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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/CenterRight2Cube.java
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package org.usfirst.frc4388.robot.commands.auton;
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.DriveTurnBasic;
import org.usfirst.frc4388.robot.commands.ElevatorBasic;
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.utility.MPSoftwarePIDController.MPSoftwareTurnType;
import edu.wpi.first.wpilibj.command.CommandGroup;
import edu.wpi.first.wpilibj.command.WaitCommand;
public class CenterRight2Cube extends CommandGroup {
public CenterRight2Cube()
{
addSequential(new DriveGyroReset());
addSequential(new IntakePosition(true));
addSequential(new DriveSpeedShift(true));
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(25));
addSequential(new DriveTurnBasic(true, -35, 150, MPSoftwareTurnType.TANK));
addSequential(new DriveStraightBasic(15, 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(-25, 45, true, true, 0));
addSequential(new ElevatorBasic(10));
addSequential(new WaitCommand(.2));
addSequential(new ElevatorBasic(2));
addSequential(new DriveTurnBasic(true, 90, 150, MPSoftwareTurnType.TANK));
addSequential(new IntakeSetSpeed(Carriage.CUBE_INTAKE_SPEED));
addSequential(new DriveStraightBasic(20, 45, true, true, 0));
addSequential(new IntakePosition(true));
addSequential(new IntakeSetSpeed(Carriage.CUBE_STOP_SPEED));
addSequential(new DriveStraightBasic(-20, 45, true, true, 0));
addSequential(new ElevatorBasic(25));
addSequential(new DriveTurnBasic(true, -90, 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, 45, true, true, 0));
addSequential(new DriveSpeedShift(false));
}
}