Team4388/2018-Robot
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This commit is contained in:
Luke Staudacher
2018-05-31 17:03:05 -06:00
parent 482698b216
commit 231b078d3b
3 changed files with 7 additions and 8 deletions
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src/org/usfirst/frc4388/robot/commands/auton/CenterLeft.java
+2 -3
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@@ -32,11 +32,10 @@ public class CenterLeft extends CommandGroup {
addSequential(new DriveStraightBasic(-15, 30, true, true, 0)); addSequential(new DriveStraightBasic(-15, 30, true, true, 0));
addSequential(new DriveTurnBasic(true, 115, 150, MPSoftwareTurnType.TANK)); addSequential(new DriveTurnBasic(true, 115, 150, MPSoftwareTurnType.TANK));
addSequential(new WaitCommand(.2)); addSequential(new WaitCommand(.2));
addSequential(new DriveStraightBasic(80, 45, true, true, 0));
addSequential(new ElevatorBasic(30)); addSequential(new ElevatorBasic(30));
addSequential(new DriveTurnBasic(true, 28, 150, MPSoftwareTurnType.TANK)); addSequential(new DriveTurnBasic(true, 32, 150, MPSoftwareTurnType.TANK));
addParallel(new TimeoutBecaseYea()); addParallel(new TimeoutBecaseYea());
addSequential(new DriveStraightBasic(12, 45, true, true, 0)); addSequential(new DriveStraightBasic(25, 60, true, true, 0));
addSequential(new WaitCommand(3)); addSequential(new WaitCommand(3));
addSequential(new DriveStraightBasic(-20, 45, true, true, 0)); addSequential(new DriveStraightBasic(-20, 45, true, true, 0));
src/org/usfirst/frc4388/robot/commands/auton/CenterLeft2Cube.java
+4 -4
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@@ -31,17 +31,17 @@ public class CenterLeft2Cube extends CommandGroup {
addSequential(new DriveStraightBasic(-15, 30, true, true, 0)); addSequential(new DriveStraightBasic(-15, 30, true, true, 0));
addSequential(new DriveTurnBasic(true, 115, 150, MPSoftwareTurnType.TANK)); addSequential(new DriveTurnBasic(true, 115, 150, MPSoftwareTurnType.TANK));
addSequential(new WaitCommand(.2)); addSequential(new WaitCommand(.2));
addSequential(new DriveStraightBasic(70, 45, true, true, 0)); addSequential(new DriveStraightBasic(70, 60, true, true, 0));
addSequential(new ElevatorBasic(30)); addSequential(new ElevatorBasic(30));
addSequential(new DriveTurnBasic(true, 30, 150, MPSoftwareTurnType.TANK)); addSequential(new DriveTurnBasic(true, 32, 150, MPSoftwareTurnType.TANK));
addParallel(new TimeoutBecaseYea()); addParallel(new TimeoutBecaseYea());
addSequential(new DriveStraightBasic(18, 45, true, true, 0)); addSequential(new DriveStraightBasic(25, 60, true, true, 0));
addSequential(new WaitCommand(1)); addSequential(new WaitCommand(1));
addSequential(new DriveStraightBasic(-20, 45, true, true, 0)); addSequential(new DriveStraightBasic(-20, 45, true, true, 0));
addSequential(new ElevatorBasic(3)); addSequential(new ElevatorBasic(3));
addSequential(new DriveTurnBasic(true, 75, 150, MPSoftwareTurnType.TANK)); addSequential(new DriveTurnBasic(true, 75, 150, MPSoftwareTurnType.TANK));
addSequential(new IntakeSetSpeed(Carriage.CUBE_INTAKE_SPEED)); addSequential(new IntakeSetSpeed(Carriage.CUBE_INTAKE_SPEED));
addSequential(new DriveStraightBasic(45, 45, true, true, 0)); addSequential(new DriveStraightBasic(40, 45, true, true, 0));
addSequential(new WaitCommand(2)); addSequential(new WaitCommand(2));
addSequential(new IntakePosition(true)); addSequential(new IntakePosition(true));
addSequential(new DriveStraightBasic(-40, 45, true, true, 0)); addSequential(new DriveStraightBasic(-40, 45, true, true, 0));
src/org/usfirst/frc4388/robot/subsystems/Drive.java
+1 -1
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@@ -655,7 +655,7 @@ public class Drive extends Subsystem implements ControlLoopable
m_steerInput, m_steerNonLinear, STEER_NON_LINEARITY); m_steerInput, m_steerNonLinear, STEER_NON_LINEARITY);
} }
m_drive.arcadeDrive(m_moveOutput, m_steerOutput*.85); m_drive.arcadeDrive(m_moveOutput, m_steerOutput*.75);
// break; // break;
// case CONTROLLER_XBOX_ARCADE_RIGHT: // case CONTROLLER_XBOX_ARCADE_RIGHT:
// m_moveInput = // m_moveInput =