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Auto fixes and new 2 cube autos

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This commit is contained in:
Luke Staudacher
2018-03-23 23:36:51 -06:00
parent 308d7f3436
commit f41b860e0e
15 changed files with 179 additions and 193 deletions
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src/org/usfirst/frc4388/robot/commands/auton/Cube2Right.java
+37 -25
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@@ -24,40 +24,52 @@ public class Cube2Right extends CommandGroup {
public Cube2Right() {
addSequential(new DriveGyroReset());
addSequential(new WaitCommand(.2));
addSequential(new DriveSpeedShift(true));
addSequential(new IntakePosition(true));
addSequential(new DriveStraightBasic(-140, 50, true, true, 0));
addSequential(new ElevatorBasic(30));
addSequential(new WaitCommand(.2));
addSequential(new DriveTurnBasic(true, 87, 150, MPSoftwareTurnType.TANK));
addSequential(new ElevatorBasic(30));
addSequential(new DriveStraightBasic(8, 50, true, true, 0));
//addSequential(new DriveStraightBasic(-10, 35, true, true, 0));
addSequential(new DriveStraightBasic(-300, 70, true, true, 0));
addSequential(new DriveStraightBasic(1, 30, true, true, 0));
addSequential(new ElevatorBasic(70));
addSequential(new DriveTurnBasic(true, 90, 100, MPSoftwareTurnType.TANK));
addSequential(new WaitCommand(.5));
addSequential(new IntakeSetSpeed(Carriage.CUBE_EJECT_SPEED));
//addSequential(new WaitCommand(.1));
addSequential(new IntakePosition(false));
addSequential(new WaitCommand(.4));
addSequential(new IntakeSetSpeed(Carriage.CUBE_STOP_SPEED));
addSequential(new DriveStraightBasic(-10, 50, true, true, 0));
addSequential(new DriveTurnBasic(true, 40, 150, MPSoftwareTurnType.TANK));
addSequential(new DriveStraightBasic(-30, 50, true, true, 0));
addSequential(new DriveTurnBasic(true, -10, 150, MPSoftwareTurnType.TANK));
addSequential(new IntakeSetSpeed(Carriage.CUBE_INTAKE_SPEED));
addSequential(new DriveStraightBasic(30, 50, true, true, 0));
addSequential(new IntakePosition(true));
addSequential(new IntakeSetSpeed(Carriage.CUBE_STOP_SPEED));
addSequential(new DriveStraightBasic(-30, 50, true, true, 0));
addSequential(new DriveTurnBasic(true, 30, 150, MPSoftwareTurnType.TANK));
addSequential(new ElevatorBasic(70));
addSequential(new DriveStraightBasic(-20, 20, true, true, 0));
addSequential(new DriveTurnBasic(true, 87, 150, MPSoftwareTurnType.TANK));
addSequential(new IntakeSetSpeed(Carriage.CUBE_EJECT_SPEED));
//addSequential(new WaitCommand(.1));
addSequential(new WaitCommand(.1));
addSequential(new IntakePosition(false));
addSequential(new WaitCommand(.5));
addSequential(new IntakeSetSpeed(Carriage.CUBE_STOP_SPEED));
addSequential(new DriveStraightBasic(-10, 30, true, true, 0));
addParallel(new ElevatorBasic(4));
//////////////////////////////////////////////////////////////////////////
addSequential(new DriveTurnBasic(true, -69, 100, MPSoftwareTurnType.TANK));
//////////////////////////////////////////////////////////////////////////
addSequential(new IntakeSetSpeed(Carriage.CUBE_INTAKE_FAST_SPEED));
/////////////////////////////////////////////////////////////
addSequential(new DriveStraightBasic(10, 30, true, true, 0));
addSequential(new DriveStraightBasic(80, 60, true, true, 0));
addSequential(new DriveStraightBasic(33, 20, true, true, 0));
/////////////////////////////////////////////////////////////
addSequential(new WaitCommand(.5));
addSequential(new IntakePosition(true));
//addSequential(new WaitCommand(.3));
addSequential(new WaitCommand(.2));
addSequential(new IntakeSetSpeed(Carriage.CUBE_STOP_SPEED));
addParallel(new TimeoutBecaseYea());
addSequential(new ElevatorBasic(28));
/////////////////////////////////////////////////////////////
addSequential(new DriveStraightBasic(6, 50, true, true, 0));
/////////////////////////////////////////////////////////////
addSequential(new WaitCommand(1.5));
addSequential(new DriveStraightBasic(-20, 40, true, true, 0));
addSequential(new ElevatorBasic(5));
addSequential(new DriveSpeedShift(false));