Add end conditions to following points

src/main/java/frc/robot/autos/trailblazer/Trailblazer.java

@@ -57,11 +57,12 @@ public Command followSegment(AutoSegment segment) {
   private Command followPoint(AutoPoint point, List<AutoPointConstraint> segmentConstraints) {
     return point.command.alongWith(
         Commands.run(
-            () -> {
-              var constrainedVelocityGoal = getSwerveSetpoint(point, segmentConstraints);
-              swerve.setFieldRelativeAutoSpeeds(constrainedVelocityGoal);
-            },
-            swerve));
+                () -> {
+                  var constrainedVelocityGoal = getSwerveSetpoint(point, segmentConstraints);
+                  swerve.setFieldRelativeAutoSpeeds(constrainedVelocityGoal);
+                },
+                swerve)
+            .until(() -> pathTracker.isFinished(point)));
   }
 
   private ChassisSpeeds getSwerveSetpoint(

src/main/java/frc/robot/autos/trailblazer/trackers/HeuristicPathTracker.java

@@ -5,6 +5,7 @@
 import frc.robot.autos.trailblazer.AutoPoint;
 import java.util.List;
 
+// TODO: Implement https://github.com/team581/2024-offseason-bot/issues/94
 public class HeuristicPathTracker implements PathTracker {
   private List<AutoPoint> points = List.of();
 
@@ -15,7 +16,11 @@ public void resetAndSetPoints(List<AutoPoint> points) {
 
   @Override
   public Pose2d getTargetPose(Pose2d currentPose, ChassisSpeeds currentFieldRelativeRobotSpeeds) {
-    // TODO: Implement https://github.com/team581/2024-offseason-bot/issues/94
-    return currentPose;
+    return null;
+  }
+
+  @Override
+  public boolean isFinished(AutoPoint point) {
+    return false;
   }
 }

src/main/java/frc/robot/autos/trailblazer/trackers/PathTracker.java

@@ -25,4 +25,12 @@ public interface PathTracker {
    * @return
    */
   public Pose2d getTargetPose(Pose2d currentPose, ChassisSpeeds currentFieldRelativeRobotSpeeds);
+
+  /**
+   * Check whether the robot has finished following the given point.
+   *
+   * @param point The point to check.
+   * @return Whether the robot has finished following the given point.
+   */
+  public boolean isFinished(AutoPoint point);
 }

src/main/java/frc/robot/autos/trailblazer/trackers/PurePursuitPathTracker.java

@@ -14,4 +14,9 @@ public void resetAndSetPoints(List<AutoPoint> points) {}
   public Pose2d getTargetPose(Pose2d currentPose, ChassisSpeeds currentFieldRelativeRobotSpeeds) {
     return null;
   }
+
+  @Override
+  public boolean isFinished(AutoPoint point) {
+    return false;
+  }
 }