package com.edinarobotics.zeke.commands;

import com.edinarobotics.zeke.Components;
import com.edinarobotics.zeke.subsystems.Shooter;
import edu.wpi.first.wpilibj.command.CommandGroup;

public class AutonomousCommand extends CommandGroup {
    private static final double DRIVE_DISTANCE_THRESHOLD = 12.0;
    
    public AutonomousCommand() {
        if(Components.getInstance().shooter.getStringPot() < (Shooter.FIRING_HEIGHT + 1.5)) {
            this.addSequential(new ShootingSequenceCommand(false));
            this.addSequential(new DriveXDistanceCommand(DRIVE_DISTANCE_THRESHOLD));
            this.addParallel(new LowerShooterAfterWaitCommand());
        } else {
            this.addSequential(new WaitForCollectorUndeployedCommand());
            this.addParallel(new DriveXDistanceCommand(DRIVE_DISTANCE_THRESHOLD));
            this.addSequential(new LowerShooterToHeightCommand(Shooter.FIRING_HEIGHT));
        }
    }
}

@@ -77,16 +77,68 @@
 onents;%0A
+import com.edinarobotics.zeke.subsystems.Collector;%0A
 import c
@@ -349,9 +349,70 @@
  = 1
-2
+5.6;%0A    private static final double SECOND_BALL_DISTANCE = 13
 .0;%0A
@@ -582,41 +582,546 @@
 new 
-ShootingSequenceCommand(false));%0A
+DriveXDistanceCommandNoPID(DRIVE_DISTANCE_THRESHOLD, 0.25, true));%0A            this.addSequential(new ShootingSequenceCommand(true));%0A//            this.addSequential(new LowerShooterAfterWaitCommand());%0A//            this.addParallel(new SetCollectorCommand(Collector.CollectorState.DEPLOYED, Collector.CollectorWheelState.COLLECTING));%0A//            this.addSequential(new DriveXDistanceCommandNoPID(SECOND_BALL_DISTANCE, 0.25, true));%0A//            this.addSequential(new SetCollectorCommand(Collector.CollectorWheelState.STOPPED));%0A//
     
@@ -1164,32 +1164,37 @@
 XDistanceCommand
+NoPID
 (DRIVE_DISTANCE_
@@ -1194,36 +1194,51 @@
 STANCE_THRESHOLD
+, 0.25, false
 ));%0A
+//
             this
@@ -1245,50 +1245,47 @@
 .add
-Parallel(new LowerShooterAfterWait
+Sequential(new ShootingSequence
 Command(
 ));%0A
@@ -1272,32 +1272,36 @@
 SequenceCommand(
+true
 ));%0A        %7D el
@@ -1432,16 +1432,21 @@
 eCommand
+NoPID
 (DRIVE_D
@@ -1462,16 +1462,28 @@
 HRESHOLD
+, 0.25, true
 ));%0A    

Add second ball collecting abilities to AutonomousCommand.