From a6bfaa1b30f1eee05c1eba4d0671449fb32e3ab0 Mon Sep 17 00:00:00 2001 From: aarav18 Date: Sat, 2 Apr 2022 15:01:09 -0600 Subject: [PATCH] change --- .../java/frc4388/robot/RobotContainer.java | 23 +++++++------------ 1 file changed, 8 insertions(+), 15 deletions(-) diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index f8eb76d..79e106a 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -504,15 +504,6 @@ public class RobotContainer { */ public Command getAutonomousCommand() { - // ! PathPlanner Testing - if (!this.currentClimberMode.equals(null)) { - return new SequentialCommandGroup(buildAuto(1.0, 1.0, "Drive Forward")); - } - - if (!this.currentClimberMode.equals(null)) { - return new SequentialCommandGroup(buildAuto(1.0, 1.0, "Diamond")); - } - // ! ways to not coast // // * 1. try zero joystick input: new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(0.0, 0.0, 0.0, 0.0, false), m_robotSwerveDrive); // * 2. try opposite joystick input: new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(0.0, -1.0, 0.0, 0.0, false), m_robotSwerveDrive); @@ -541,12 +532,12 @@ public class RobotContainer { )); // * weird way of shooting, i think we should make a new TrackTarget with built-in Storage control instead. // ! DRIVE BACKWARDS AND SHOOT (HOPEFULLY) - return new SequentialCommandGroup( new InstantCommand(() -> m_robotSwerveDrive.resetGyro(), m_robotSwerveDrive), // * reset gyro before moving - new DriveWithInputForTime(m_robotSwerveDrive, new double[] {1.0, 0.0, 0.0, 0.0}, (5.0 * 12) / distancePerSecond),//0.269), // * go backwards three feet - new InstantCommand(() -> m_robotSwerveDrive.stopModules(), m_robotSwerveDrive), // * brake + // return new SequentialCommandGroup( new InstantCommand(() -> m_robotSwerveDrive.resetGyro(), m_robotSwerveDrive), // * reset gyro before moving + // new DriveWithInputForTime(m_robotSwerveDrive, new double[] {1.0, 0.0, 0.0, 0.0}, (5.0 * 12) / distancePerSecond),//0.269), // * go backwards three feet + // new InstantCommand(() -> m_robotSwerveDrive.stopModules(), m_robotSwerveDrive), // * brake - weirdAutoShootingGroup, // * shoot - new RunCommandForTime(new RunCommand(() -> m_robotStorage.runStorage(0.0), m_robotStorage), 0.5)); // * stop running storage + // weirdAutoShootingGroup, // * shoot + // new RunCommandForTime(new RunCommand(() -> m_robotStorage.runStorage(0.0), m_robotStorage), 0.5)); // * stop running storage // ! TWO BALL AUTO (HOPEFULLY) // return new SequentialCommandGroup( new ExtenderIntakeGroup(m_robotIntake, m_robotExtender), // * extend out, in preparation of running intake @@ -619,7 +610,9 @@ public class RobotContainer { // new RunCommandForTime(new RunCommand(() -> m_robotStorage.runStorage(StorageConstants.STORAGE_SPEED), m_robotStorage), 1.0)) // ); - + // ! PathPlanner Testing + return new SequentialCommandGroup(buildAuto(1.0, 1.0, "Move Forward")); + // return new SequentialCommandGroup(buildAuto(1.0, 1.0, "Diamond")); } public void switchControlMode() {