made new auton for getting 2nd note from midline needs testing

src/main/deploy/pathplanner/paths/Amp to midline behind notes.path

@@ -0,0 +1,74 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 1.8,
+        "y": 7.9
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 2.8,
+        "y": 7.9
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 5.779401644273374,
+        "y": 7.5661179242586405
+      },
+      "prevControl": {
+        "x": 4.574903736702062,
+        "y": 7.69475362312548
+      },
+      "nextControl": {
+        "x": 6.983899551844681,
+        "y": 7.437482225391801
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 8.7,
+        "y": 7.4
+      },
+      "prevControl": {
+        "x": 8.928036011627578,
+        "y": 7.44677661776976
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [
+    {
+      "waypointRelativePos": 1,
+      "rotationDegrees": 0,
+      "rotateFast": false
+    }
+  ],
+  "constraintZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": -4.0,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": null,
+  "previewStartingState": {
+    "rotation": -100.0,
+    "velocity": 0
+  },
+  "useDefaultConstraints": true
+}

src/main/deploy/pathplanner/paths/From Midline to Amp.path

@@ -0,0 +1,52 @@
+{
+  "version": 1.0,
+  "waypoints": [
+    {
+      "anchor": {
+        "x": 8.7,
+        "y": 7.4
+      },
+      "prevControl": null,
+      "nextControl": {
+        "x": 9.7,
+        "y": 7.4
+      },
+      "isLocked": false,
+      "linkedName": null
+    },
+    {
+      "anchor": {
+        "x": 1.8,
+        "y": 7.8
+      },
+      "prevControl": {
+        "x": 0.8,
+        "y": 7.8
+      },
+      "nextControl": null,
+      "isLocked": false,
+      "linkedName": null
+    }
+  ],
+  "rotationTargets": [],
+  "constraintZones": [],
+  "eventMarkers": [],
+  "globalConstraints": {
+    "maxVelocity": 3.0,
+    "maxAcceleration": 3.0,
+    "maxAngularVelocity": 540.0,
+    "maxAngularAcceleration": 720.0
+  },
+  "goalEndState": {
+    "velocity": 0,
+    "rotation": -90.0,
+    "rotateFast": false
+  },
+  "reversed": false,
+  "folder": null,
+  "previewStartingState": {
+    "rotation": -4.0,
+    "velocity": 0
+  },
+  "useDefaultConstraints": true
+}

src/main/java/frc/robot/autons/Paths.java

@@ -5,6 +5,11 @@
 public class Paths {
     public static PathPlannerPath pathFromPosition1ToAmp = PathPlannerPath.fromPathFile("From position 1 to amp");
 
+    public static PathPlannerPath pathFromAmpToMidlineWall = PathPlannerPath
+            .fromPathFile("Amp to midline behind notes");
+
+    public static PathPlannerPath pathFromMidlineToAmp = PathPlannerPath.fromPathFile("From Midline to Amp");
+
     public static PathPlannerPath pathFromAmpToNote1 = PathPlannerPath.fromPathFile("From amp to top note");
 
     public static PathPlannerPath pathFromNote1ToAmp = PathPlannerPath.fromPathFile("From note 1 to amp");

src/main/java/frc/robot/autons/ScoreInAmpMidline.java

@@ -0,0 +1,42 @@
+package frc.robot.autons;
+
+import java.util.Optional;
+
+import frc.robot.subsystems.Acquisition;
+import frc.robot.subsystems.Dashboard;
+import edu.wpi.first.wpilibj.DriverStation.Alliance;
+import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
+import frc.robot.commands.AcquisitionRunCommand;
+import frc.robot.commands.ScoreNoteCommand;
+import frc.robot.commands.ScoringElevatorPositionCommand;
+import frc.robot.commands.ScoringElevatorPositionCommand.FinishActions;
+import frc.robot.constants.ScoringConstants.ScoringLocation;
+import frc.robot.subsystems.ScoringElevator.ElevatorSetpoints;
+
+public class ScoreInAmpMidline extends Auton {
+
+    private Acquisition acquisition = Acquisition.getInstance();
+
+    public ScoreInAmpMidline(Optional<Alliance> alliance) {
+        super(alliance);
+
+        Dashboard.getInstance().setTrajectory(Trajectories.getFromAmpToMidlineWallTrajectory());
+        this.setInitialPose(Trajectories.getFromAmpToMidlineWallTrajectory());
+        // try .concatenate a return and final trajectory later
+
+        super.addCommands(
+                followPathCommand(Paths.pathFromPosition1ToAmp),
+                new ScoringElevatorPositionCommand(ElevatorSetpoints.Amp, FinishActions.NoDisable),
+                new ScoreNoteCommand(ScoringLocation.Amp, 1.5),
+                new ScoringElevatorPositionCommand(ElevatorSetpoints.Ground),
+                new ParallelCommandGroup(
+                        followPathCommand(Paths.pathFromAmpToMidlineWall)
+                                .until(acquisition::isNotePresent)
+                                .andThen(followPathCommand(Paths.pathFromMidlineToAmp)),
+                        // new FullAcquireCommand()),
+                        new AcquisitionRunCommand()),
+                new ScoringElevatorPositionCommand(ElevatorSetpoints.Amp, FinishActions.NoDisable),
+                new ScoreNoteCommand(ScoringLocation.Amp, 3),
+                followPathCommand(Paths.pathFromAmpToMidlineWall));
+    }
+}

src/main/java/frc/robot/autons/Trajectories.java

@@ -16,6 +16,16 @@ public static PathPlannerTrajectory getFromPos1TaxiTrajectory() {
                 Rotation2d.fromDegrees(DriveTrain.getInstance().getHeading()));
     }
 
+    public static PathPlannerTrajectory getFromAmpToMidlineWallTrajectory() {
+        return new PathPlannerTrajectory(Paths.pathFromAmpToMidlineWall, DriveTrain.getInstance().getChassisSpeeds(),
+                Rotation2d.fromDegrees(DriveTrain.getInstance().getHeading()));
+    }
+
+    public static PathPlannerTrajectory getFromMidlineToAmpTrajectory() {
+        return new PathPlannerTrajectory(Paths.pathFromMidlineToAmp, DriveTrain.getInstance().getChassisSpeeds(),
+                Rotation2d.fromDegrees(DriveTrain.getInstance().getHeading()));
+    }
+
     public static PathPlannerTrajectory getFromPos2TaxiTrajectory() {
         return new PathPlannerTrajectory(Paths.taxiPath2, DriveTrain.getInstance().getChassisSpeeds(),
                 Rotation2d.fromDegrees(DriveTrain.getInstance().getHeading()));