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speed up 3 ball auto

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This commit is contained in:
Ryan
2022-04-08 10:20:43 -06:00
parent acfa52c898
commit 713feb9c6b
2 changed files with 8 additions and 7 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+7 -6
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@@ -496,14 +496,14 @@ public class RobotContainer {
SequentialCommandGroup extendThenAimTurret() {
return new SequentialCommandGroup(
new ExtenderIntakeGroup(m_robotIntake, m_robotExtender),
new RunCommandForTime(new RunCommand(() -> m_robotTurret.runShooterRotatePID(-180), m_robotTurret), 1.0, true) // TODO: optimize time
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), 0.5, true) // TODO: optimize time
);
}
ParallelDeadlineGroup idleDrumUntilShootingFirstBall() {
return new ParallelDeadlineGroup(
extendThenAimTurret(),
new RunCommand(() -> m_robotBoomBoom.runDrumShooterVelocityPID(8000), m_robotBoomBoom)
new RunCommand(() -> m_robotBoomBoom.runDrumShooterVelocityPID(9000), m_robotBoomBoom)
);
}
@@ -527,7 +527,7 @@ public class RobotContainer {
// ParallelCommandGroup intakeWithPath2AndTrackTarget = new ParallelCommandGroup(intakeWithPath2, weirdAutoShootingGroup3);
ParallelDeadlineGroup intakeWithPath2AndIdleShooterAndAimTurret = new ParallelDeadlineGroup(
intakeWithPath2(4.2),
intakeWithPath2(2.8),
new RunCommand(() -> m_robotBoomBoom.runDrumShooterVelocityPID(8000), m_robotBoomBoom),
new RunCommandForTime(new RunCommand(() -> m_robotTurret.runShooterRotatePID(-120), m_robotTurret), 0.7, true)
);
@@ -560,10 +560,11 @@ public class RobotContainer {
// ! THREE BALL AUTO (ASSUMES ROBOT IS FACING DIRECTLY TOWARDS THE FIRST BALL OUTSIDE THE TARMAC, BUMPERS FLUSH WITH THE EDGE)
SequentialCommandGroup threeBallAuto = new SequentialCommandGroup(
idleDrumUntilShootingFirstBall(),
shoot(1.0), // TODO: optimize time
shoot(0.8), // TODO: optimize time
brakeStorage(0.1),
intakeWithPath1(3.0), // * this line and the one underneath it can be replaced with intakeWithPathAndTrackTarget
shoot(2.3), // TODO: optimize time
intakeWithPathAndTrackTarget,
// intakeWithPath1(3.0), // * this line and the one underneath it can be replaced with intakeWithPathAndTrackTarget
shoot(0.8), // TODO: optimize time
brakeStorage(0.1),
intakeWithPath2AndIdleShooterAndAimTurret,
shoot(4.0), // TODO: optimize time