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added storage running to autos

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This commit is contained in:
aarav18
2022-03-22 00:28:17 -06:00
parent 500f812bf5
commit 2e22a1a23c
2 changed files with 11 additions and 3 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+9 -2
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@@ -59,6 +59,7 @@ 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.ParallelRaceGroup;
import edu.wpi.first.wpilibj2.command.RunCommand;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
import edu.wpi.first.wpilibj2.command.SwerveControllerCommand;
@@ -454,13 +455,19 @@ public class RobotContainer {
// * assume turret is already pointed towards target.
return new SequentialCommandGroup( new InstantCommand(() -> m_robotSwerveDrive.resetGyro(), m_robotSwerveDrive),
new DriveWithInputForTime(m_robotSwerveDrive, new double[] {0.5, 0.5, 0.0, 0.0}, 1.0),
new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry, true));
new ParallelRaceGroup(
new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry, true),
new RunCommand(() -> m_robotStorage.runStorage(StorageConstants.STORAGE_SPEED), m_robotStorage)
));
// * aim with RotateUntilTarget
// return new SequentialCommandGroup( new InstantCommand(() -> m_robotSwerveDrive.resetGyro(), m_robotSwerveDrive),
// new DriveWithInputForTime(m_robotSwerveDrive, new double[] {0.5, 0.5, 0.0, 0.0}, 1.0),
// new RotateUntilTarget(m_robotSwerveDrive, m_robotVisionOdometry, 0.5),
// new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry));
// new ParallelRaceGroup(
// new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry, true),
// new RunCommand(() -> m_robotStorage.runStorage(StorageConstants.STORAGE_SPEED), m_robotStorage)
// ));
}
public static XboxController getDriverController() {