Team4388/2022NoWayHome
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aarav18
2022-03-24 16:58:29 -06:00
parent 58125a62de
commit 306901b451
4 changed files with 30 additions and 21 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+25 -15
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@@ -103,8 +103,7 @@ public class RobotContainer {
private enum ClimberMode { MANUAL, AUTONOMOUS };
private ClimberMode currentClimberMode = ClimberMode.MANUAL;
private Map<String, SequentialCommandGroup> autoChoices;
private SendableChooser<String> quickAutoChooser = new SendableChooser<>();
private SendableChooser<SequentialCommandGroup> quickAutoChooser = new SendableChooser<>();
/**
* SmartDash
@@ -130,8 +129,6 @@ public class RobotContainer {
*/
public RobotContainer() {
double turretDistanceFromFront = 10.0; // * distance of turret from the front of the robot in inches. might need to be somewhat accurate.
double distancePerSecond = 134.0; // * assuming emulated joystick input magnitude is 1.0
@@ -200,14 +197,12 @@ public class RobotContainer {
)));
autoChoices = Map.of(
"justShoot", justShoot,
"offTheLine", offTheLine,
"twoBall", twoBall,
"threeBall", threeBall
);
quickAutoChooser.setDefaultOption("justShoot", justShoot);
quickAutoChooser.addOption("offTheLine", offTheLine);
quickAutoChooser.addOption("twoBall", twoBall);
quickAutoChooser.addOption("threeBall", threeBall);
SmartDashboard.putData(quickAutoChooser);
SmartDashboard.putData("__QUICK AUTO CHOOSE__", quickAutoChooser);
@@ -466,10 +461,25 @@ public class RobotContainer {
// ! 0.75 input, 1 second: 48 inches
// ? positive leftY went left, negative leftY went right?
// TODO: if line 372 is true, switch joystick inputs accordingly
String selection = quickAutoChooser.getSelected();
if (selection == null)
return new PrintCommand("---------- NO AUTO SELECTED --------------");
return autoChoices.get(quickAutoChooser.getSelected());
return Objects.requireNonNullElseGet(quickAutoChooser.getSelected(), () -> new PrintCommand("---------- NO AUTO SELECTED --------------"));
// double turretDistanceFromFront = 10.0; // * distance of turret from the front of the robot in inches. might need to be somewhat accurate.
// double distancePerSecond = 134.0; // * assuming emulated joystick input magnitude is 1.0
// double offset = 10.0; // * distance (in inches) from ball that we actually want to stop
// Vector2D firstBallPosition = new Vector2D(15.56 - (82.83 / 2.00), 11.21 - 162.00); // * position of first ball, relative to hub.
// Vector2D secondBallPosition = new Vector2D(-(40.44 * (Math.sqrt(2.00) / 2.00)) - ((82.83 - 7.58) * (Math.sqrt(2.00) / 2.00)) - (82.83 / 2.00), -(40.44 * (Math.sqrt(2.00) / 2.00)) + ((82.83 - 7.58) * (Math.sqrt(2.00) / 2.00)) - (219.25 / 2.00)); // * position of second ball, relative to hub.
// Vector2D firstToSecond = Vector2D.subtract(secondBallPosition, firstBallPosition); // * vector from first ball to second ball, used to calculate emulated joystick inputs.
// return new SequentialCommandGroup( new RunCommandForTime(new RunCommand(() -> m_robotTurret.runShooterRotatePID(-Math.atan2((219.25 / 2.00) - turretDistanceFromFront, (82.83 / 2.00) - 15.56)), m_robotTurret), 1.0, true), // * aim with turret to target
// makeTheWeirdGroup(), // * shoot
// new InstantCommand(() -> m_robotStorage.runStorage(0.0), m_robotStorage), // * stop running storage
// new SequentialCommandGroup( new InstantCommand(() -> m_robotSwerveDrive.resetGyro(), m_robotSwerveDrive), // * reset gyro before moving
// new DriveWithInputForTime(m_robotSwerveDrive, new double[] {0.0, 1.0, 0.0, 0.0}, 0.25))); // * drive off line
}