Basic skeleton

src/main/java/frc/robot/Constants.java

@@ -123,6 +123,9 @@ public static class Auto {
 
     /** The amount of time that we want to run the fire note command in auto. */
     public static final double FIRE_NOTE_FOR_TIME = 4.0;
+
+    /** Time in seconds that we delay our taxi in the delayed taxi auto. */
+    public static final double TAXI_DELAY_TIME = 10.0;
   }
 
   /** Constants for the Intake System */

src/main/java/frc/robot/commands/auto/DelayedTaxiAuto.java

@@ -0,0 +1,26 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+/*
+ * Asimov's Laws:
+ * The First Law: A robot may not injure a human being or, through inaction, allow a human being to come to harm.
+ * The Second Law: A robot must obey the orders given it by human beings except where such orders would conflict with the First Law.
+ * The Third Law: A robot must protect its own existence as long as such protection does not conflict with the First or Second Law.
+ */
+
+package frc.robot.commands.auto;
+
+import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
+import edu.wpi.first.wpilibj2.command.WaitCommand;
+import frc.robot.Constants;
+
+/** Taxi auto that waits a bit before it taxis. */
+public class DelayedTaxiAuto extends SequentialCommandGroup {
+  /** Creates a new DelayedTaxiAuto. */
+  public DelayedTaxiAuto() {
+    // Add your commands in the addCommands() call, e.g.
+    // addCommands(new FooCommand(), new BarCommand());
+    addCommands(new WaitCommand(Constants.Auto.TAXI_DELAY_TIME), new TaxiAuto());
+  }
+}