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Auton And FMS Update

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lukesta182
2018-03-06 18:46:18 -07:00
parent f3591476b1
commit 47b48b2e42
3 changed files with 83 additions and 35 deletions
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src/org/usfirst/frc4388/robot/commands/auton/ScaleFrom3.java
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package org.usfirst.frc4388.robot.commands.auton;
import org.usfirst.frc4388.robot.commands.DriveAbsoluteTurnMP;
import org.usfirst.frc4388.robot.commands.DriveGyroReset;
import org.usfirst.frc4388.robot.commands.DriveSpeedShift;
import org.usfirst.frc4388.robot.commands.DriveStraightBasic;
import org.usfirst.frc4388.robot.commands.DriveStraightMP;
import org.usfirst.frc4388.robot.commands.DriveTurnBasic;
import org.usfirst.frc4388.robot.commands.ElevatorBasic;
import org.usfirst.frc4388.robot.commands.ElevatorSetSpeed;
import org.usfirst.frc4388.robot.commands.IntakePosition;
import org.usfirst.frc4388.robot.commands.IntakeSetSpeed;
import org.usfirst.frc4388.robot.subsystems.Carriage;
import org.usfirst.frc4388.robot.subsystems.Drive;
import org.usfirst.frc4388.utility.MPSoftwarePIDController.MPSoftwareTurnType;
import edu.wpi.first.wpilibj.command.CommandGroup;
import edu.wpi.first.wpilibj.command.WaitCommand;
/**
*
*/
public class ScaleFrom3 extends CommandGroup {
public ScaleFrom3() {
addSequential(new DriveGyroReset());
addSequential(new DriveSpeedShift(true));
addSequential(new IntakePosition(true));
addSequential(new DriveStraightBasic(-200, 60, true, true, 0));
addSequential(new ElevatorBasic(10));
addSequential(new DriveTurnBasic(true, 150, 300, MPSoftwareTurnType.TANK));
addSequential(new ElevatorBasic(70));
addSequential(new DriveStraightBasic(10, 20, true, true, 0));
addSequential(new IntakeSetSpeed(Carriage.CUBE_EJECT_SPEED));
//addSequential(new WaitCommand(.1));
addSequential(new IntakePosition(false));
addSequential(new WaitCommand(.5));
addSequential(new IntakeSetSpeed(Carriage.CUBE_STOP_SPEED));
//addSequential(new DriveStraightMP(60, 10, true, true, 0)); // 95 for 112" greenville
}
}