From a6916dbbf8b80d3dc616f441d1d3dc5d751dbce5 Mon Sep 17 00:00:00 2001 From: aarav18 Date: Thu, 24 Mar 2022 18:43:06 -0600 Subject: [PATCH] fixed other auto, for quick testting --- src/main/java/frc4388/robot/RobotContainer.java | 9 +++------ 1 file changed, 3 insertions(+), 6 deletions(-) diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index 50ccf35..9412749 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -485,17 +485,14 @@ public class RobotContainer { return new SequentialCommandGroup( new InstantCommand(() -> m_robotSwerveDrive.resetGyro(), m_robotSwerveDrive), // * reset gyro before moving new DriveWithInputForTime(m_robotSwerveDrive, new double[] {0.0, 0.5, 0.0, 0.0}, 0.5), // * 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 new InstantCommand(() -> m_robotStorage.runStorage(0.0), m_robotStorage) // * stop running storage ); // ! TWO BALL AUTO (HOPEFULLY) - // return new SequentialCommandGroup( new RunCommandForTime(new RunCommand(() -> m_robotTurret.runShooterRotatePID(-Math.atan2((219.25 / 2.00) - turretDistanceFromFront, (82.83 / 2.00) - 15.56)), m_robotTurret), 1.0, true), // * aim with turret to target - // weirdAutoShootingGroup, // * shoot - // new InstantCommand(() -> m_robotStorage.runStorage(0.0), m_robotStorage), // * stop running storage - - // new ExtenderIntakeGroup(m_robotIntake, m_robotExtender), // * extend out, in preparation of running intake + // return new SequentialCommandGroup( new ExtenderIntakeGroup(m_robotIntake, m_robotExtender), // * extend out, in preparation of running intake // new ParallelCommandGroup( new RunCommand(() -> m_robotIntake.runAtOutput(1.0), m_robotIntake), // * run intake all throughout path @@ -504,7 +501,7 @@ public class RobotContainer { // // new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(0.0, -1.0, 0.0, 0.0, true)), // * brake (see line 376), // new InstantCommand(() -> m_robotSwerveDrive.stopModules(), m_robotSwerveDrive), - // new RunCommandForTime(new RunCommand(() -> m_robotTurret.runShooterRotatePID(-Math.atan2(firstBallPosition.y, firstBallPosition.x)), m_robotTurret), 1.0, true), // * aim with turret to target + // 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 InstantCommand(() -> m_robotStorage.runStorage(0.0), m_robotStorage)))); // * stop running storage