From 797a8a2b4286e92e1eecca355c7649867870fa2c Mon Sep 17 00:00:00 2001 From: mayabartels Date: Mon, 5 Mar 2018 22:25:49 -0700 Subject: [PATCH] Autonomous Update Center Right and Left Tuned for 3/5/18 --- .../robot/commands/auton/CenterLeft.java | 14 ++++++-------- .../robot/commands/auton/CenterRight.java | 18 +++++++++--------- 2 files changed, 15 insertions(+), 17 deletions(-) diff --git a/src/org/usfirst/frc4388/robot/commands/auton/CenterLeft.java b/src/org/usfirst/frc4388/robot/commands/auton/CenterLeft.java index c6dc96a..957bc7e 100644 --- a/src/org/usfirst/frc4388/robot/commands/auton/CenterLeft.java +++ b/src/org/usfirst/frc4388/robot/commands/auton/CenterLeft.java @@ -22,23 +22,21 @@ import edu.wpi.first.wpilibj.command.WaitCommand; */ public class CenterLeft extends CommandGroup { - public CenterLeft() { + public CenterLeft() + { addSequential(new DriveGyroReset()); addSequential(new IntakePosition(true)); - addSequential(new DriveStraightBasic(-10, 60, true, true, 0)); + addSequential(new DriveStraightBasic(-15, 60, true, true, 0)); addSequential(new DriveTurnBasic(true, 130, 300, MPSoftwareTurnType.TANK)); - addSequential(new DriveStraightBasic(50, 60, true, true, 0)); + addSequential(new DriveStraightBasic(65, 60, true, true, 0)); addSequential(new DriveTurnBasic(true, 28, 300, MPSoftwareTurnType.TANK)); addSequential(new ElevatorBasic(20)); - addSequential(new DriveStraightBasic(25, 60, true, true, 0)); + addSequential(new DriveStraightBasic(30, 60, true, true, 0)); addSequential(new IntakeSetSpeed(Carriage.CUBE_EJECT_SPEED)); //addSequential(new WaitCommand(.1)); addSequential(new IntakePosition(false)); - addSequential(new WaitCommand(.5)); + addSequential(new WaitCommand(.2)); addSequential(new IntakeSetSpeed(Carriage.CUBE_STOP_SPEED)); - - //addSequential(new DriveStraightMP(60, 10, true, true, 0)); // 95 for 112" greenville - } } diff --git a/src/org/usfirst/frc4388/robot/commands/auton/CenterRight.java b/src/org/usfirst/frc4388/robot/commands/auton/CenterRight.java index 565835f..28166ad 100644 --- a/src/org/usfirst/frc4388/robot/commands/auton/CenterRight.java +++ b/src/org/usfirst/frc4388/robot/commands/auton/CenterRight.java @@ -20,23 +20,23 @@ import edu.wpi.first.wpilibj.command.WaitCommand; /** * */ -public class CenterRight extends CommandGroup { - - public CenterRight() +public class CenterRight extends CommandGroup +{ + public CenterRight() { addSequential(new DriveGyroReset()); addSequential(new IntakePosition(true)); - addSequential(new DriveStraightBasic(-10, 60, true, true, 0)); - addSequential(new DriveTurnBasic(true, 130, 300, MPSoftwareTurnType.TANK)); - addSequential(new DriveStraightBasic(50, 60, true, true, 0)); - addSequential(new DriveTurnBasic(true, 28, 300, MPSoftwareTurnType.TANK)); + addSequential(new DriveStraightBasic(-15, 60, true, true, 0)); + addSequential(new DriveTurnBasic(true, -130, 300, MPSoftwareTurnType.TANK)); + addSequential(new DriveStraightBasic(53, 60, true, true, 0)); addSequential(new ElevatorBasic(20)); - addSequential(new DriveStraightBasic(25, 60, true, true, 0)); + addSequential(new DriveTurnBasic(true, -34.5, 300, MPSoftwareTurnType.TANK)); + addSequential(new DriveStraightBasic(19, 60, true, true, 0)); addSequential(new IntakeSetSpeed(Carriage.CUBE_EJECT_SPEED)); //addSequential(new WaitCommand(.1)); addSequential(new IntakePosition(false)); - addSequential(new WaitCommand(.5)); + addSequential(new WaitCommand(.2)); addSequential(new IntakeSetSpeed(Carriage.CUBE_STOP_SPEED)); } }