Project 5 — A One-Button Autonomous Routine

REBUILT gives robots a 20-second autonomous period at the start of each match. A reliable auto that scores even one preloaded Fuel and then leaves its starting zone is worth more than a fancy one that fails. We will compose the commands you already wrote into a sequence.

Command-based shines here because you build complex routines by composing simple commands. The key compositions are andThen (sequential), withTimeout (stop a command after N seconds), and Commands.sequence(...).

Add a factory to DriveSubsystem:

public Command driveForTime(double fwd, double seconds) {
  return run(() -> arcade(fwd, 0)).withTimeout(seconds)
           .andThen(runOnce(() -> arcade(0, 0)));
}

Now assemble the routine in RobotContainer:

import edu.wpi.first.wpilibj2.command.Commands;

public Command getAutonomousCommand() {
  return Commands.sequence(
    m_launcher.shoot().withTimeout(2.5),     // spin up & fire preload
    m_drive.driveForTime(0.4, 1.5)            // leave the starting zone
  );
}

And schedule it in Robot.java:

@Override public void autonomousInit() {
  Command auto = m_robotContainer.getAutonomousCommand();
  if (auto != null) auto.schedule();
}
@Override public void teleopInit() {
  // cancel any leftover auto command when teleop starts
  CommandScheduler.getInstance().cancelAll();
}

Why this scores points: firing the preload aims at the Hub for Fuel points (each Fuel in the active Hub is worth 1 point in auto), and driveForTime moves the robot off its starting line. Driving forward at 40% for 1.5s is gentle enough not to overshoot. The withTimeout on the shoot command is essential — without an end condition, an auto command can run forever and block the sequence.

Make it selectable: real teams put a SendableChooser<Command> on the dashboard so drivers pick 'Score + Leave', 'Just Leave', or 'Do Nothing' before the match. Add it later; the composition pattern above is the engine.

Test methodically: run auto on blocks first, confirm the launcher fires and the wheels turn the right direction, then floor-test in an open space. A simple, repeatable 20-second auto that works every match is a genuine competitive advantage — many rookie alliances are decided by who scored in auto and who sat still.