add to RobotContainer

src/main/cpp/RobotContainer.cpp

@@ -179,6 +179,11 @@ RobotContainer::RobotContainer()
                       // &m_autoSourceSideSubwoofer3PieceSteal,
                       &m_autoChoreoTest},
                      &m_autoNothing}
+    , m_autoSummer{m_intakeSubsystem,
+                   m_ShooterSubSystem,
+                   m_elevatorSubsystem,
+                   m_climberSubsystem,
+                   m_swerveDrive}
     , m_transitionedFromAuto{false} {
   // Initialize all of your commands and subsystems here
 

src/main/cpp/commands/autonomous/autonomous_summer_activity.cpp

@@ -0,0 +1,53 @@
+/// \copyright Copyright (c) Argos FRC Team 1756.
+///            Open Source Software; you can modify and/or share it under the terms of
+///            the license file in the root directory of this project.
+
+#include "commands/autonomous/autonomous_summer_activity.h"
+
+#include <frc2/command/InstantCommand.h>
+#include <frc2/command/SequentialCommandGroup.h>
+#include <units/angular_velocity.h>
+#include <units/length.h>
+
+#include "commands/drive_choreo.h"
+
+AutonomousSummerActivty::AutonomousSummerActivty(
+                                                IntakeSubsystem& intake,
+                                                ShooterSubsystem& shooter,
+                                                ElevatorSubsystem& elevator,
+                                                ClimberSubsystem& climb,
+                                                SwerveDriveSubsystem& swerve)
+    : m_Intake{intake},
+     m_Shooter{shooter},
+     m_Elevator{elevator},
+     m_Climb{climb},
+     m_Swerve{swerve},
+     m_commands{frc2::SequentialCommandGroup{DriveChoreo{m_Swerve, "Any_0Note", true}}} {}
+
+// Called when the command is initially scheduled.
+void AutonomousSummerActivty::Initialize() {
+  m_commands.Initialize();
+}
+
+// Called repeatedly when this Command is scheduled to run
+void AutonomousSummerActivty::Execute() {
+  m_commands.Execute();
+}
+
+// Called once the command ends or is interrupted.
+void AutonomousSummerActivty::End(bool interrupted) {
+  m_commands.End(interrupted);
+}
+
+// Returns true when the command should end.
+bool AutonomousSummerActivty::IsFinished() {
+  return m_commands.IsFinished();
+}
+
+std::string AutonomousSummerActivty::GetName() const {
+  return "12. Summer Activity";
+}
+
+frc2::Command* AutonomousSummerActivty::GetCommand() {
+  return dynamic_cast<frc2::Command*>(this);
+}