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added isAuto back to TT

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This commit is contained in:
aarav18
2022-03-22 22:10:46 -06:00
parent 3c8d581685
commit 16a908ed03
3 changed files with 37 additions and 14 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+24 -1
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@@ -40,6 +40,7 @@ import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.InstantCommand;
import edu.wpi.first.wpilibj2.command.NotifierCommand;
import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
import edu.wpi.first.wpilibj2.command.RunCommand;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
import edu.wpi.first.wpilibj2.command.button.JoystickButton;
@@ -47,6 +48,7 @@ import frc4388.robot.Constants.OIConstants;
import frc4388.robot.Constants.StorageConstants;
import frc4388.robot.Constants.SwerveDriveConstants;
import frc4388.robot.commands.PathRecorder;
import frc4388.robot.commands.RunCommandForTime;
import frc4388.robot.commands.DriveCommands.DriveWithInputForTime;
import frc4388.robot.commands.ExtenderIntakeCommands.ExtenderIntakeGroup;
import frc4388.robot.commands.ShooterCommands.TrackTarget;
@@ -399,9 +401,30 @@ public class RobotContainer {
// ));
// return new RunCommandForTime(new RunCommand(() -> m_robotSwerveDrive.driveWithInput(0, 0, 0, true), m_robotSwerveDrive), 1.0, true);
// return new SequentialCommandGroup(buildAuto(1.0, 1.0, "Diamond"));
// ! 3 ball auto
// return new SequentialCommandGroup(new RunCommandForTime(new RunCommand(() -> m_robotSwerveDrive.driveWithInput(0.0, 0.0, 0.0, 0.0, false), m_robotSwerveDrive), 0.0));
// ! 134 inches: 1.0 input, 1 second
// ! 48 inches: 0.75, 1 second
// * TEST #1
// return new DriveWithInputForTime(m_robotSwerveDrive, new double[] {0.0, -1.0, 0.0, 0.0}, 1.0)
// .andThen(new RunCommand(() -> m_robotSwerveDrive.driveWithInput(0, 0, 0, 0, false), m_robotSwerveDrive));
// * TEST #2
// return new DriveWithInputForTime(m_robotSwerveDrive, new double[] {0.0, -0.75, 0.0, 0.0}, 1.0)
// .andThen(new RunCommand(() -> m_robotSwerveDrive.driveWithInput(0, 0, 0, 0, false), m_robotSwerveDrive));
// * TEST #3
return new SequentialCommandGroup( new InstantCommand(() -> m_robotSwerveDrive.resetGyro(), m_robotSwerveDrive),
new DriveWithInputForTime(m_robotSwerveDrive, new double[] {0.0, 0.3, 0.0, 0.0}, 1.0));//,
new DriveWithInputForTime(m_robotSwerveDrive, new double[] {0.0, 1.0, 0.0, 0.0}, 1.0),
new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(0, 0, -1.0, 0, false), m_robotSwerveDrive),
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))
);
// return new SequentialCommandGroup( new InstantCommand(() -> m_robotSwerveDrive.resetGyro(), m_robotSwerveDrive),
// new DriveWithInputForTime(m_robotSwerveDrive, new double[] {0.0, 0.3, 0.0, 0.0}, 1.0));//,
// new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry, true),
// new ParallelCommandGroup(
// new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry, true),