Zero gyro in do nothing auto

src/main/java/frc/robot/autos/AutoChooser.java

@@ -19,16 +19,19 @@
 public class AutoChooser {
   private final SendableChooser<AutoSelection> chooser = new SendableChooser<>();
   private final Set<String> brokenAutoNames = new HashSet<>();
+  private final Command doNothingAuto;
   private Optional<Command> cachedCommand = Optional.empty();
   private String cachedAutoName = "";
 
-  public AutoChooser() {
+  public AutoChooser(AutoCommands commands) {
     SmartDashboard.putData("Autos/SelectedAuto", chooser);
     chooser.setDefaultOption(AutoSelection.DO_NOTHING.toString(), AutoSelection.DO_NOTHING);
 
     for (AutoSelection selection : EnumSet.allOf(AutoSelection.class)) {
       chooser.addOption(selection.toString(), selection);
     }
+
+    this.doNothingAuto = commands.doNothingCommand();
   }
 
   public Command getAutoCommand() {
@@ -54,8 +57,8 @@ public Command getAutoCommand() {
     }
 
     if (autoName.equals("")) {
-      var command = Commands.print("No auto path provided, doing nothing");
-      cachedCommand = Optional.of(command);
+      var command = Commands.print("No auto path provided, running do nothing auto");
+      cachedCommand = Optional.of(command.andThen(doNothingAuto));
       return command;
     }
 

src/main/java/frc/robot/autos/AutoCommands.java

@@ -31,6 +31,10 @@ public AutoCommands(RobotCommands actions, RobotManager robotManager) {
     this.robotManager = robotManager;
   }
 
+  public Command doNothingCommand() {
+    return robotManager.localization.getZeroCommand();
+  }
+
   public Command speakerSnapCommand() {
     return actions.waitForSpeakerShotCommand();
   }

src/main/java/frc/robot/autos/Autos.java

@@ -123,7 +123,7 @@ public Autos(
 
     PPHolonomicDriveController.setRotationTargetOverride(this::getRotationTargetOverride);
 
-    autoChooser = new AutoChooser();
+    autoChooser = new AutoChooser(autoCommands);
 
     FollowPathCommand.warmupCommand().schedule();
     PathfindingCommand.warmupCommand().schedule();