Started working on creating an auto "subsystem"

src/main/java/frc/robot/Auto.java

@@ -0,0 +1,46 @@
+package frc.robot;
+
+import choreo.auto.AutoFactory;
+import choreo.auto.AutoRoutine;
+import choreo.auto.AutoTrajectory;
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.Commands;
+import frc.lib.AllianceSelector;
+import frc.robot.Constants.AutoConstants;
+import frc.robot.drivetrain.Drivetrain;
+
+public class Auto {
+    private final AllianceSelector m_allianceSelector;
+    private final Drivetrain m_swerve;
+
+    private final AutoFactory m_autoFactory;
+
+    public Auto() {
+        m_allianceSelector = new AllianceSelector(AutoConstants.kAllianceColorSelectorPort);
+
+        m_swerve = new Drivetrain(m_allianceSelector::fieldRotated);
+
+        m_autoFactory = new AutoFactory(m_swerve::getPose, m_swerve::setPose, m_swerve::followTrajectory, false, m_swerve);
+    }
+
+    public class RedTraj {}
+
+    public class BlueTraj {
+        Command examplePath = m_autoFactory.trajectoryCmd("examplePath");
+    }
+
+    public AutoRoutine exampleRoutine() {
+        AutoRoutine exampleRoutine = m_autoFactory.newRoutine("exampleRoutine");
+
+        AutoTrajectory exampleTrajectory = exampleRoutine.trajectory("examplePath");
+
+        exampleRoutine.active().onTrue(
+            Commands.sequence(
+                exampleTrajectory.resetOdometry(),
+                exampleTrajectory.cmd()
+            )
+        );
+
+        return exampleRoutine;
+    }
+}

src/main/java/frc/robot/Robot.java

@@ -39,7 +39,7 @@ public class Robot extends TimedRobot {
   private final Drivetrain m_swerve;
   private final LEDs m_LEDs;
 
-  private final AutoFactory m_autoFactory;
+  // private final AutoFactory m_autoFactory;
 
   private CommandZorroController m_driver;
   private CommandXboxController m_operator;
@@ -67,7 +67,7 @@ public Robot() {
         "Align Encoders",
         new InstantCommand(() -> m_swerve.zeroAbsTurningEncoderOffsets()).ignoringDisable(true));
 
-    m_autoFactory = new AutoFactory(m_swerve::getPose, m_swerve::setPose, m_swerve::followTrajectory, false, m_swerve);
+    // m_autoFactory = new AutoFactory(m_swerve::getPose, m_swerve::setPose, m_swerve::followTrajectory, false, m_swerve);
   }
 
   @Override
@@ -194,25 +194,25 @@ public double getPDHCurrent(int CANBusPort) {
     return m_powerDistribution.getCurrent(CANBusPort - 10);
   }
 
-  public ChoreoAuto auto = new ChoreoAuto() {
-
-    final String getName() {
-      return "Example Auto";
-    }
-
-    public Command getCommand() {
-      return Commands.sequence(
-        m_autoFactory.resetOdometry("pickupGamepiece"), 
-        Commands.deadline(
-            m_autoFactory.trajectoryCmd("pickupGamepiece")
-            // intakeSubsystem.intake() 
-        ),
-        Commands.parallel(
-            m_autoFactory.trajectoryCmd("scoreGamepiece")
-            // scoringSubsystem.getReady()
-        )
-        // scoringSubsystem.score()
-      );
-    }
-  }
+  // public ChoreoAuto auto = new ChoreoAuto() {
+
+  //   final String getName() {
+  //     return "Example Auto";
+  //   }
+
+  //   public Command getCommand() {
+  //     return Commands.sequence(
+  //       m_autoFactory.resetOdometry("pickupGamepiece"), 
+  //       Commands.deadline(
+  //           m_autoFactory.trajectoryCmd("pickupGamepiece")
+  //           // intakeSubsystem.intake() 
+  //       ),
+  //       Commands.parallel(
+  //           m_autoFactory.trajectoryCmd("scoreGamepiece")
+  //           // scoringSubsystem.getReady()
+  //       )
+  //       // scoringSubsystem.score()
+  //     );
+  //   }
+  // }
 }