Drive directly back no shooty

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

@@ -21,6 +21,7 @@
 import frc.robot.commands.WinchCommand;
 import frc.robot.commands.WinchPresetCommand;
 import frc.robot.commands.ZeroHeadingCommand;
+import frc.robot.commands.auto.DriveAutoCommand;
 import frc.robot.commands.auto.ShootAndDriveAutoCommand;
 import frc.robot.commands.auto.TurnAndShootAutoCommand;
 import frc.robot.subsystems.ClimberSubsystem;
@@ -86,6 +87,9 @@ public RobotContainer() {
     m_chosenAuto.addOption("Drive, turn, and shoot from right",
       new TurnAndShootAutoCommand(m_shooterSubsystem, m_robotDrive, new Pose2d(), -55));
 
+    m_chosenAuto.addOption("Drive back only",
+      new DriveAutoCommand(m_shooterSubsystem, m_robotDrive, new Pose2d(0,0,Rotation2d.fromDegrees(0)))); //drive back only auto
+
     m_tab.add(m_chosenAuto);
 
     // Configure the button bindings

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

@@ -0,0 +1,32 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands.auto;
+
+import java.util.function.Supplier;
+
+import edu.wpi.first.math.geometry.Pose2d;
+import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
+import edu.wpi.first.wpilibj2.command.ParallelRaceGroup;
+import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
+import frc.robot.commands.SetPoseCommand;
+import frc.robot.commands.ShootCommand;
+import frc.robot.commands.SwerveDriveCommand;
+import frc.robot.commands.TurnThetaCommand;
+import frc.robot.subsystems.ShooterSubsystem;
+import frc.robot.subsystems.SwerveSubsystem;
+
+public class DriveAutoCommand extends SequentialCommandGroup {
+  public DriveAutoCommand(ShooterSubsystem shoot, SwerveSubsystem swerve, Pose2d startingOffset) {
+    super(
+      new SetPoseCommand(swerve, startingOffset).withTimeout(0),
+      new SwerveDriveCommand(swerve, supplyDouble(0), supplyDouble(-.3), supplyDouble(0), true, supplyBoolean(true), supplyDouble(-1))
+      .withTimeout(3),
+      new TurnThetaCommand(swerve, 0)
+    );
+  }
+
+  private static Supplier<Double> supplyDouble(double d) {return new Supplier<Double>() {@Override public Double get() {return d;}};}
+  private static Supplier<Boolean> supplyBoolean(boolean b) {return new Supplier<Boolean>() {@Override public Boolean get() {return b;}};}
+}