[tuXguy15]

Here is a very stripped down version of our autonomous. This shoots the frisbees.

    // Int
    int maxShootCount;
    int currShootCount;

    public void autonomousInit() {
        maxShootCount = 6; //Does 6 Shots Just In Case Of Jam
        currShootCount = 0; //Starts At 0 Shots
        systimer.start();
        systimer.reset();
    }
    
    /**
     * This function is called periodically during autonomous
     */
    public void autonomousPeriodic() {
        double currentTime = systimer.get();

        if (currentTime < 3) {
            jaguar3.set(0.64); //Turn on shooter jags
            jaguar4.set(0.64); //Turn on shooter jags
        } else if (currentTime >= 3 && currentTime < 10) {
        if(currShootCount < maxShootCount) //If our current shot count is less than the max(6 shot max) then do the below code
        {
            solenoid3.set(true); //Activate Frisbee Launcher
            solenoid4.set(false); //Activate Frisbee Launcher
            Timer.delay(0.5);
            solenoid3.set(false); //Deactivate Frisbee Launcher
            solenoid4.set(true); //Deactivate Frisbee Launcher
            solenoid5.set(true); //Activate Frisbee Dropper
            solenoid6.set(false); //Activate Frisbee Dropper
            Timer.delay(0.4);
            solenoid5.set(false); //Deactivate Frisbee Dropper
            solenoid6.set(true); //Deactivate Frisbee Dropper
            Timer.delay(0.5);
        }
        currShootCount++; //Add on a count when code cycles through each time until it hits 2 shots
        } else if (currentTime >= 10 && currentTime < 10.5) {
        jaguar3.set(0); //Turn off shooter jags
        jaguar4.set(0); //Turn off shooter jags
        robotDrive.drive(1, 0); //Drive Forward Full Speed
        } else if (currentTime >= 10.5 && currentTime < 11.2) {
        robotDrive.drive(0.0); //Stop driving
        Solenoid7.set(false); //this puts the shooter down
        Solenoid8.set(true); //this puts the shooter down
        } else if (currentTime >= 11.2 && currentTime < 15) {
        solenoid1.set(true); //puts the robot in low gear
        solenoid2.set(false); //puts the robot in low gear
        robotDrive.drive(-1, 0); //Drives backwards full speed
        } else (currentTime = 15) {
        robotDrive.drive(0, 0); //stops driving
        solenoid1.set(false); //puts the robot in high gear for teleop
        solenoid2.set(true); //puts the robot in high gear for teleop
        }
}

Hope this helps you with some ideas. If you need any explanation, I will do the best i can to explain.