package org.usfirst.frc.team1002.robot.commands;

import edu.wpi.first.wpilibj.command.CommandGroup;

/**
 *
 */
public class Auto extends CommandGroup {
	/**
	 * Run a autonomous mode from multiple set modes.
	 *
	 * @param mode The autonomous mode to use.
	 */
	public Auto(int mode) {
		switch (mode) {
			default:
				addSequential(new Move(0, -0.25, 0), 1);
				addSequential(new Fork(1), 0.25);
				addSequential(new Lift(1), 0.5);
				addSequential(new Move(0, 0.5, 0), 2);
				addSequential(new Move(0, 0, 0), 1);
				addSequential(new Move(0, 0, 0.5), 1);
				addSequential(new Lift(-1), 0.25);
				addSequential(new Fork(-1), 0.25);
				addSequential(new Move(0, 0.25, 0), 1);
				break;
		}
	}
}

@@ -306,15 +306,14 @@
 %0A%09%09%09
-default
+case 1
 :%0A%09%09
@@ -341,19 +341,16 @@
 ove(
-0, 
 -0.25, 0
 ), 1
@@ -341,31 +341,53 @@
 ove(-0.25, 0
-)
 , 
-1
+0)
 );%0A
+%09%09%09%09break;%0A%09%09%09case 2:%0A
 %09%09%09%09addSeque
@@ -400,21 +400,21 @@
 new 
-Fork(1), 0.25
+Move(0, 0, 0)
 );%0A%09
@@ -415,33 +415,31 @@
 0));%0A%09%09%09%09add
-Sequentia
+Paralle
 l(new Lift(1
@@ -441,17 +441,71 @@
 ift(
+-
 1)
-, 0.5);
+);%0A%09%09%09%09addParallel(new Fork(-0.666));%0A%09%09%09%09break;%0A%09%09%09default:
 %0A%09%09%09
@@ -535,37 +535,112 @@
 (0, 
+-
 0.
+2
 5, 0), 
-2);%0A%09%09%09%09addSequentia
+1);%0A%09%09%09%09addSequential(new Fork(1), 0.25);%0A%09%09%09%09addSequential(new Lift(1), 0.5);%0A%09%09%09%09addParalle
 l(ne
@@ -650,23 +650,25 @@
 ove(0, 0
+.5
 , 0), 
-1
+2
 );%0A%09%09%09%09a
@@ -665,33 +665,31 @@
  2);%0A%09%09%09%09add
-Sequentia
+Paralle
 l(new Move(0
@@ -706,33 +706,31 @@
  1);%0A%09%09%09%09add
-Sequentia
+Paralle
 l(new Lift(-

optimize autonomous