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tweeks to auto scale and all switch pos work
This commit is contained in:
Luke Staudacher
2018-03-10 20:12:20 -06:00
parent 817379d36a
commit c9a62e454f
18 changed files with 230 additions and 56 deletions
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src/org/usfirst/frc4388/robot/commands/auton/CenterLeft.java
+8 -7
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@@ -28,18 +28,19 @@ public class CenterLeft extends CommandGroup {
addSequential(new IntakePosition(true));
addSequential(new DriveSpeedShift(true));
addSequential(new DriveStraightBasic(-15, 50, true, true, 0));
addSequential(new DriveTurnBasic(true, 130, 300, MPSoftwareTurnType.TANK));
addSequential(new DriveStraightBasic(53, 50, true, true, 0));
addSequential(new ElevatorBasic(20));
addSequential(new DriveTurnBasic(true, 34.5, 300, MPSoftwareTurnType.TANK));
addSequential(new DriveStraightBasic(19, 50, true, true, 0));
addSequential(new DriveStraightBasic(-15, 30, true, true, 0));
addSequential(new DriveTurnBasic(true, 115, 150, MPSoftwareTurnType.TANK));
addSequential(new WaitCommand(.2));
addSequential(new DriveStraightBasic(80, 45, true, true, 0));
addSequential(new ElevatorBasic(30));
addSequential(new DriveTurnBasic(true, 17, 150, MPSoftwareTurnType.TANK));
addSequential(new DriveStraightBasic(10, 45, true, true, 0));
addSequential(new IntakeSetSpeed(Carriage.CUBE_EJECT_SPEED));
//addSequential(new WaitCommand(.1));
addSequential(new IntakePosition(false));
addSequential(new WaitCommand(.2));
addSequential(new IntakeSetSpeed(Carriage.CUBE_STOP_SPEED));
addSequential(new DriveStraightBasic(-20, 50, true, true, 0));
addSequential(new DriveStraightBasic(-20, 45, true, true, 0));
addSequential(new ElevatorBasic(10));
addSequential(new DriveSpeedShift(false));
}