//package opmodes;
//
//import static org.firstinspires.ftc.teamcode.hardware.RobotConfig.PICKUP_ARM_MIN;
//
//import com.acmerobotics.roadrunner.geometry.Pose2d;
//import com.acmerobotics.roadrunner.geometry.Vector2d;
//import com.qualcomm.robotcore.eventloop.opmode.Autonomous;
//
//import org.firstinspires.ftc.teamcode.hardware.roadrunner.trajectorysequence.TrajectorySequenceBuilder;
//import org.firstinspires.ftc.teamcode.util.CenterStageCommon;
//
//@Autonomous(name = "AutoSandbox", preselectTeleOp = "MainTeleOp")
//public class AutoSandbox extends AutoBase {
//    private final Pose2d rendezvous = new Pose2d(12, 48, Math.toRadians(-89));
//
//    public AutoSandbox() {
//        super(
//                CenterStageCommon.Alliance.Blue,
//                new Pose2d(12, 63, Math.toRadians(-90)),
//                new Pose2d(62, 62));
//    }
//
//    protected void propLeft() {
//        TrajectorySequenceBuilder builder = this.robot.getTrajectorySequenceBuilder();
//        builder.lineToLinearHeading(new Pose2d(36, 25, Math.toRadians(-33)));
//        builder.addDisplacementMarker(10, () -> {
//            this.robot.getClaw().setArmPosition(PICKUP_ARM_MIN);
//        });
//        this.robot.getDrive().followTrajectorySequence(builder.build());
//
//        openAndLiftClaw();
//    }
//
//    protected void propCenter() {
//
//        TrajectorySequenceBuilder builder = this.robot.getTrajectorySequenceBuilder();
//        builder.lineToLinearHeading(new Pose2d(12,48, Math.toRadians(90)));
//        builder.addDisplacementMarker(10, () -> {
//            this.robot.getClaw().setArmPosition(PICKUP_ARM_MIN);
//        });
//        builder.lineToConstantHeading(new Vector2d(12,12));
//
//        this.robot.getDrive().followTrajectorySequence(builder.build());
//
//        openAndLiftClaw();
//
////        builder = this.robot.getTrajectorySequenceBuilder();
////        builder.turn((Math.toRadians(90)));
////        this.robot.getDrive().followTrajectorySequence(builder.build());
//
//
////        TrajectorySequenceBuilder builder = this.robot.getTrajectorySequenceBuilder();
////        builder.lineToConstantHeading(rendezvous.vec());
////        builder.addDisplacementMarker(10, () -> {
////            this.robot.getClaw().setArmPosition(PICKUP_ARM_MIN);
////        });
////        this.robot.getDrive().followTrajectorySequence(builder.build());
////
////        openAndLiftClaw();
//    }
//
//    protected void propRight() {
//        TrajectorySequenceBuilder builder = this.robot.getTrajectorySequenceBuilder();
//        builder.lineToLinearHeading(new Pose2d(32, 34, Math.toRadians(0)));
//        builder.lineToConstantHeading(new Vector2d(19, 34));
//        builder.addTemporalMarker(0.5, () -> {
//            this.robot.getClaw().setArmPosition(PICKUP_ARM_MIN);
//        });
//        this.robot.getDrive().followTrajectorySequence(builder.build());
//
//        openAndLiftClaw();
//    }
//}