created a single path automode

Author: sjcbulldog

src/main/deploy/pathplanner/paths/ThreeCoral1.path

@@ -3,12 +3,12 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 7.18930027173913,
+        "x": 7.189,
         "y": 1.2
       },
       "prevControl": null,
       "nextControl": {
-        "x": 6.312992527173914,
+        "x": 6.312692255434784,
         "y": 1.2679093070652152
       },
       "isLocked": false,

src/main/deploy/pathplanner/paths/onepath.path

@@ -0,0 +1,54 @@
+{
+  "version": "2025.0",
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 7.1892,
+        "y": 1.2
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 6.195681180221097,
+        "y": 1.3276333302327707
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 5.123625,
+        "y": 2.5527499999999996
+      },
+      "prevControl": {
+        "x": 5.357128780026418,
+        "y": 2.3065557804007697
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "pointTowardsZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0,
+    "nominalVoltage": 12.0,
+    "unlimited": false
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": 121.28265368163976
+  },
+  "reversed": false,
+  "folder": null,
+  "idealStartingState": {
+    "velocity": 0,
+    "rotation": 179.0502341435398
+  },
+  "useDefaultConstraints": false
+}

src/main/java/frc/robot/RobotContainer.java

@@ -424,6 +424,8 @@ public void setupAutos() {
 
         autoChooser_.addDefaultOption("Do Nothing", new AutoModeBaseCmd("Do Nothing")) ;
 
+        autoChooser_.addOption("RunOnePath", AutoCommands.runOnePath(drivebase_, true)) ;
+
         autoChooser_.addOption("Left Side Coral (2 Coral)",
             AutoCommands.twoCoralSideAuto(brain_, vision_, drivebase_, manipulator_, grabber_, funnel_, true));
 

src/main/java/frc/robot/commands/auto/AutoCommands.java

@@ -62,6 +62,20 @@ private static Command logState(String mode, String state) {
         return kDebug ? new StateCmd("Autos/" + mode, state) : null;
     }
 
+    public static AutoModeBaseCmd runOnePath(Drive driveSub, boolean mirroredX) {
+        final String onepath = "onepath" ;
+
+        Optional<PathPlannerPath> path = DriveCommands.findPath(onepath, mirroredX) ;
+        if (!path.isPresent()) {
+            return new AutoModeBaseCmd("empty") ;
+        }        
+
+        AutoModeBaseCmd seq = new AutoModeBaseCmd("runOnePath", path.get()) ;
+        seq.addCommands(DriveCommands.followPathCommand(onepath, mirroredX)) ;
+
+        return seq ;
+    }
+
     public static AutoModeBaseCmd twoCoralSideAuto(BrainSubsystem brainSub, AprilTagVision vision, Drive driveSub, ManipulatorSubsystem manipSub, GrabberSubsystem grabberSub, FunnelSubsystem funnelSub, boolean mirroredX) {
         final String modename = "twoCoralSideAuto" ;