move and auto align at the same time

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

@@ -35,10 +35,7 @@
 import edu.wpi.first.wpilibj2.command.button.Trigger;
 import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine;
 import frc.robot.Constants.DriveConstants;
-import frc.robot.commands.DriveCommands;
-import frc.robot.commands.FeedForwardCharacterization;
-import frc.robot.commands.IntakeControlCommand;
-import frc.robot.commands.ShooterAutoCommand;
+import frc.robot.commands.*;
 import frc.robot.subsystems.arm.*;
 import frc.robot.subsystems.climber.ClimberIO;
 import frc.robot.subsystems.climber.ClimberIOKraken;
@@ -224,8 +221,13 @@ private void configureButtonBindings() {
             () -> AllianceFlipUtil.apply(FieldConstants.CENTER_SPEAKER)
         )));
 
-    ampLineupTrigger.whileTrue(new ScheduleCommand(m_driveSubsystem.pathfollowFactory(FieldConstants.AMP_LINEUP))
+    ampLineupTrigger.whileTrue(new alignmentDriveCommand(m_driveSubsystem,
+            () -> -controller.getLeftY(),
+            () -> -controller.getLeftX(),
+            () -> -controller.getRightX(),
+            () -> FieldConstants.AMP_LINEUP)
         .andThen(m_armSubsystem.setDesiredStateFactory(ArmSubsystem.ArmState.AMP)));
+
     ampDepositeTrigger.whileTrue(Commands.runEnd(() -> m_shooter.setKickerPower(-0.5),
         () -> m_shooter.setKickerPower(0.0),
         m_shooter)

src/main/java/frc/robot/commands/DriveCommands.java

@@ -26,7 +26,7 @@
 import java.util.function.Supplier;
 
 public class DriveCommands {
-  private static final double DEADBAND = 0.1;
+  public static final double DEADBAND = 0.1;
 
   private DriveCommands() {}
 

src/main/java/frc/robot/commands/alignmentDriveCommand.java

@@ -0,0 +1,116 @@
+package frc.robot.commands;
+
+import com.pathplanner.lib.commands.PathfindHolonomic;
+import edu.wpi.first.math.MathUtil;
+import edu.wpi.first.math.geometry.Pose2d;
+import edu.wpi.first.math.geometry.Rotation2d;
+import edu.wpi.first.math.geometry.Transform2d;
+import edu.wpi.first.math.geometry.Translation2d;
+import edu.wpi.first.math.kinematics.ChassisSpeeds;
+import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.Constants.DriveConstants;
+import frc.robot.subsystems.drive.DriveSubsystem;
+import lib.utils.AllianceFlipUtil;
+
+import java.util.function.DoubleSupplier;
+import java.util.function.Supplier;
+
+import static frc.robot.commands.DriveCommands.DEADBAND;
+
+
+public class alignmentDriveCommand extends Command {
+  private final DriveSubsystem driveSubsystem;
+  private final Supplier<Pose2d> pointSupplier;
+  private Command alignmentCommand;
+
+  private final DoubleSupplier xSupplier;
+  private final DoubleSupplier ySupplier;
+  private final DoubleSupplier thetaSupplier;
+
+  public alignmentDriveCommand(DriveSubsystem driveSubsystem,
+                               DoubleSupplier xSupplier,
+                               DoubleSupplier ySupplier,
+                               DoubleSupplier thetaSupplier,
+                               Supplier<Pose2d> point) {
+    this.driveSubsystem = driveSubsystem;
+    this.pointSupplier = point;
+
+
+
+    this.xSupplier = xSupplier;
+    this.ySupplier =ySupplier;
+    this.thetaSupplier = thetaSupplier;
+
+    // each subsystem used by the command must be passed into the
+    // addRequirements() method (which takes a vararg of Subsystem)
+    addRequirements(this.driveSubsystem);
+  }
+
+  @Override
+  public void initialize() {
+    Pose2d point = AllianceFlipUtil.apply(pointSupplier.get());
+    alignmentCommand = new PathfindHolonomic(
+            point,
+            DriveConstants.DEFAULT_CONSTRAINTS,
+            0.0,
+            driveSubsystem::getVisionPose,
+            driveSubsystem::getRobotRelativeSpeeds,
+            driveSubsystem::runVelocity,
+            DriveConstants.HOLONOMIC_CONFIG,
+            0.0,
+            driveSubsystem
+    );
+  }
+
+  @Override
+  public void execute() {
+    double xInput = DriveCommands.setSensitivity(xSupplier.getAsDouble(), 0.25);
+    double yInput = DriveCommands.setSensitivity(ySupplier.getAsDouble(), 0.25);
+    double omegaInput = DriveCommands.setSensitivity(thetaSupplier.getAsDouble(), 0.0) * 0.85;
+
+    // if we have actual driver input
+    if (xInput > DEADBAND
+    || yInput > DEADBAND
+    || omegaInput > DEADBAND) {
+      // Apply deadband
+      double linearMagnitude =
+              MathUtil.applyDeadband(
+                      Math.hypot(xInput, yInput), DEADBAND);
+      Rotation2d linearDirection =
+              new Rotation2d(xInput, yInput);
+      double omega = MathUtil.applyDeadband(omegaInput, DEADBAND);
+
+      // Calcaulate new linear velocity
+      Translation2d linearVelocity =
+              new Pose2d(new Translation2d(), linearDirection)
+                      .transformBy(new Transform2d(linearMagnitude, 0.0, new Rotation2d()))
+                      .getTranslation();
+
+      Rotation2d heading;
+
+      // if red change heading goal
+      if (DriverStation.getAlliance().isPresent()
+              && DriverStation.getAlliance().get() == DriverStation.Alliance.Red) {
+        heading = driveSubsystem.getRotation().plus(Rotation2d.fromDegrees(180));
+      } else {
+        heading = driveSubsystem.getRotation();
+      }
+
+      // Convert to field relative speeds & send command
+      driveSubsystem.runVelocity(
+              ChassisSpeeds.fromFieldRelativeSpeeds(
+                      linearVelocity.getX() * driveSubsystem.getMaxLinearSpeedMetersPerSec(),
+                      linearVelocity.getY() * driveSubsystem.getMaxLinearSpeedMetersPerSec(),
+                      omega * driveSubsystem.getMaxAngularSpeedRadPerSec(),
+                      heading));
+    } else {
+      alignmentCommand.execute();
+    }
+  }
+
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

src/main/java/frc/robot/subsystems/drive/DriveSubsystem.java

@@ -395,4 +395,8 @@ public Command runSysidQuasistatic(SysIdRoutine.Direction direction) {
   public Command runSysidDynamic(SysIdRoutine.Direction direction) {
     return m_sysId.dynamic(direction);
   }
- }
+
+  public ChassisSpeeds getRobotRelativeSpeeds() {
+    return kinematics.toChassisSpeeds(getModuleStates());
+  }
+}