Team4388/2022NoWayHome
1
0
Fork 0
mirror of https://github.com/Team4388/2022NoWayHome.git synced 2026-06-09 00:38:05 -06:00
Code Issues Packages Projects Releases Wiki Activity

Add names to auto commands

Browse Source 
Adjust command naming on command schedule
This commit is contained in:
nathanrsxtn
2022-04-07 08:52:19 -06:00
parent 7808b2c8d3
commit 0385edb4f9
2 changed files with 16 additions and 14 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/main/java/frc4388/robot/RobotContainer.java
+13 -13
View File
@@ -531,19 +531,19 @@ public class RobotContainer {
SequentialCommandGroup weirdAutoShootingGroup = new SequentialCommandGroup(new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry, true),
new ParallelCommandGroup(
new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry, true),
new RunCommandForTime(new RunCommand(() -> m_robotStorage.runStorage(StorageConstants.STORAGE_SPEED), m_robotStorage), 1.0, true)
new RunCommandForTime(new RunCommand(() -> m_robotStorage.runStorage(StorageConstants.STORAGE_SPEED), m_robotStorage), 1.0, true).withName("runStorage: 1.0s")
)); // * weird way of shooting, i think we should make a new TrackTarget with built-in Storage control instead.
SequentialCommandGroup weirdAutoShootingGroup2 = new SequentialCommandGroup(new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry, true),
new ParallelCommandGroup(
new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry, true),
new RunCommandForTime(new RunCommand(() -> m_robotStorage.runStorage(StorageConstants.STORAGE_SPEED), m_robotStorage), 2.3, true)
new RunCommandForTime(new RunCommand(() -> m_robotStorage.runStorage(StorageConstants.STORAGE_SPEED), m_robotStorage), 2.3, true).withName("runStorage: 1.0s")
)); // * weird way of shooting, i think we should make a new TrackTarget with built-in Storage control instead.
SequentialCommandGroup weirdAutoShootingGroup3 = new SequentialCommandGroup(new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry, true),
new ParallelCommandGroup(
new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry, true),
new RunCommandForTime(new RunCommand(() -> m_robotStorage.runStorage(StorageConstants.STORAGE_SPEED), m_robotStorage), 4.0, true)
new RunCommandForTime(new RunCommand(() -> m_robotStorage.runStorage(StorageConstants.STORAGE_SPEED), m_robotStorage), 4.0, true).withName("runStorage: 1.0s")
)); // * weird way of shooting, i think we should make a new TrackTarget with built-in Storage control instead.
// ! DRIVE BACKWARDS AND SHOOT (HOPEFULLY)
@@ -635,34 +635,34 @@ public class RobotContainer {
buildAuto(3.0, 3.0, "JMove2"));
ParallelCommandGroup extendWhileTurretIsAiming = new ParallelCommandGroup(new RunCommandForTime(new RunCommand(() -> m_robotTurret.runShooterRotatePID((180.0 / Math.PI) * Math.atan2(-(82.83 / 2.00) + 15.56, -(219.25 / 2.00) - 40.44 + 10.00)), m_robotTurret), 1.0, true), new ExtenderIntakeGroup(m_robotIntake, m_robotExtender));
ParallelCommandGroup intakeWithPathAndTrackTarget = new ParallelCommandGroup(intakeWithPath1, weirdAutoShootingGroup2);
ParallelCommandGroup intakeWithPathAndTrackTarget = new ParallelCommandGroup(intakeWithPath1.withName("intakeWithPath"), weirdAutoShootingGroup2.withName("weirdAutoShooting"));
// ParallelCommandGroup intakeWithPath2AndTrackTarget = new ParallelCommandGroup(intakeWithPath2, weirdAutoShootingGroup3);
ParallelDeadlineGroup intakeWithPath2AndAimTurret = new ParallelDeadlineGroup(intakeWithPath2, new RunCommand(() -> m_robotBoomBoom.runDrumShooterVelocityPID(8000), m_robotBoomBoom), new RunCommandForTime(new RunCommand(() -> m_robotTurret.runShooterRotatePID(-120), m_robotTurret), 0.7, true));
