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timeout for 2ball auto (untested + doubtful)

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aarav18
2022-04-07 15:37:55 -06:00
parent 4a138aae55
commit 06193efd83
2 changed files with 17 additions and 4 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+13 -3
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@@ -458,7 +458,17 @@ public class RobotContainer {
); );
} }
SequentialCommandGroup weirdAutoShootingGroup = new SequentialCommandGroup(new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry, m_robotLED, true), private SequentialCommandGroup shoot(double storageRunTime, double timeout) {
return new SequentialCommandGroup(
new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry, m_robotLED, true).withTimeout(timeout),
new ParallelCommandGroup(
new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry, m_robotLED, true).until(TrackTarget::isTargetNotLocked),
new RunCommandForTime(new RunCommand(() -> m_robotStorage.runStorage(StorageConstants.STORAGE_SPEED), m_robotStorage), storageRunTime, true)
)
);
}
SequentialCommandGroup weirdAutoShootingGroup = new SequentialCommandGroup(new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry, m_robotLED, true),
new ParallelCommandGroup( new ParallelCommandGroup(
new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry, m_robotLED, true), new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry, m_robotLED, 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)
@@ -540,10 +550,10 @@ public class RobotContainer {
// ! TWO BALL AUTO (ASSUMES ROBOT IS FACING DIRECTLY TOWARDS THE FIRST BALL OUTSIDE THE TARMAC, BUMPERS FLUSH WITH THE EDGE) // ! TWO BALL AUTO (ASSUMES ROBOT IS FACING DIRECTLY TOWARDS THE FIRST BALL OUTSIDE THE TARMAC, BUMPERS FLUSH WITH THE EDGE)
SequentialCommandGroup twoBallAuto = new SequentialCommandGroup( SequentialCommandGroup twoBallAuto = new SequentialCommandGroup(
idleDrumUntilShootingFirstBall(), idleDrumUntilShootingFirstBall(),
shoot(1.0), // TODO: optimize time shoot(1.0, 4.0), // TODO: optimize time
brakeStorage(0.1), brakeStorage(0.1),
intakeWithPath1(3.0), // * this line and the one underneath it can be replaced with intakeWithPathAndTrackTarget intakeWithPath1(3.0), // * this line and the one underneath it can be replaced with intakeWithPathAndTrackTarget
shoot(2.3), // TODO: optimize time shoot(5.0), // TODO: optimize time
brakeStorage(0.1) brakeStorage(0.1)
); );
src/main/java/frc4388/robot/commands/ShooterCommands/TrackTarget.java
+4 -1
View File
@@ -48,7 +48,10 @@ public class TrackTarget extends CommandBase {
ArrayList<Point> points = new ArrayList<>(); ArrayList<Point> points = new ArrayList<>();
private boolean targetLocked = false; private static boolean targetLocked = false;
public static boolean isTargetNotLocked() {
return !targetLocked;
}
private double velocityTolerance = 300.0; private double velocityTolerance = 300.0;
private double hoodTolerance = 5.0; private double hoodTolerance = 5.0;