Team4388/2018-Robot
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This commit is contained in:
Keenan D. Buckley
2018-03-09 18:05:48 -07:00
parent f77a08b817
commit e0644535ea
4 changed files with 14 additions and 16 deletions
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src/org/usfirst/frc4388/robot/commands/DriveStraightBasic.java
+1 -1
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@@ -59,7 +59,7 @@ public class DriveStraightBasic extends Command {
m_lastCommandExecuteTimestamp = currentTimestamp;
double steer = 0.0;
if (m_useGyroLock) {
steer = - Robot.drive.getGyroAngleDeg() / 16.0; //TODO: tune
steer = - Robot.drive.getGyroAngleDeg() / 20.0; //TODO: tune
}
Robot.drive.rawMoveSteer(m_speed, steer);
//SmartDashboard.putNumber("DSB Period", m_lastCommandExecutePeriod);
src/org/usfirst/frc4388/robot/commands/auton/LeftStartRightScore.java
+5 -6
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@@ -29,20 +29,19 @@ public class LeftStartRightScore extends CommandGroup {
addSequential(new IntakePosition(true));
addSequential(new DriveStraightBasic(215, 60, true, true, 0));
addSequential(new DriveStraightBasic(215, 50, 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 DriveStraightBasic(180, 50, 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 DriveTurnBasic(true, 90, 300, MPSoftwareTurnType.TANK));
addSequential(new DriveStraightBasic(5, 40, 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 DriveStraightBasic(-10, 50, true, true, 0));
addSequential(new DriveSpeedShift(false));
//addSequential(new DriveStraightMP(60, 10, true, true, 0)); // 95 for 112" greenville
}
src/org/usfirst/frc4388/robot/commands/auton/RightStartLeftScore.java
+6 -7
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@@ -29,21 +29,20 @@ public class RightStartLeftScore extends CommandGroup {
addSequential(new IntakePosition(true));
addSequential(new DriveStraightBasic(-215, 60, true, true, 0));
addSequential(new DriveStraightBasic(-215, 50, 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 DriveStraightBasic(180, 50, 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 DriveTurnBasic(true, -90, 300, MPSoftwareTurnType.TANK));
addSequential(new DriveStraightBasic(10, 50, 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 DriveStraightBasic(-10, 50, true, true, 0));
addSequential(new DriveSpeedShift(false));
//addSequential(new DriveStraightMP(60, 10, true, true, 0)); // 95 for 112" greenville
//addSequential(new DriveStraightMP(50, 10, true, true, 0)); // 95 for 112" greenville
}
}
src/org/usfirst/frc4388/robot/commands/auton/ScaleFrom1.java
+2 -2
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@@ -28,7 +28,7 @@ public class ScaleFrom1 extends CommandGroup {
addSequential(new IntakePosition(true));
addSequential(new DriveStraightBasic(-290, 60, true, true, 0));
addSequential(new DriveStraightBasic(-290, 50, true, true, 0));
addSequential(new ElevatorBasic(70));
addSequential(new DriveTurnBasic(true, -90, 100, MPSoftwareTurnType.TANK));
//addSequential(new DriveStraightBasic(5, 20, true, true, 0));
@@ -41,7 +41,7 @@ public class ScaleFrom1 extends CommandGroup {
addSequential(new ElevatorBasic(10));
addSequential(new DriveSpeedShift(false));
//addSequential(new DriveStraightMP(60, 10, true, true, 0)); // 95 for 112" greenville
//addSequential(new DriveStraightMP(50, 10, true, true, 0)); // 95 for 112" greenville
}
}