ParallelDeadlineGroup intakeWithPath2AndAimTurret = new ParallelDeadlineGroup(intakeWithPath2.withName("intakeWithPath"), new RunCommand(() -> m_robotBoomBoom.runDrumShooterVelocityPID(8000), m_robotBoomBoom).withName("idle turret"), new RunCommandForTime(new RunCommand(() -> m_robotTurret.runShooterRotatePID(-120), m_robotTurret), 0.7, true).withName("rotateShooter: -120: 0.7s"));
SequentialCommandGroup extendThenAimTurret = new SequentialCommandGroup(new ExtenderIntakeGroup(m_robotIntake, m_robotExtender), new RunCommandForTime(new RunCommand(() -> m_robotTurret.runShooterRotatePID((180.0 / Math.PI) * Math.atan2(-(82.83 / 2.00) + 15.56, -(219.25 / 2.00) - 40.44 + 10.00)), m_robotTurret), 1.0, true));
ParallelDeadlineGroup idleDrumUntilShootingFirstBall = new ParallelDeadlineGroup(extendThenAimTurret, new RunCommand(() -> m_robotBoomBoom.runDrumShooterVelocityPID(8000), m_robotBoomBoom));
ParallelDeadlineGroup idleDrumUntilShootingFirstBall = new ParallelDeadlineGroup(extendThenAimTurret, new RunCommand(() -> m_robotBoomBoom.runDrumShooterVelocityPID(8000), m_robotBoomBoom).withName("idle turret"));
// return new SequentialCommandGroup(buildAuto(1.0, 1.0, "Move Forward"));
return new SequentialCommandGroup(idleDrumUntilShootingFirstBall,
//new RunCommandForTime(new RunCommand(() -> m_robotTurret.runShooterRotatePID((180.0 / Math.PI) * Math.atan2(-(82.83 / 2.00) + 15.56, -(219.25 / 2.00) - 40.44 + 10.00)), m_robotTurret), 1.0, true),
// extendWhileTurretIsAiming,//new RunCommandForTime(new RunCommand(() -> m_robotTurret.runShooterRotatePID((180.0 / Math.PI) * Math.atan2(-(82.83 / 2.00) + 15.56, -(219.25 / 2.00) - 40.44 + 10.00)), m_robotTurret), 1.0, true), // * aim with turret to target
weirdAutoShootingGroup, // * shoot
weirdAutoShootingGroup.withName("weirdAutoShooting"), // * shoot
// extendWhileTurretIsAiming,
new RunCommandForTime(new RunCommand(() -> m_robotStorage.runStorage(0.0), m_robotStorage), 0.1, true),
new RunCommandForTime(new RunCommand(() -> m_robotStorage.runStorage(0.0), m_robotStorage), 0.1, true).withName("runStorage: 0.1s"),
// new ExtenderIntakeGroup(m_robotIntake, m_robotExtender),
intakeWithPathAndTrackTarget,
intakeWithPathAndTrackTarget.withName("intakeWithPathAndTrackTarget"),
// intakeWithPath,
// weirdAutoShootingGroup2,
// new RunCommandForTime(new RunCommand(() -> m_robotTurret.runShooterRotatePID((180.0 / Math.PI) * Math.atan2(-(82.83 / 2.00) + 15.56, -(219.25 / 2.00) - 40.44 + 10.00)), m_robotTurret), 1.0, true)); // * aim with turret to target); // * shoot
new RunCommandForTime(new RunCommand(() -> m_robotStorage.runStorage(0.0), m_robotStorage), 0.1, true),
new RunCommandForTime(new RunCommand(() -> m_robotStorage.runStorage(0.0), m_robotStorage), 0.1, true).withName("runStorage: 0.1s"),
// intakeWithPath2,
// new RunCommandForTime(new RunCommand(() -> m_robotTurret.runShooterRotatePID(-120), m_robotTurret), 1.0, true),
// new RunCommandForTime(new RunCommand(() -> m_robotTurret.runShooterRotatePID(-120), m_robotTurret), 0.7, true),
// intakeWithPath2AndTrackTarget,
intakeWithPath2AndAimTurret,
weirdAutoShootingGroup3,
new RunCommandForTime(new RunCommand(() -> m_robotStorage.runStorage(0.0), m_robotStorage), 0.1, true));
intakeWithPath2AndAimTurret.withName("intakeWithPath2AndAimTurret"),
weirdAutoShootingGroup3.withName("weirdAutoShooting"),
new RunCommandForTime(new RunCommand(() -> m_robotStorage.runStorage(0.0), m_robotStorage), 0.1, true).withName("runStorage: 0.1s"));
// return new SequentialCommandGroup(buildAuto(1.0, 1.0, "Diamond"));
}