23:04:07:880 ERROR   : robotpy             : The robot program quit unexpectedly. This is usually due to a code error.
The above stacktrace can help determine where the error occurred.
Traceback (most recent call last):
  File "C:\Users\caden\AppData\Local\Programs\Python\Python312\Lib\site-packages\wpilib\_impl\start.py", line 160, in start
    return self._start(robot_cls)
           ^^^^^^^^^^^^^^^^^^^^^^
  File "C:\Users\caden\AppData\Local\Programs\Python\Python312\Lib\site-packages\wpilib\_impl\start.py", line 247, in _start
    self.robot.startCompetition()
  File "C:\Users\caden\Documents\GitHub\2024DumpsterFire\robot.py", line 23, in robotInit
    self.container = RobotContainer()
                     ^^^^^^^^^^^^^^^^
  File "C:\Users\caden\Documents\GitHub\2024DumpsterFire\robotcontainer.py", line 62, in __init__
    self.auto_chooser.setDefaultOption("2 Note Amp", PathPlannerAuto("2NoteAmp"))
                                                    ^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "C:\Users\caden\AppData\Local\Programs\Python\Python312\Lib\site-packages\pathplannerlib\auto.py", line 494, in __init__
    self._autoCommand = AutoBuilder.buildAuto(auto_name)
                        ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "C:\Users\caden\AppData\Local\Programs\Python\Python312\Lib\site-packages\pathplannerlib\auto.py", line 475, in buildAuto
    return AutoBuilder.getAutoCommandFromJson(auto_json)
           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "C:\Users\caden\AppData\Local\Programs\Python\Python312\Lib\site-packages\pathplannerlib\auto.py", line 455, in getAutoCommandFromJson
    autoCommand = CommandUtil.commandFromJson(commandJson, choreoAuto)
                  ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "C:\Users\caden\AppData\Local\Programs\Python\Python312\Lib\site-packages\pathplannerlib\auto.py", line 95, in commandFromJson
    return CommandUtil._sequentialGroupFromData(data, load_choreo_paths)
           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "C:\Users\caden\AppData\Local\Programs\Python\Python312\Lib\site-packages\pathplannerlib\auto.py", line 126, in _sequentialGroupFromData
    commands = [CommandUtil.commandFromJson(cmd_json, load_choreo_paths) for cmd_json in data_json['commands']]
                ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "C:\Users\caden\AppData\Local\Programs\Python\Python312\Lib\site-packages\pathplannerlib\auto.py", line 93, in commandFromJson
    return CommandUtil._pathCommandFromData(data, load_choreo_paths)
           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "C:\Users\caden\AppData\Local\Programs\Python\Python312\Lib\site-packages\pathplannerlib\auto.py", line 122, in _pathCommandFromData
    return AutoBuilder.followPath(PathPlannerPath.fromPathFile(pathName))
           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "C:\Users\caden\AppData\Local\Programs\Python\Python312\Lib\site-packages\pathplannerlib\auto.py", line 393, in followPath
    return AutoBuilder._pathFollowingCommandBuilder(path)
           ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "C:\Users\caden\AppData\Local\Programs\Python\Python312\Lib\site-packages\pathplannerlib\auto.py", line 177, in <lambda>
    AutoBuilder._pathFollowingCommandBuilder = lambda path: FollowPathHolonomic(
                                                            ^^^^^^^^^^^^^^^^^^^^
  File "C:\Users\caden\AppData\Local\Programs\Python\Python312\Lib\site-packages\pathplannerlib\commands.py", line 219, in __init__
    super().__init__(path, pose_supplier, speeds_supplier, output_robot_relative, PPHolonomicDriveController(
  File "C:\Users\caden\AppData\Local\Programs\Python\Python312\Lib\site-packages\pathplannerlib\commands.py", line 69, in __init__
    raise RuntimeError(
RuntimeError: Events that are triggered during path following cannot require the drive subsystem


Locals at innermost frame:

{ '__class__': <class 'pathplannerlib.commands.FollowPathCommand'>,
  'controller': <pathplannerlib.controller.PPHolonomicDriveController object at 0x000002784A6FE8D0>,
  'marker': EventMarker(waypointRelativePos=1.0,
                        command=<commands2.sequentialcommandgroup.SequentialCommandGroup object a...
                        minimumTriggerDistance=0.5,
                        markerPos=Translation2d(x=1.828719, y=7.643070),
                        lastRobotPos=None),
  'output_robot_relative': <function Swerve.__init__.<locals>.<lambda> at 0x000002784A6EE3E0>,
  'path': <pathplannerlib.path.PathPlannerPath object at 0x000002784A6FEC30>,
  'pose_supplier': <function Swerve.__init__.<locals>.<lambda> at 0x000002784A6EE200>,
  'replanning_config': ReplanningConfig(enableInitialReplanning=True,
                                        enableDynamicReplanning=False,
                                        dynamicReplanningTotalErrorThreshold=1.0,
                                        dynamicReplanningErrorSpikeThreshold=0.25),
  'req': <subsystems.intake.Intake object at 0x000002784A69FA70>,
  'reqs': {<subsystems.intake.Intake object at 0x000002784A69FA70>},
  'requirements': (<subsystems.swerve.Swerve object at 0x000002784A69F770>,),
  'self': <pathplannerlib.commands.FollowPathHolonomic object at 0x000002785230AB10>,
  'should_flip_path': <function Swerve.__init__.<locals>.<lambda> at 0x000002784A6EE480>,
  'speeds_supplier': <function Swerve.__init__.<locals>.<lambda> at 0x000002784A6EE340>}