The code to autonomously balance the charge station is in TeleopSwerve.java, lines 82 to 112.
Take this code and put it in its own command. This will be a new class in the Commands package
Create a trigger for the command in RobotContainer and bind it to a button on the driver controller
Tune the PID loop for the auto balance until you get a nice, smooth balance
Once PID is tuned, add this command to the end of all the autonomous routines and remove the trigger from RobotContainer
The code to autonomously balance the charge station is in TeleopSwerve.java, lines 82 to 112. Take this code and put it in its own command. This will be a new class in the Commands package Create a trigger for the command in RobotContainer and bind it to a button on the driver controller Tune the PID loop for the auto balance until you get a nice, smooth balance Once PID is tuned, add this command to the end of all the autonomous routines and remove the trigger from RobotContainer