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Change instant auto times to local constants

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nathanrsxtn
2022-04-08 11:16:06 -06:00
parent 60de85c8ce
commit 0812135d6a
1 changed files with 44 additions and 36 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+44 -36
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@@ -145,7 +145,7 @@ public class RobotContainer {
autoChooser.addOption("OneBallAuto", oneBallAuto); autoChooser.addOption("OneBallAuto", oneBallAuto);
autoChooser.setDefaultOption("TwoBallAuto", twoBallAuto); autoChooser.setDefaultOption("TwoBallAuto", twoBallAuto);
autoChooser.addOption("ThreeBallAuto", threeBallAuto); autoChooser.addOption("ThreeBallAuto", threeBallAuto);
autoChooser.addOption("instantThreeBallSingleShotAutoSequence", instantThreeBallSingleShotAutoSequence); // autoChooser.addOption("instantThreeBallSingleShotAutoSequence", instantThreeBallSingleShotAutoSequence);
autoChooser.addOption("instantThreeBallDoubleSingleShotAutoSequence", instantThreeBallDoubleSingleShotAutoSequence); autoChooser.addOption("instantThreeBallDoubleSingleShotAutoSequence", instantThreeBallDoubleSingleShotAutoSequence);
SmartDashboard.putData("AutoChooser", autoChooser); SmartDashboard.putData("AutoChooser", autoChooser);
@@ -566,53 +566,61 @@ public class RobotContainer {
brakeStorage(0.1) brakeStorage(0.1)
); );
private final CommandGroupBase instantThreeBallSingleShotAutoSequence = CommandGroupBase.sequence( // private final CommandGroupBase instantThreeBallSingleShotAutoSequence = CommandGroupBase.sequence(
// Preloaded Ball // // Preloaded Ball
new InstantCommand(() -> m_robotBoomBoom.runDrumShooterVelocityPID(8000), m_robotBoomBoom).withName("StartIdlingShooter"), // new InstantCommand(() -> m_robotBoomBoom.runDrumShooterVelocityPID(8000), m_robotBoomBoom).withName("StartIdlingShooter"),
new InstantCommand(() -> m_robotIntake.runAtOutput(-1), m_robotIntake).withName("StartRunningIntake"), // new InstantCommand(() -> m_robotIntake.runAtOutput(-1), m_robotIntake).withName("StartRunningIntake"),
new RunExtender(m_robotExtender).withName("DeployExtender"), // new RunExtender(m_robotExtender).withName("DeployExtender"),
new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry, m_robotLED, true).withName("FirstBallTarget"), // new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry, m_robotLED, true).withName("FirstBallTarget"),
new InstantCommand(() -> m_robotStorage.runStorage(StorageConstants.STORAGE_SPEED)).withName("FirstBallFeed"), // new InstantCommand(() -> m_robotStorage.runStorage(StorageConstants.STORAGE_SPEED)).withName("FirstBallFeed"),
new WaitCommand(3.0).withName("FirstBallShootTimer"), // new WaitCommand(3.0).withName("FirstBallShootTimer"),
new InstantCommand(() -> m_robotStorage.runStorage(0.0)).withName("FirstBallStopFeed"), // new InstantCommand(() -> m_robotStorage.runStorage(0.0)).withName("FirstBallStopFeed"),
// Second Ball // // Second Ball
new InstantCommand(() -> m_robotBoomBoom.runDrumShooterVelocityPID(8000), m_robotBoomBoom).withName("StartIdlingShooter"), // new InstantCommand(() -> m_robotBoomBoom.runDrumShooterVelocityPID(8000), m_robotBoomBoom).withName("StartIdlingShooter"),
new InstantCommand(() -> m_robotSerializer.setSerializer(0.8), m_robotSerializer).withName("StartRunningSerializer"), // new InstantCommand(() -> m_robotSerializer.setSerializer(0.8), m_robotSerializer).withName("StartRunningSerializer"),
buildAuto(3.0, 3.0, "JMove1").withName("JMove1"), // buildAuto(3.0, 3.0, "JMove1").withName("JMove1"),
