Autonomous routines

src/auto/FiveBallRoutine.cpp

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+#include "FiveBallRoutine.h"
+
+FiveBallRoutinePickup::FiveBallRoutinePickup() : COREAuton("Three Ball Routine") {}
+
+void FiveBallRoutinePickup::AddNodes() {
+    delayNode = new Node(5, new DelayAction());
+    launcherOnNode = new Node(5, new LaunchBallsAction(LAUNCHER_ON));
+    intakeOnNode = new Node(5, new IntakePowerCellsAction(INTAKE));
+    driveNode1 = new Node(5, new DriveAction(BACKWARD)); //replace with pathfinder
+    driveNode2 = new Node(5, new DriveAction(FORWARD)); //replace with pathfinder
+    conveyorOnNode = new Node(5, new ConveyorAction(CONVEYOR_ON));
+    AddFirstNode(delayNode);
+    delayNode->AddNext(launcherOnNode);
+    launcherOnNode->AddNext(intakeOnNode);
+    intakeOnNode->AddNext(driveNode1);
+    driveNode1->AddNext(driveNode2);
+    driveNode2->AddNext(conveyorOnNode);
+    conveyorOnNode->AddNext(intakeOnNode);
+    intakeOnNode->AddNext(driveNode1);
+}

src/auto/FiveBallRoutine.h

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+#pragma once
+
+#include <string>
+#include <CORERobotLib.h>
+#include "LaunchBallsAction.h"
+#include "ConveyorAction.h"
+#include "DriveAction.h"
+#include "DelayAction.h"
+#include "IntakePowerCellsAction.h"
+// #include "AutonActionTest.h"
+
+using namespace CORE;
+using namespace std;
+
+class FiveBallRoutinePickup: public COREAuton {
+public:
+    FiveBallRoutinePickup();
+    void AddNodes() override;
+private:
+    Node * delayNode;
+    Node * launcherOnNode;
+    Node * conveyorOnNode;
+    Node * intakeOnNode;
+    Node * driveNode1;
+    Node * driveNode2;
+};

src/auto/ThreeBallRoutinePickup.cpp

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+#include "ThreeBallRoutinePickup.h"
+
+ThreeBallRoutinePickup::ThreeBallRoutinePickup() : COREAuton("Three Ball Routine") {}
+
+void ThreeBallRoutinePickup::AddNodes() {
+    delayNode = new Node(5, new DelayAction());
+    launcherOnNode = new Node(5, new LaunchBallsAction(LAUNCHER_ON));
+    conveyorOnNode = new Node(5, new ConveyorAction(CONVEYOR_ON));
+    intakeOnNode = new Node(5, new IntakePowerCellsAction(INTAKE));
+    driveNode = new Node(5, new DriveAction(FORWARD)); //replace with pathfinder
+    AddFirstNode(delayNode);
+    delayNode->AddNext(launcherOnNode);
+    launcherOnNode->AddNext(conveyorOnNode);
+    conveyorOnNode->AddNext(intakeOnNode);
+    intakeOnNode->AddNext(driveNode);
+}

src/auto/ThreeBallRoutinePickup.h

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+#pragma once
+
+#include <string>
+#include <CORERobotLib.h>
+#include "LaunchBallsAction.h"
+#include "ConveyorAction.h"
+#include "DriveAction.h"
+#include "DelayAction.h"
+#include "IntakePowerCellsAction.h"
+// #include "AutonActionTest.h"
+
+using namespace CORE;
+using namespace std;
+
+class ThreeBallRoutinePickup: public COREAuton {
+public:
+    ThreeBallRoutinePickup();
+    void AddNodes() override;
+private:
+    Node * delayNode;
+    Node * launcherOnNode;
+    Node * conveyorOnNode;
+    Node * intakeOnNode;
+    Node * driveNode;
+};