From 310bb6f851ab9fdee213cb29ea92bbebd403d670 Mon Sep 17 00:00:00 2001 From: aarav18 Date: Thu, 24 Mar 2022 19:57:43 -0600 Subject: [PATCH] coolish path --- src/main/java/frc4388/robot/RobotContainer.java | 8 +++++++- 1 file changed, 7 insertions(+), 1 deletion(-) diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index e7b3cb4..cc4209f 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -523,7 +523,13 @@ public class RobotContainer { // ! DRIVE OFF LINE, THEN SHOOT BALL (HOPEFULLY) return new SequentialCommandGroup( new InstantCommand(() -> m_robotSwerveDrive.resetGyro(), m_robotSwerveDrive), // * reset gyro before moving - new DriveWithInputForTime(m_robotSwerveDrive, new double[] {0.6, 0, 0.0, 0.0}, 0.5), // * drive out of tarmac + new DriveWithInputForTime(m_robotSwerveDrive, new double[] {-0.5, 0, 0.0, 0.0}, 1.0), // * drive out of tarmac + new InstantCommand(() -> m_robotSwerveDrive.stopModules(), m_robotSwerveDrive), // * brake + new DriveWithInputForTime(m_robotSwerveDrive, new double[] {0.5, 0, 0.0, 0.0}, 1.0), // * drive out of tarmac + new InstantCommand(() -> m_robotSwerveDrive.stopModules(), m_robotSwerveDrive), // * brake + new DriveWithInputForTime(m_robotSwerveDrive, new double[] {0.0, 0.5, 0.0, 0.0}, 1.0), // * drive out of tarmac + new InstantCommand(() -> m_robotSwerveDrive.stopModules(), m_robotSwerveDrive), // * brake + new DriveWithInputForTime(m_robotSwerveDrive, new double[] {0.0, -0.5, 0.0, 0.0}, 1.0), // * drive out of tarmac new InstantCommand(() -> m_robotSwerveDrive.stopModules(), m_robotSwerveDrive)); // * brake // new RunCommandForTime(new RunCommand(() -> m_robotTurret.runShooterRotatePID((180.0 / Math.PI) * Math.atan2(-(82.83 / 2.00) + 15.56, -(219.25 / 2.00) - 40.44 + 10.00)), m_robotTurret), 1.0, true), // * aim with turret to target