brought back auton to when it was working

src/main/java/frc/robot/RobotContainer.java

@@ -13,6 +13,7 @@
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
+import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
 import edu.wpi.first.wpilibj2.command.button.CommandPS4Controller;
 import edu.wpi.first.wpilibj2.command.button.CommandPS5Controller;
 import frc.robot.Constants.Presets;
@@ -205,10 +206,22 @@ public void teleopInit() {
   /** @return The Command to schedule for auton. */
   public Command getAutonCommand() {
     AutonShoot.reset();
+
     _swerveSubsystem.fieldOriented = false; // make sure swerve is robot-relative for pathplanner to work
-    _shooterSubsystem.setShooterState(ShooterState.SHOOT);
+    _shooterSubsystem.setShooterState(ShooterState.IDLE);
 
+    // Command test = new SequentialCommandGroup(
+    //   NamedCommands.getCommand("shoot"),
+    //   NamedCommands.getCommand("actuateOut").withTimeout(1),
+    //   NamedCommands.getCommand("actuateInFast"),
+    //   new AutonShoot(_shooterSubsystem, _elevatorSubsystem, _ledSubsystem, _swerveSubsystem, _intakeSubsystem),
+    //   new FeedActuate(_intakeSubsystem, ActuatorState.OUT, FeedMode.INTAKE).withTimeout(2),
+    //   NamedCommands.getCommand("actuateIn").withTimeout(2),
+    //   new AutonShoot(_shooterSubsystem, _elevatorSubsystem, _ledSubsystem, _swerveSubsystem, _intakeSubsystem)
+    // );
+
+    // return null
+    // return test;
     return _autonChooser.getSelected();
-    // return null;
   }
 }

src/main/java/frc/robot/commands/auto/AutonShoot.java

@@ -23,11 +23,7 @@
 // information, see:
 // https://docs.wpilib.org/en/stable/docs/software/commandbased/convenience-features.html
 public class AutonShoot extends SequentialCommandGroup {
-  /** If the note is intaked all the way to shoot. */
-  public static boolean isIntaked = false;
-
-  /** If the shooter is revved all the way to shoot. */
-  public static boolean isRevved = false; 
+  public static boolean canShoot = false;
 
   /** Creates a new AutonShoot. */
   public AutonShoot(
@@ -43,13 +39,11 @@ public AutonShoot(
       new ParallelCommandGroup(
         // This command will squeeze the note while revving up the shooter. It will only run if the note can't be shot right away. 
         new ParallelCommandGroup(
-          new SpinShooter(shooter, ShooterState.SHOOT, true).andThen(new WaitCommand(2)).andThen(
-            () -> isRevved = true
-          ).onlyIf(() -> !isRevved),
-          new FeedActuate(intake, FeedMode.INTAKE).onlyIf(() -> !isIntaked).withTimeout(1)
-        ),
+          new SpinShooter(shooter, ShooterState.SHOOT, true).andThen(new WaitCommand(2)), //.andThen(() -> System.out.println("REVVED")),
+          new FeedActuate(intake, FeedMode.INTAKE).withTimeout(1)//.andThen(() -> System.out.println("INTAKED"))
+        ).onlyIf(() -> !canShoot),
 
-        new AutoAim(swerve, shooter, elevator, leds)
+        new AutoAim(swerve, shooter, elevator, leds) //.withTimeout(1).andThen(() -> System.out.println("AIMED"))
       ),
 
       new FeedActuate(intake, FeedMode.OUTTAKE).withTimeout(1),
@@ -59,8 +53,7 @@ public AutonShoot(
 
   /** Resets this command for re-testing auton. */
   public static void reset() {
-    isIntaked = false;
-    isRevved  = false;
+    canShoot = false;
   }
 
   private double headingPreset() {

src/main/java/frc/robot/commands/intake/FeedActuate.java

@@ -48,9 +48,7 @@ public void initialize() {
     _intake.feed(_feedMode);
     _intake.actuate(_actuatorState);
 
-    // if not squished, can't shoot, else can (FOR AUTON)
-    if (_runOnce && _actuatorState == ActuatorState.STOWED) AutonShoot.isIntaked = false;
-    if (!_runOnce && _actuatorState == ActuatorState.STOWED) AutonShoot.isIntaked = true;
+    AutonShoot.canShoot = !_runOnce;
   }
 
   // Called every time the scheduler runs while the command is scheduled.