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odometry is back baby

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This commit is contained in:
aarav18
2022-04-02 14:45:22 -06:00
parent 842565f62e
commit 2d9d4fc426
2 changed files with 19 additions and 14 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+10
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@@ -458,6 +458,7 @@ public class RobotContainer {
maxAccel = Objects.requireNonNullElse(maxAccel, SwerveDriveConstants.PATH_MAX_ACCELERATION);
ArrayList<Command> commands = new ArrayList<Command>();
commands.add(new InstantCommand(() -> m_robotSwerveDrive.resetGyro(), m_robotSwerveDrive));
PIDController xController = SwerveDriveConstants.X_CONTROLLER;
PIDController yController = SwerveDriveConstants.Y_CONTROLLER;
@@ -503,6 +504,15 @@ public class RobotContainer {
*/
public Command getAutonomousCommand() {
// ! PathPlanner Testing
if (!this.currentClimberMode.equals(null)) {
return new SequentialCommandGroup(buildAuto(1.0, 1.0, "Drive Forward"));
}
if (!this.currentClimberMode.equals(null)) {
return new SequentialCommandGroup(buildAuto(1.0, 1.0, "Diamond"));
}
// ! ways to not coast
// // * 1. try zero joystick input: new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(0.0, 0.0, 0.0, 0.0, false), m_robotSwerveDrive);
// * 2. try opposite joystick input: new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(0.0, -1.0, 0.0, 0.0, false), m_robotSwerveDrive);