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aarav18
2022-04-02 15:01:09 -06:00
parent 2d9d4fc426
commit a6bfaa1b30
1 changed files with 8 additions and 15 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+8 -15
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@@ -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() {