From 8c6afd8c8a2c56f62f06efc0a2d9b8f45dfa237d Mon Sep 17 00:00:00 2001 From: aarav18 Date: Thu, 24 Mar 2022 22:15:02 -0600 Subject: [PATCH] drive backwards and shoot auto --- .../java/frc4388/robot/RobotContainer.java | 25 +++++++++++++------ 1 file changed, 17 insertions(+), 8 deletions(-) diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index cc4209f..4561c78 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -521,16 +521,25 @@ public class RobotContainer { )); // * weird way of shooting, i think we should make a new TrackTarget with built-in Storage control instead. // ! POSITIVE Y IS LEFT, POSITIVE X IS BACKWARDS - // ! DRIVE OFF LINE, THEN SHOOT BALL (HOPEFULLY) + // ! DRIVE BACKWARDS AND SHOOT return new SequentialCommandGroup( new InstantCommand(() -> m_robotSwerveDrive.resetGyro(), m_robotSwerveDrive), // * reset gyro before moving - new DriveWithInputForTime(m_robotSwerveDrive, new double[] {-0.5, 0, 0.0, 0.0}, 1.0), // * drive out of tarmac + new DriveWithInputForTime(m_robotSwerveDrive, new double[] {1.0, 0.0, 0.0, 0.0}, 0.269), // * go backwards three feet 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 + + weirdAutoShootingGroup, // * shoot + new InstantCommand(() -> m_robotStorage.runStorage(0.0), m_robotStorage) // * stop running storage + ); + + // ! 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[] {-0.5, 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 // weirdAutoShootingGroup, // * shoot