Check SpecimenCycleAutoBase in the opmode package as an example. It's a working 5+0 autonomous.

This is not based on the latest Pedro Pathing code, because it doesn't work for Pinpoint localizer. Our code works for Pinpoint, it's confirmed by team 21229 Quality Control and others.

If you don't use Pinpoint localizer and want to use the latest Pedo code, you just need to copy pedroPathing.follower.FollowPathAction and build.gradle.

There are ActionSchedulers in the utils.software package, one for Auto and one for TeleOps that you can use to queue up actions.

Please mail us at [email protected] if you have any questions!