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Autonomous Update

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Center Right and Left Tuned for 3/5/18
This commit is contained in:
mayabartels
2018-03-05 22:25:49 -07:00
parent 06fff41d54
commit 797a8a2b42
2 changed files with 15 additions and 17 deletions
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src/org/usfirst/frc4388/robot/commands/auton/CenterLeft.java
+6 -8
View File
@@ -22,23 +22,21 @@ import edu.wpi.first.wpilibj.command.WaitCommand;
*/ */
public class CenterLeft extends CommandGroup { public class CenterLeft extends CommandGroup {
public CenterLeft() { public CenterLeft()
{
addSequential(new DriveGyroReset()); addSequential(new DriveGyroReset());
addSequential(new IntakePosition(true)); 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 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 DriveTurnBasic(true, 28, 300, MPSoftwareTurnType.TANK));
addSequential(new ElevatorBasic(20)); 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 IntakeSetSpeed(Carriage.CUBE_EJECT_SPEED));
//addSequential(new WaitCommand(.1)); //addSequential(new WaitCommand(.1));
addSequential(new IntakePosition(false)); addSequential(new IntakePosition(false));
addSequential(new WaitCommand(.5)); addSequential(new WaitCommand(.2));
addSequential(new IntakeSetSpeed(Carriage.CUBE_STOP_SPEED)); addSequential(new IntakeSetSpeed(Carriage.CUBE_STOP_SPEED));
//addSequential(new DriveStraightMP(60, 10, true, true, 0)); // 95 for 112" greenville
} }
} }
src/org/usfirst/frc4388/robot/commands/auton/CenterRight.java
+8 -8
View File
@@ -20,23 +20,23 @@ import edu.wpi.first.wpilibj.command.WaitCommand;
/** /**
* *
*/ */
public class CenterRight extends CommandGroup { public class CenterRight extends CommandGroup
{
public CenterRight() public CenterRight()
{ {
addSequential(new DriveGyroReset()); addSequential(new DriveGyroReset());
addSequential(new IntakePosition(true)); 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 DriveTurnBasic(true, -130, 300, MPSoftwareTurnType.TANK));
addSequential(new DriveStraightBasic(50, 60, true, true, 0)); addSequential(new DriveStraightBasic(53, 60, true, true, 0));
addSequential(new DriveTurnBasic(true, 28, 300, MPSoftwareTurnType.TANK));
addSequential(new ElevatorBasic(20)); 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 IntakeSetSpeed(Carriage.CUBE_EJECT_SPEED));
//addSequential(new WaitCommand(.1)); //addSequential(new WaitCommand(.1));
addSequential(new IntakePosition(false)); addSequential(new IntakePosition(false));
addSequential(new WaitCommand(.5)); addSequential(new WaitCommand(.2));
addSequential(new IntakeSetSpeed(Carriage.CUBE_STOP_SPEED)); addSequential(new IntakeSetSpeed(Carriage.CUBE_STOP_SPEED));
} }
} }