public TwoBallStaticShootSlightRightAutonomous( RobotSubsystems robotSubsystems, RobotControllers robotControllers, VisionProcessing visionProcessing) { double liftIntakeSpeed = robotSubsystems.getRobotConfig().getIntakeConfig().getLiftIntakeSpeed(); addSequential( new CrossStaticDefenseAndShootForwardAutonomous( robotSubsystems, robotControllers, visionProcessing)); addSequential(new TurnToHeadingCommand(robotSubsystems, robotControllers, 0, false)); // TODO Add command to turn to ball addParallel(new RunRollerbarIntakeAtSpeedCommand(robotSubsystems, -liftIntakeSpeed), 1.75); addSequential(new DriveInchesCommand(robotSubsystems, robotControllers, -18)); addSequential(new EmptyCommand(), .3); addSequential(new RunIntakeLiftAtSpeedCommand(robotSubsystems, liftIntakeSpeed), .25); addSequential(new DriveInchesCommand(robotSubsystems, robotControllers, 18)); addSequential(new TurnToHeadingCommand(robotSubsystems, robotControllers, 0, false)); addSequential( new CrossStaticDefenseAndShootForwardAutonomous( robotSubsystems, robotControllers, visionProcessing)); }