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Updated Autonomous Commands

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Change Right Start Left Score and Add Center Right and Left Start Right Score
This commit is contained in:
lukesta182
2018-03-05 21:11:07 -07:00
parent 9a896e2021
commit d19ec29f94
3 changed files with 94 additions and 6 deletions
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src/org/usfirst/frc4388/robot/commands/auton/CenterRight.java
+42
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@@ -0,0 +1,42 @@
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 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 ElevatorBasic(20));
addSequential(new DriveStraightBasic(25, 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 IntakeSetSpeed(Carriage.CUBE_STOP_SPEED));
}
}
src/org/usfirst/frc4388/robot/commands/auton/LeftStartRightScore.java
+46
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@@ -0,0 +1,46 @@
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.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 LeftStartRightScore extends CommandGroup {
public LeftStartRightScore()
{
addSequential(new DriveGyroReset());
addSequential(new DriveSpeedShift(true));
addSequential(new DriveSpeedShift(true));
addSequential(new IntakePosition(true));
addSequential(new DriveStraightBasic(215, 60, true, true, 0));
addSequential(new ElevatorBasic(5));
addSequential(new DriveTurnBasic(true, -87, 300, MPSoftwareTurnType.TANK));
addSequential(new DriveStraightBasic(205, 60, true, true, 0));
addSequential(new ElevatorBasic(30));
addSequential(new DriveStraightBasic(30, 60, true, true, 0));
addSequential(new DriveTurnBasic(true, 125, 300, MPSoftwareTurnType.TANK));
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(.2));
addSequential(new IntakeSetSpeed(Carriage.CUBE_STOP_SPEED));
addSequential(new DriveStraightBasic(-10, 60, true, true, 0));
//addSequential(new DriveStraightMP(60, 10, true, true, 0)); // 95 for 112" greenville
}
}
src/org/usfirst/frc4388/robot/commands/auton/RightStartLeftScore.java
+6 -6
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@@ -21,8 +21,8 @@ import edu.wpi.first.wpilibj.command.WaitCommand;
*/
public class RightStartLeftScore extends CommandGroup {
public RightStartLeftScore() {
public RightStartLeftScore() //////////TUNEDISH AND ALMOST GOOD
{
addSequential(new DriveGyroReset());
addSequential(new DriveSpeedShift(true));
addSequential(new DriveSpeedShift(true));
@@ -30,10 +30,11 @@ public class RightStartLeftScore extends CommandGroup {
addSequential(new DriveStraightBasic(-215, 60, true, true, 0));
addSequential(new ElevatorBasic(5));
addSequential(new DriveTurnBasic(true, 87, 300, MPSoftwareTurnType.TANK));
addSequential(new DriveStraightBasic(150, 60, true, true, 0));
addSequential(new DriveStraightBasic(205, 60, true, true, 0));
addSequential(new ElevatorBasic(30));
addSequential(new DriveTurnBasic(true, -87, 300, MPSoftwareTurnType.TANK));
addSequential(new DriveStraightBasic(3, 60, true, true, 0));
addSequential(new DriveStraightBasic(30, 60, true, true, 0));
addSequential(new DriveTurnBasic(true, -125, 300, MPSoftwareTurnType.TANK));
addSequential(new DriveStraightBasic(30, 60, true, true, 0));
addSequential(new IntakeSetSpeed(Carriage.CUBE_EJECT_SPEED));
//addSequential(new WaitCommand(.1));
addSequential(new IntakePosition(false));
@@ -41,6 +42,5 @@ public class RightStartLeftScore extends CommandGroup {
addSequential(new IntakeSetSpeed(Carriage.CUBE_STOP_SPEED));
addSequential(new DriveStraightBasic(-10, 60, true, true, 0));
//addSequential(new DriveStraightMP(60, 10, true, true, 0)); // 95 for 112" greenville
}
}