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coolish path

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aarav18
2022-03-24 19:57:43 -06:00
parent 5e399a060a
commit 310bb6f851
1 changed files with 7 additions and 1 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+7 -1
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@@ -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