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two ball auto

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This commit is contained in:
Ryan Manley
2022-04-04 18:53:38 -06:00
parent c25fc7a0a5
commit 6ae41e3d4b
5 changed files with 23 additions and 16 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+13 -9
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@@ -352,7 +352,7 @@ public class RobotContainer {
// new JoystickButton(getOperatorController(), XboxController.Button.kY.value)
// .whenPressed(new RunCommandForTime(new RunCommand(() -> m_robotTurret.runShooterRotatePID(-Math.atan2((219.25 / 2.00) - 10, (82.83 / 2.00) - 15.56)), m_robotTurret), 1.0));
new JoystickButton(getOperatorController(), XboxController.Button.kY.value)
.whileHeld(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)); // * aim with turret to target);
.whileHeld(new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry)); // * aim with turret to target);
// new JoystickButton(getOperatorController(), XboxController.Button.kY.value)
// .whileHeld(new RunCommand(() -> m_robotClaws.setOpen(true)));
@@ -528,13 +528,13 @@ public class RobotContainer {
SequentialCommandGroup weirdAutoShootingGroup = new SequentialCommandGroup(new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry, true),
new ParallelCommandGroup(
new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry, true),
new RunCommandForTime(new RunCommand(() -> m_robotStorage.runStorage(StorageConstants.STORAGE_SPEED), m_robotStorage), 2.0, true)
new RunCommandForTime(new RunCommand(() -> m_robotStorage.runStorage(StorageConstants.STORAGE_SPEED), m_robotStorage), 1.0, true)
)); // * weird way of shooting, i think we should make a new TrackTarget with built-in Storage control instead.
SequentialCommandGroup weirdAutoShootingGroup2 = new SequentialCommandGroup(new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry, true),
new ParallelCommandGroup(
new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry, true),
new RunCommandForTime(new RunCommand(() -> m_robotStorage.runStorage(StorageConstants.STORAGE_SPEED), m_robotStorage), 2.0, true)
new RunCommandForTime(new RunCommand(() -> m_robotStorage.runStorage(StorageConstants.STORAGE_SPEED), m_robotStorage), 4.0, true)
)); // * weird way of shooting, i think we should make a new TrackTarget with built-in Storage control instead.
// ! DRIVE BACKWARDS AND SHOOT (HOPEFULLY)
@@ -620,15 +620,19 @@ public class RobotContainer {
ParallelDeadlineGroup intakeWithPath = new ParallelDeadlineGroup(new RunCommandForTime(new RunCommand(() -> m_robotIntake.runAtOutput(-1.0), m_robotIntake), 3.0, true),
new RunCommand(() -> m_robotSerializer.setSerializer(0.8), m_robotSerializer),
buildAuto(1.0, 1.0, "JMove"));
ParallelCommandGroup extendWhileTurretIsAiming = new ParallelCommandGroup(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), new ExtenderIntakeGroup(m_robotIntake, m_robotExtender));
ParallelCommandGroup intakeWithPathAndTrackTarget = new ParallelCommandGroup(intakeWithPath, weirdAutoShootingGroup2);
// return new SequentialCommandGroup(buildAuto(1.0, 1.0, "Move Forward"));
return new SequentialCommandGroup(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
return new SequentialCommandGroup(extendWhileTurretIsAiming,//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
weirdAutoShootingGroup, // * shoot
new RunCommandForTime(new RunCommand(() -> m_robotStorage.runStorage(0.0), m_robotStorage), 0.5, true),
new ExtenderIntakeGroup(m_robotIntake, m_robotExtender),
intakeWithPath,
weirdAutoShootingGroup2,
// extendWhileTurretIsAiming,
new RunCommandForTime(new RunCommand(() -> m_robotStorage.runStorage(0.0), m_robotStorage), 0.1, true),
// new ExtenderIntakeGroup(m_robotIntake, m_robotExtender),
intakeWithPathAndTrackTarget,
// intakeWithPath,
// weirdAutoShootingGroup2,
// 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); // * shoot
new RunCommandForTime(new RunCommand(() -> m_robotStorage.runStorage(0.0), m_robotStorage), 0.5, true));
new RunCommandForTime(new RunCommand(() -> m_robotStorage.runStorage(0.0), m_robotStorage), 0.1, true));
// return new SequentialCommandGroup(buildAuto(1.0, 1.0, "Diamond"));
}