Team4388/2018-Robot
1
0
Fork 0
mirror of https://github.com/Team4388/2018-Robot.git synced 2026-06-09 08:48:06 -06:00
Code Issues Packages Projects Releases Wiki Activity

Updated Autonomous Commands

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files
src/org/usfirst/frc4388/robot/commands/auton/CenterRight.java
+42
View File
@@ -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
View File
@@ -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
View File
@@ -21,8 +21,8 @@ import edu.wpi.first.wpilibj.command.WaitCommand;
*/ */
public class RightStartLeftScore extends CommandGroup { public class RightStartLeftScore extends CommandGroup {
public RightStartLeftScore() { public RightStartLeftScore() //////////TUNEDISH AND ALMOST GOOD
{
addSequential(new DriveGyroReset()); addSequential(new DriveGyroReset());
addSequential(new DriveSpeedShift(true)); addSequential(new DriveSpeedShift(true));
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 DriveStraightBasic(-215, 60, true, true, 0));
addSequential(new ElevatorBasic(5)); addSequential(new ElevatorBasic(5));
addSequential(new DriveTurnBasic(true, 87, 300, MPSoftwareTurnType.TANK)); 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 ElevatorBasic(30));
addSequential(new DriveTurnBasic(true, -87, 300, MPSoftwareTurnType.TANK)); addSequential(new DriveStraightBasic(30, 60, true, true, 0));
addSequential(new DriveStraightBasic(3, 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 IntakeSetSpeed(Carriage.CUBE_EJECT_SPEED));
//addSequential(new WaitCommand(.1)); //addSequential(new WaitCommand(.1));
addSequential(new IntakePosition(false)); addSequential(new IntakePosition(false));
@@ -41,6 +42,5 @@ public class RightStartLeftScore extends CommandGroup {
addSequential(new IntakeSetSpeed(Carriage.CUBE_STOP_SPEED)); addSequential(new IntakeSetSpeed(Carriage.CUBE_STOP_SPEED));
addSequential(new DriveStraightBasic(-10, 60, true, true, 0)); addSequential(new DriveStraightBasic(-10, 60, true, true, 0));
//addSequential(new DriveStraightMP(60, 10, true, true, 0)); // 95 for 112" greenville //addSequential(new DriveStraightMP(60, 10, true, true, 0)); // 95 for 112" greenville
} }
} }