still working on autonomous, comment out some code so will build

Author: 1toldyou

TechnoTwoCode/src/main/java/org/firstinspires/ftc/teamcode/commands/autonomous/AutonomousDuckCommand.java renamed to TechnoTwoCode/src/main/java/org/firstinspires/ftc/teamcode/commands/autonomous/AutonomousDuckCommandGroup.java

@@ -11,11 +11,11 @@
 import org.firstinspires.ftc.teamcode.subsystems.DepositSubsystem;
 import org.firstinspires.ftc.teamcode.subsystems.DrivebaseSubsystem;
 
-public class AutonomousDuckCommand extends SequentialCommandGroup {
-    public AutonomousDuckCommand(DrivebaseSubsystem drive, CarouselSubsystem carousel){
+public class AutonomousDuckCommandGroup extends SequentialCommandGroup {
+    public AutonomousDuckCommandGroup(DrivebaseSubsystem drive, CarouselSubsystem carousel){
           super(new TrajectorySequenceCommand(drive, AutonomousConstants.DUCK_START_TO_CAROUSEL),
                   new CarouselSpinCommand(carousel).withTimeout(3),
                   new TrajectorySequenceCommand(drive, AutonomousConstants.DUCK_CAROUSEL_TO_PARK),
-                  CommandScheduler.getInstance()::terminateOpMode);
+                  CommandScheduler.getInstance()::terminateOpMode); //ending
     }
 }

TechnoTwoCode/src/main/java/org/firstinspires/ftc/teamcode/commands/autonomous/AutonomousLoopCommandGroup.java

@@ -1,15 +1,16 @@
 package org.firstinspires.ftc.teamcode.commands.autonomous;
 
 import com.technototes.library.command.SequentialCommandGroup;
+import com.technototes.path.command.TrajectorySequenceCommand;
 
 import org.firstinspires.ftc.teamcode.subsystems.BucketSubsystem;
 import org.firstinspires.ftc.teamcode.subsystems.DrivebaseSubsystem;
 
 public class AutonomousLoopCommandGroup extends SequentialCommandGroup {
     public AutonomousLoopCommandGroup(DrivebaseSubsystem drivebaseSystem, BucketSubsystem bucketSystem){
-//        new GoToDepotFromShelfCommand(),
-//        new DepotLoadingBlockCommand(),
-//        new GoToShelfFromDepotCommand(),
-//        new ShelfUnloadingLevel3Command(),
+//        new TrajectorySequenceCommand(); //from shelf to depot
+        new DepotLoadingBlockCommand();
+//        new TrajectorySequenceCommand(); //from depot to shelf
+        new ShelfUnloadingLevel3Command();
     }
 }

TechnoTwoCode/src/main/java/org/firstinspires/ftc/teamcode/commands/autonomous/AutonomousPhaseCommand.java

@@ -3,20 +3,23 @@
  */
 package org.firstinspires.ftc.teamcode.commands.autonomous;
 
+import com.technototes.library.command.CommandScheduler;
 import com.technototes.library.command.SequentialCommandGroup;
+import com.technototes.path.command.TrajectorySequenceCommand;
 
 import org.firstinspires.ftc.teamcode.subsystems.BucketSubsystem;
 import org.firstinspires.ftc.teamcode.subsystems.CarouselSubsystem;
 import org.firstinspires.ftc.teamcode.subsystems.DrivebaseSubsystem;
 
 public class AutonomousPhaseCommand extends SequentialCommandGroup {
     public AutonomousPhaseCommand(DrivebaseSubsystem drivebaseSystem, CarouselSubsystem carouselSystem, BucketSubsystem bucketSystem){
-        super(new AutonomousDuckCommand(drivebaseSystem, carouselSystem), //goto carousel and spin it
-                new GoToShelfFromCarouselCommand(), //after finish the duck
+        super(new AutonomousDuckCommandGroup(drivebaseSystem, carouselSystem), //goto carousel and spin it
+//                new TrajectorySequenceCommand(), //duck goto shipping hub
                 new ShelfUnloadingLevel3Command(), //unload the preloaded cube
                 new AutonomousLoopCommandGroup(drivebaseSystem, bucketSystem), //assuming running for three loops
                 new AutonomousLoopCommandGroup(drivebaseSystem, bucketSystem),
                 new AutonomousLoopCommandGroup(drivebaseSystem, bucketSystem),
-                new GoToParkingFromShelfCommand()); //goto parking
+//                new TrajectorySequenceCommand(), //goto parking
+                CommandScheduler.getInstance()::terminateOpMode); //ending
     }
 }

