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Add faster auto test

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Fix extender deployment
This commit is contained in:
nathanrsxtn
2022-04-07 18:52:49 -06:00
parent 3281512909
commit bcd25679e8
1 changed files with 28 additions and 3 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+28 -3
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@@ -157,7 +157,8 @@ public class RobotContainer {
autoChooser.addOption("OneBallAuto", oneBallAuto);
autoChooser.setDefaultOption("TwoBallAuto", twoBallAuto);
autoChooser.addOption("ThreeBallAuto", threeBallAuto);
autoChooser.addOption("testAuto", testAuto);
autoChooser.addOption("nathanThreeBallSlow", nathanThreeBallSlow);
autoChooser.addOption("nathanThreeBallFast", nathanThreeBallFast);
SmartDashboard.putData("AutoChooser", autoChooser);
@@ -577,13 +578,14 @@ public class RobotContainer {
brakeStorage(0.1)
);
private final CommandGroupBase testAuto = CommandGroupBase.sequence(
private final CommandGroupBase nathanThreeBallSlow = CommandGroupBase.sequence(
// Preloaded Ball
new InstantCommand(() -> m_robotBoomBoom.runDrumShooterVelocityPID(8000), m_robotBoomBoom).withName("StartIdlingShooter"),
new InstantCommand(() -> m_robotIntake.runAtOutput(-1), m_robotIntake).withName("StartRunningIntake"),
new RunExtender(m_robotExtender).withName("DeployExtender"),
new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry, m_robotLED, true).withName("FirstBallTarget"),
new InstantCommand(() -> m_robotStorage.runStorage(StorageConstants.STORAGE_SPEED)).withName("FirstBallFeed"),
new WaitCommand(3.0).withName("FirstBallShootTimer").alongWith(new RunExtender(m_robotExtender).withName("DeployExtender")).withName("ShootDeployExtender"),
new WaitCommand(3.0).withName("FirstBallShootTimer"),
new InstantCommand(() -> m_robotStorage.runStorage(0.0)).withName("FirstBallStopFeed"),
// Second Ball
new InstantCommand(() -> m_robotBoomBoom.runDrumShooterVelocityPID(8000), m_robotBoomBoom).withName("StartIdlingShooter"),
@@ -605,6 +607,29 @@ public class RobotContainer {
new InstantCommand(() -> m_robotStorage.runStorage(0.0)).withName("ThirdBallStopFeed")
);
private final CommandGroupBase nathanThreeBallFast = CommandGroupBase.sequence(
new InstantCommand(() -> m_robotBoomBoom.runDrumShooterVelocityPID(8000), m_robotBoomBoom).withName("StartIdlingShooter"),
new InstantCommand(() -> m_robotIntake.runAtOutput(-1), m_robotIntake).withName("StartRunningIntake"),
new RunExtender(m_robotExtender).withName("DeployExtender"),
// Preload and Second Ball
new InstantCommand(() -> m_robotSerializer.setSerializer(0.8), m_robotSerializer).withName("StartRunningSerializer"),
buildAuto(3.0, 3.0, "JMove1").withName("JMove1"),
new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry, m_robotLED, true).withName("FirstSecondBallTarget"),
new InstantCommand(() -> m_robotStorage.runStorage(StorageConstants.STORAGE_SPEED)).withName("FirstSecondBallFeed"),
new WaitCommand(5.0).withName("FirstSecondBallShootTimer"),
new InstantCommand(() -> m_robotStorage.runStorage(0.0)).withName("FirstSecondBallStopFeed"),
// Third Ball
new InstantCommand(() -> m_robotBoomBoom.runDrumShooterVelocityPID(8000), m_robotBoomBoom).withName("StartIdlingShooter"),
new InstantCommand(() -> m_robotTurret.runShooterRotatePID(-120), m_robotTurret).withName("StartTurningShooter"),
buildAuto(3.0, 3.0, "JMove2").withName("JMove2"),
new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry, m_robotLED, true).withName("ThirdBallTarget"),
new InstantCommand(() -> m_robotStorage.runStorage(StorageConstants.STORAGE_SPEED)).withName("ThirdBallFeed"),
new WaitCommand(3.0).withName("ThirdBallShootTimer"),
new InstantCommand(() -> m_robotIntake.runAtOutput(0), m_robotIntake).withName("StartRunningIntake"),
new InstantCommand(() -> m_robotSerializer.setSerializer(0.0), m_robotSerializer).withName("StopRunningSerializer"),
new InstantCommand(() -> m_robotStorage.runStorage(0.0)).withName("ThirdBallStopFeed")
);
/**
* Use this to pass the autonomous command to the main {@link Robot} class.
*