUP 3].
• [x] Use the vision system to detect the April Tag on the speaker and align with it [PARALLEL RACE GROUP 5, PARALLEL COMMAND 3], DriveVisionCommand.
• [x] Raise the scoring mechanism to scoring height [PARALLEL COMMAND GROUP 3], ScoringPositionCommand.
• [x] Run the storage mechanism to transport the NOTE to the shooter mechanism [SEQUENTIAL], StorageRunCommand.
• [x] Run the scoring mechanism to shoot the pre-loaded note into the speaker [SEQUENTIAL], ShootNoteCommand.
• [x] Follow a path to the midline [SEQUENTIAL].
• [ ] Create separate auton classes for positions 2 and 3 (2 done).
• [ ] Using Trajectories.java as an example last year, create a class with Trajectories that can be accessed in the Auton routines.
• [ ] Refactor the code to follow these trajectories instead of using AutoBuilder.
• [ ] Fix Auton Class to contain a followPath method and ensure the code works correctly if we are on Red Alliance.