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- Add Feeder.getSpinForwardCommand() and getReverseCommand() with proper stop() end actions, replacing inline startEnd constructions throughout - Lift drive/feeder/intake to AutoMode base class; add shakeAndFeed() helper replacing the copy-pasted parallel shake+feed block in every .done() trigger across all 8 autos - Move AutoRoutine/AutoTrajectory field initializers into constructors as final fields (removes fragile super.getAutoFactory() initializers) - Remove dead hopper comments from all auto files - Drop unused launcher field from MoveFirst autos - Fix R_LeftTrenchAuto: Commands.runOnce(drive::stop) was missing the drive subsystem requirement - Use Feeder command factories in Robot.java teleop operator bindings and createDesaturateAndShootCommand Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
Add DriveCommands.getStopCommand(drive) factory and expose it via AutoMode.stopDrive(). Replace all inline Commands.runOnce(drive::stop, drive) calls in the 8 auto routines with stopDrive(). Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
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