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Fix missing path file

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Re-enable PhotonCamera version check
Revert PathPlanner auto preloading
Complete working copy of Shuffleboard command schedule
This commit is contained in:
nathanrsxtn
2022-04-06 02:32:17 -06:00
parent c224aa61a6
commit 95e1ec76b6
6 changed files with 200 additions and 142 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+5 -5
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@@ -42,6 +42,7 @@ import edu.wpi.first.wpilibj2.command.button.JoystickButton;
import frc4388.robot.Constants.OIConstants;
import frc4388.robot.Constants.StorageConstants;
import frc4388.robot.Constants.SwerveDriveConstants;
import frc4388.robot.commands.CommandSchedule;
import frc4388.robot.commands.PathRecorder;
import frc4388.robot.commands.RunCommandForTime;
import frc4388.robot.commands.ShooterTuner;
@@ -97,6 +98,7 @@ public class RobotContainer {
private final PathRecorder m_pathChooser = new PathRecorder(m_robotSwerveDrive);
private final ShooterTuner m_shooterTuner = new ShooterTuner(m_robotBoomBoom);
private final CommandSchedule m_commandSchedule = new CommandSchedule(13, 6, false);
// Controllers
private final static DeadbandedXboxController m_driverXbox = new DeadbandedXboxController(OIConstants.XBOX_DRIVER_ID);
private final static DeadbandedXboxController m_operatorXbox = new DeadbandedXboxController(OIConstants.XBOX_OPERATOR_ID);
@@ -122,9 +124,6 @@ public class RobotContainer {
private SendableChooser<SequentialCommandGroup> quickAutoChooser = new SendableChooser<>();
private final SequentialCommandGroup autoJMove1 = buildAuto(3.0, 3.0, "JMove1");
private final SequentialCommandGroup autoJMove2 = buildAuto(3.0, 3.0, "JMove2");
/**
* SmartDash
* - Limelight cam X
@@ -283,6 +282,7 @@ public class RobotContainer {
);
SmartDashboard.putData("Shooter Tuner", m_shooterTuner);
SmartDashboard.putData("Command Schedule", m_commandSchedule);
}
/**
@@ -628,11 +628,11 @@ public class RobotContainer {
// ! PathPlanner Testing
ParallelDeadlineGroup intakeWithPath1 = 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),
autoJMove1);
buildAuto(3.0, 3.0, "JMove1"));
ParallelDeadlineGroup intakeWithPath2 = new ParallelDeadlineGroup(new RunCommandForTime(new RunCommand(() -> m_robotIntake.runAtOutput(-1.0), m_robotIntake), 5.0, true),
new RunCommand(() -> m_robotSerializer.setSerializer(0.8), m_robotSerializer),
autoJMove2);
buildAuto(3.0, 3.0, "JMove2"));
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(intakeWithPath1, weirdAutoShootingGroup2);