Update to 2026.2.1, more auto code, more tag tracking code, pondering on the fly path generation

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

@@ -4,9 +4,13 @@
 
 package frc.robot;
 
+import com.pathplanner.lib.auto.AutoBuilder;
+
+import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
 import edu.wpi.first.wpilibj2.command.Command;
-import edu.wpi.first.wpilibj2.command.Commands;
+import edu.wpi.first.wpilibj2.command.PrintCommand;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
+import frc.robot.constants.AutoConstants;
 import frc.robot.constants.OIConstants;
 import frc.robot.subsystems.Drivetrain;
 
@@ -15,11 +19,15 @@ public class RobotContainer {
 
   private CommandXboxController driver;
 
+  private SendableChooser<Command> autoChooser;
+
   public RobotContainer() {
     drivetrain = new Drivetrain();
 
     driver = new CommandXboxController(OIConstants.kDriverControllerPort);
 
+    autoChooser = AutoBuilder.buildAutoChooser();
+
     configureBindings();
   }
 
@@ -35,6 +43,10 @@ public class RobotContainer {
   }
 
   public Command getAutonomousCommand() {
-    return Commands.print("No autonomous command configured");
+    if(AutoConstants.kAutoConfigOk) {
+      return autoChooser.getSelected();
+    } else {
+      return new PrintCommand("Robot Config loading failed, autonomous disabled");
+    }
   }
 }