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Add shooting timeout to test autos

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nathanrsxtn
2022-04-08 09:28:01 -06:00
parent e89985961e
commit 60de85c8ce
1 changed files with 2 additions and 2 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+2 -2
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@@ -602,7 +602,7 @@ public class RobotContainer {
// Preload and Second Ball
new InstantCommand(() -> m_robotSerializer.setSerializer(0.8), m_robotSerializer).withName("StartRunningSerializer"),
buildAuto(3.0, 3.0, "JMove1").withName("JMove1"),
new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry, m_robotLED, true).withName("FirstSecondBallTarget"),
new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry, m_robotLED, true).withName("FirstSecondBallTarget").withTimeout(2.0),
new InstantCommand(() -> m_robotStorage.runStorage(StorageConstants.STORAGE_SPEED)).withName("FirstSecondBallFeed"),
new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry, m_robotLED, false).withName("FirstSecondBallTarget").deadlineWith(new WaitCommand(3.0).withName("FirstSecondBallShootTimer")),
new InstantCommand(() -> m_robotStorage.runStorage(0.0)).withName("FirstSecondBallStopFeed"),
@@ -610,7 +610,7 @@ public class RobotContainer {
new InstantCommand(() -> m_robotBoomBoom.runDrumShooterVelocityPID(8000), m_robotBoomBoom).withName("StartIdlingShooter"),
new InstantCommand(() -> m_robotTurret.runShooterRotatePID(-120), m_robotTurret).withName("StartTurningShooter"),
buildAuto(3.0, 3.0, "JMove2").withName("JMove2"),
new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry, m_robotLED, true).withName("ThirdBallTarget"),
new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry, m_robotLED, true).withName("ThirdBallTarget").withTimeout(2.0),
new InstantCommand(() -> m_robotStorage.runStorage(StorageConstants.STORAGE_SPEED)).withName("ThirdBallFeed"),
new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry, m_robotLED, false).withName("FirstSecondBallTarget").deadlineWith(new WaitCommand(1.0).withName("ThirdBallShootTimer")),
new InstantCommand(() -> m_robotIntake.runAtOutput(0), m_robotIntake).withName("StartRunningIntake"),