new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry, m_robotLED, true).withName("SecondBallTarget"), // new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry, m_robotLED, true).withName("SecondBallTarget"),
new InstantCommand(() -> m_robotStorage.runStorage(StorageConstants.STORAGE_SPEED)).withName("SecondBallFeed"), // new InstantCommand(() -> m_robotStorage.runStorage(StorageConstants.STORAGE_SPEED)).withName("SecondBallFeed"),
new WaitCommand(3.0).withName("SecondBallShootTimer"), // new WaitCommand(3.0).withName("SecondBallShootTimer"),
new InstantCommand(() -> m_robotStorage.runStorage(0.0)).withName("SecondBallStopFeed"), // new InstantCommand(() -> m_robotStorage.runStorage(0.0)).withName("SecondBallStopFeed"),
// Third Ball // // Third Ball
new InstantCommand(() -> m_robotBoomBoom.runDrumShooterVelocityPID(8000), m_robotBoomBoom).withName("StartIdlingShooter"), // new InstantCommand(() -> m_robotBoomBoom.runDrumShooterVelocityPID(8000), m_robotBoomBoom).withName("StartIdlingShooter"),
new InstantCommand(() -> m_robotTurret.runShooterRotatePID(-120), m_robotTurret).withName("StartTurningShooter"), // new InstantCommand(() -> m_robotTurret.runShooterRotatePID(-120), m_robotTurret).withName("StartTurningShooter"),
buildAuto(3.0, 3.0, "JMove2").withName("JMove2"), // buildAuto(3.0, 3.0, "JMove2").withName("JMove2"),
new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry, m_robotLED, true).withName("ThirdBallTarget"), // new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry, m_robotLED, true).withName("ThirdBallTarget"),
new InstantCommand(() -> m_robotStorage.runStorage(StorageConstants.STORAGE_SPEED)).withName("ThirdBallFeed"), // new InstantCommand(() -> m_robotStorage.runStorage(StorageConstants.STORAGE_SPEED)).withName("ThirdBallFeed"),
new WaitCommand(3.0).withName("ThirdBallShootTimer"), // new WaitCommand(3.0).withName("ThirdBallShootTimer"),
new InstantCommand(() -> m_robotIntake.runAtOutput(0), m_robotIntake).withName("StartRunningIntake"), // new InstantCommand(() -> m_robotIntake.runAtOutput(0), m_robotIntake).withName("StartRunningIntake"),
new InstantCommand(() -> m_robotSerializer.setSerializer(0.0), m_robotSerializer).withName("StopRunningSerializer"), // new InstantCommand(() -> m_robotSerializer.setSerializer(0.0), m_robotSerializer).withName("StopRunningSerializer"),
new InstantCommand(() -> m_robotStorage.runStorage(0.0)).withName("ThirdBallStopFeed") // new InstantCommand(() -> m_robotStorage.runStorage(0.0)).withName("ThirdBallStopFeed")
); // );
private static final class InstAutoConst {
private static final double PATH_MAX_VEL = 3.0;
private static final double PATH_MAX_ACCEL = 3.0;
private static final double TRACK_TIME_ALLOWANCE = 1.0;
private static final double STORAGE_TIME_TWO_BALLS = 1.5;
private static final double STORAGE_TIME_ONE_BALL = 0.8;
}
private final CommandGroupBase instantThreeBallDoubleSingleShotAutoSequence = CommandGroupBase.sequence( private final CommandGroupBase instantThreeBallDoubleSingleShotAutoSequence = CommandGroupBase.sequence(
new InstantCommand(() -> m_robotBoomBoom.runDrumShooterVelocityPID(8000), m_robotBoomBoom).withName("StartIdlingShooter"), new InstantCommand(() -> m_robotBoomBoom.runDrumShooterVelocityPID(8000), m_robotBoomBoom).withName("StartIdlingShooter"),
new InstantCommand(() -> m_robotIntake.runAtOutput(-1), m_robotIntake).withName("StartRunningIntake"), new InstantCommand(() -> m_robotIntake.runAtOutput(-1), m_robotIntake).withName("StartRunningIntake"),
new RunExtender(m_robotExtender).withName("DeployExtender"), new RunExtender(m_robotExtender).withName("DeployExtender"),
// Preload and Second Ball
new InstantCommand(() -> m_robotSerializer.setSerializer(0.8), m_robotSerializer).withName("StartRunningSerializer"), new InstantCommand(() -> m_robotSerializer.setSerializer(0.8), m_robotSerializer).withName("StartRunningSerializer"),
