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drive backwards and shoot auto

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aarav18
2022-03-24 22:15:02 -06:00
parent 310bb6f851
commit 8c6afd8c8a
1 changed files with 17 additions and 8 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+17 -8
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@@ -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