finished auto SOP

Author: lhonney26

docs/code/autopython.rst

@@ -95,13 +95,12 @@ Here are our imports! We use PathPlanner to generate/map out and tune our paths,
 so we can assign robot functionalities to each of the different paths we follow on the field. 
 (See our Path Planning documentation for more on this.) 
 
-Then, we import the dimensions of the robot, game field, and poses we will incorporate to put 
-our robot in certain positions on the field. 
+Then, we import the dimensions of the robot, game field, and our poses on field.
 
-Of course, we also want to import Driverstation as well as our Commands so we can actually do stuff.
+Of course, we also want to import Driverstation and our Commands so we can actually do stuff.
 
 .. note::
-    We are importing *our* commands in line 6, which imports the commands we wrote using the methods from our 
+    We are importing *our* commands in line 6, which imports the commands we wrote using methods from our 
     subsystems. In line 10, we import the *types* of commands we want to organize our robot commands into.
     This may sound a little confusing at first, but we'll get into the different types on a case by case basis.
 
@@ -149,7 +148,7 @@ Autos can consist of any commands, and they will vary based on the auto you are
 two instant commands: one that resets the odometry of the drivetrain to the starting pose, and one that sets the 
 boolean for coral in the wrist as true*. Instant commands do whatever is inside the parenthesis *instantaneously*.
 
-* We already have a coral preloaded in our reset before the match.
+* We already have a coral preloaded in our wrist before the match.
 
 The Rest of the Auto
 ======================
@@ -205,10 +204,15 @@ The Rest of the Auto
     )
 
 This part gets a little repetitive, but here's the gist: 
-- AutoBuilder.followPath(paths[i]) follows path i in our choreo trajectory
-- We utilize the fact that the entire auto is in a Sequential Command Group, to run all of the tasks in order: 
-following a path and then doing tasks at the location it ends up at.
-- You might notice we also use Parallel Command Groups, which run multiple commands in parallel. We use them to follow 
-the paths in our Choreo trajectory while also moving the robot subsystems.
+
+Within each Parallel command group (which run multiple commands in parallel), we 
+1. follow a path* 
+while also 
+2. setting the target position of a subsystem depending on what we want the robot to do next
+
+Then, after getting our robot to the correct place with our subsystems in the correct configuration,
+we either intake or score the coral.
+
+* AutoBuilder.followPath(paths[i]) follows path i in our Choreo trajectory
 
 Congratulations! You have just learned how to code an auto.