buildAuto(3.0, 3.0, "JMove1").withName("JMove1"), new InstantCommand(() -> m_robotTurret.runShooterRotatePID(-180), m_robotTurret).withName("StartTurningShooter"),
new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry, m_robotLED, true).withName("FirstSecondBallTarget").withTimeout(2.0), // Preload and Second Ball
buildAuto(InstAutoConst.PATH_MAX_VEL, InstAutoConst.PATH_MAX_ACCEL, "JMove1").withName("JMove1"),
new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry, m_robotLED, true).withName("FirstSecondBallTarget").withTimeout(InstAutoConst.TRACK_TIME_ALLOWANCE + 1.0),
new InstantCommand(() -> m_robotStorage.runStorage(StorageConstants.STORAGE_SPEED)).withName("FirstSecondBallFeed"), new InstantCommand(() -> m_robotStorage.runStorage(StorageConstants.STORAGE_SPEED)).withName("FirstSecondBallFeed"),
new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry, m_robotLED, false).withName("FirstSecondBallTarget").deadlineWith(new WaitCommand(3.0).withName("FirstSecondBallShootTimer")), new WaitCommand(InstAutoConst.STORAGE_TIME_TWO_BALLS).withName("FirstSecondBallShootTimer").deadlineWith(new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry, m_robotLED, false).withName("FirstSecondBallTarget")),
new InstantCommand(() -> m_robotStorage.runStorage(0.0)).withName("FirstSecondBallStopFeed"), new InstantCommand(() -> m_robotStorage.runStorage(0.0)).withName("FirstSecondBallStopFeed"),
// Third Ball // Third Ball
new InstantCommand(() -> m_robotBoomBoom.runDrumShooterVelocityPID(8000), m_robotBoomBoom).withName("StartIdlingShooter"), new InstantCommand(() -> m_robotBoomBoom.runDrumShooterVelocityPID(8000), m_robotBoomBoom).withName("StartIdlingShooter"),
new InstantCommand(() -> m_robotTurret.runShooterRotatePID(-120), m_robotTurret).withName("StartTurningShooter"), new InstantCommand(() -> m_robotTurret.runShooterRotatePID(-120), m_robotTurret).withName("StartTurningShooter"),
buildAuto(3.0, 3.0, "JMove2").withName("JMove2"), buildAuto(InstAutoConst.PATH_MAX_VEL, InstAutoConst.PATH_MAX_ACCEL, "JMove2").withName("JMove2"),
new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry, m_robotLED, true).withName("ThirdBallTarget").withTimeout(2.0), new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry, m_robotLED, true).withName("ThirdBallTarget").withTimeout(InstAutoConst.TRACK_TIME_ALLOWANCE + 1.0),
new InstantCommand(() -> m_robotStorage.runStorage(StorageConstants.STORAGE_SPEED)).withName("ThirdBallFeed"), new InstantCommand(() -> m_robotStorage.runStorage(StorageConstants.STORAGE_SPEED)).withName("ThirdBallFeed"),
new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry, m_robotLED, false).withName("FirstSecondBallTarget").deadlineWith(new WaitCommand(1.0).withName("ThirdBallShootTimer")), new WaitCommand(InstAutoConst.STORAGE_TIME_ONE_BALL).withName("ThirdBallShootTimer").deadlineWith(new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry, m_robotLED, false).withName("FirstSecondBallTarget")),
new InstantCommand(() -> m_robotIntake.runAtOutput(0), m_robotIntake).withName("StartRunningIntake"), new InstantCommand(() -> m_robotIntake.runAtOutput(0), m_robotIntake).withName("StartRunningIntake"),
new InstantCommand(() -> m_robotSerializer.setSerializer(0.0), m_robotSerializer).withName("StopRunningSerializer"), new InstantCommand(() -> m_robotSerializer.setSerializer(0.0), m_robotSerializer).withName("StopRunningSerializer"),
new InstantCommand(() -> m_robotStorage.runStorage(0.0)).withName("ThirdBallStopFeed") new InstantCommand(() -> m_robotStorage.runStorage(0.0)).withName("ThirdBallStopFeed")