formating fixes and auto code

Author: edsoneli

TeamCode/src/main/java/org/firstinspires/ftc/teamcode/PedroAutoSample.java

@@ -113,7 +113,8 @@ public void initialize() {
         buildPaths();
 
         // Create the autonomous command sequence
-        SequentialCommandGroup autonomousSequence = new SequentialCommandGroup(
+        SequentialCommandGroup autonomousSequence = new SequentialCommandGroup
+        (
                 // Score preload
                 new FollowPathCommand(follower, scorePreload),
                 openOuttakeClaw(),

TeamCode/src/main/java/org/mrpsvt/capital_robotics/ArtifactIntake.java

@@ -1,4 +1,6 @@
 package org.mrpsvt.capital_robotics;
 
-public class ArtifactIntake {
+public class ArtifactIntake
+{
+
 }

TeamCode/src/main/java/org/mrpsvt/capital_robotics/ArtifactLauncher.java

@@ -1,4 +1,6 @@
 package org.mrpsvt.capital_robotics;
 
-public class ArtifactLauncher {
+public class ArtifactLauncher
+{
+
 }

TeamCode/src/main/java/org/mrpsvt/capital_robotics/auto/scrimmageMoveForward.java

@@ -0,0 +1,57 @@
+package org.mrpsvt.capital_robotics.auto;
+
+import com.pedropathing.follower.Follower;
+import com.pedropathing.geometry.BezierLine;
+import com.pedropathing.geometry.Pose;
+import com.pedropathing.paths.PathChain;
+import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
+import com.qualcomm.robotcore.hardware.HardwareMap;
+import com.seattlesolvers.solverslib.command.CommandOpMode;
+import com.seattlesolvers.solverslib.command.SequentialCommandGroup;
+import com.seattlesolvers.solverslib.pedroCommand.FollowPathCommand;
+
+import org.firstinspires.ftc.teamcode.pedroPathing.Constants;
+import org.mrpsvt.capital_robotics.robot_core.DriveBase;
+
+@Autonomous
+public abstract class scrimmageMoveForward extends CommandOpMode
+{
+    private Follower followerElement;
+    private PathChain pathElement;
+    private boolean stop;
+    private double speed;
+    private HardwareMap hardwareImport;
+
+    //start and end points
+    private Pose startPose = new Pose(0, 0, Math.toRadians(90));
+    private Pose endPose = new Pose(48, 48, Math.toRadians(90));
+
+    //gives context to the follower via hardwareMap, and makes the linear pathElement
+    public void compilePathChain()
+    {
+        followerElement = Constants.createFollower(DriveBase.getHardwareMap());
+        pathElement = followerElement.pathBuilder()
+                .addPath(new BezierLine(startPose, endPose))
+                .setLinearHeadingInterpolation(startPose.getHeading(), endPose.getHeading())
+                .build();
+    }
+
+    @Override
+    public void initialize()
+    {
+        //super.reset()
+        followerElement.setStartingPose(startPose);
+        compilePathChain();
+
+        SequentialCommandGroup order = new SequentialCommandGroup
+        (
+                new FollowPathCommand(followerElement, pathElement).setGlobalMaxPower(0.5)
+        );
+    }
+
+    @Override
+    public void run()
+    {
+        super.run();
+    }
+}

TeamCode/src/main/java/org/mrpsvt/capital_robotics/robot_core/DriveBase.java

@@ -10,7 +10,7 @@
 
 
 public class DriveBase {
-    HardwareMap hardwareMap;
+    static HardwareMap hardwareMap;
     Motor frontLeft;
     Motor frontRight;
     Motor backLeft;
@@ -40,4 +40,9 @@ public RevIMU initIMU() {
         imu.init();
         return imu;
     }
+
+    public static HardwareMap getHardwareMap()
+    {
+        return hardwareMap;
+    }
 }