fix path following command requirements

Author: CoolSpy3

build.gradle

@@ -92,7 +92,7 @@ publishing {
         gpr(MavenPublication) {
             groupId = 'org.carlmontrobotics'
             artifactId = 'lib199'
-            version = '4.0.0'
+            version = '4.0.1'
 
             from components.java
         }

src/main/java/org/carlmontrobotics/lib199/path/SwerveDriveInterface.java

@@ -21,7 +21,6 @@
 import edu.wpi.first.math.trajectory.constraint.SwerveDriveKinematicsConstraint;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandBase;
-import edu.wpi.first.wpilibj2.command.Subsystem;
 import edu.wpi.first.wpilibj2.command.SwerveControllerCommand;
 
 public interface SwerveDriveInterface extends DrivetrainInterface {
@@ -113,20 +112,14 @@ public default Command createPPAutoCommand(PathPlannerTrajectory trajectory, Has
      * @return PPSwerveControllerCommand
      */
     public default Command createPPAutoCommand(List<PathPlannerTrajectory> trajectory, HashMap<String, Command> eventMap) {
-        Subsystem[] requirements = eventMap.values().stream().flatMap(command -> command.getRequirements().stream())
-                .toArray(Subsystem[]::new);
-        requirements = Arrays.copyOf(requirements, requirements.length + 1);
-        requirements[requirements.length - 1] = this;
-        requirements = Arrays.stream(requirements).distinct().toArray(Subsystem[]::new);
-        final Subsystem[] finalRequirements = requirements; // Make this final so it can be used in the anonymous inner class
         PIDController[] pidControllers = Arrays.stream(getPIDConstants()).map(constants -> new PIDController(constants[0], constants[1], constants[2])).toArray(PIDController[]::new);
         pidControllers[2].enableContinuousInput(-Math.PI, Math.PI);
         // Use SwerveAutoBuilder because required argument for base auto builder "DrivetrainType" is protected
         return new SwerveAutoBuilder(this::getPose, this::setPose, null, null, null, null, eventMap, true) {
             @Override
             public CommandBase followPath(PathPlannerTrajectory trajectory) {
                 // AutoBuilder will convert this to work with events
-                return new PPSwerveControllerCommand(trajectory, poseSupplier, getKinematics(), pidControllers[0], pidControllers[1], pidControllers[2], SwerveDriveInterface.this::drive, true, finalRequirements /* This will propagate the requirements to the final command via SequentialCommandGroup */);
+                return new PPSwerveControllerCommand(trajectory, poseSupplier, getKinematics(), pidControllers[0], pidControllers[1], pidControllers[2], SwerveDriveInterface.this::drive, true, SwerveDriveInterface.this);
             };
         }.followPathGroupWithEvents(trajectory);
     }