TechnoTwoCode/src/main/java/org/firstinspires/ftc/teamcode/commands/autonomous/GoToCarouselFromSpawnCommand.java

@@ -1,3 +1,6 @@
+/**
+ * equivalent to CycleBlueAuto.java
+ */
 package org.firstinspires.ftc.teamcode.opmodes;
 import com.acmerobotics.dashboard.FtcDashboard;
 import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
@@ -7,14 +10,13 @@
 import com.technototes.library.structure.CommandOpMode;
 import com.technototes.library.util.Alliance;
 
-import org.firstinspires.ftc.robotcore.external.Telemetry;
 import org.firstinspires.ftc.teamcode.Robot;
 import org.firstinspires.ftc.teamcode.commands.autonomous.AutonomousConstants;
-import org.firstinspires.ftc.teamcode.commands.autonomous.AutonomousDuckCommand;
+import org.firstinspires.ftc.teamcode.commands.autonomous.AutonomousPhaseCommand;
 
 @Autonomous(name = "Blue Duck")
 public class BlueDuckAuto extends CommandOpMode implements Loggable{
-   public Robot robot;
+    public Robot robot;
 
     @Override
     public void uponInit() {
@@ -24,6 +26,6 @@ public void uponInit() {
         robot = new Robot();
         robot.drivebaseSubsystem.setPoseEstimate(AutonomousConstants.DUCK_START_SELECT.get());
 
-        CommandScheduler.getInstance().scheduleForState(new AutonomousDuckCommand(robot.drivebaseSubsystem, robot.carouselSubsystem), OpModeState.RUN);
+        CommandScheduler.getInstance().scheduleForState(new AutonomousPhaseCommand(robot.drivebaseSubsystem, robot.carouselSubsystem, robot.bucketSubsystem), OpModeState.RUN);
     }
 }

TechnoTwoCode/src/main/java/org/firstinspires/ftc/teamcode/commands/autonomous/GoToDepotFromShelfCommand.java

@@ -0,0 +1,31 @@
+/**
+ * copy from BlueDuckAuto.java
+ */
+package org.firstinspires.ftc.teamcode.opmodes;
+import com.acmerobotics.dashboard.FtcDashboard;
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.technototes.library.command.CommandScheduler;
+import com.technototes.library.logger.Loggable;
+import com.technototes.library.structure.CommandOpMode;
+import com.technototes.library.util.Alliance;
+
+import org.firstinspires.ftc.teamcode.Robot;
+import org.firstinspires.ftc.teamcode.commands.autonomous.AutonomousConstants;
+import org.firstinspires.ftc.teamcode.commands.autonomous.AutonomousPhaseCommand;
+
+@Autonomous(name = "Red Duck")
+public class RedDuckAuto extends CommandOpMode implements Loggable{
+    public Robot robot;
+
+    @Override
+    public void uponInit() {
+        AutonomousConstants.ALLIANCE = Alliance.RED;
+        telemetry = new MultipleTelemetry(telemetry, FtcDashboard.getInstance().getTelemetry());
+
+        robot = new Robot();
+        robot.drivebaseSubsystem.setPoseEstimate(AutonomousConstants.DUCK_START_SELECT.get());
+
+        CommandScheduler.getInstance().scheduleForState(new AutonomousPhaseCommand(robot.drivebaseSubsystem, robot.carouselSubsystem, robot.bucketSubsystem), OpModeState.RUN);
+    }
+}