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aarav18
2022-03-25 10:59:01 -06:00
parent 3096e29d13
commit bdfa16679c
2 changed files with 4 additions and 4 deletions
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src/main/java/frc4388/robot/Robot.java
+1 -1
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@@ -151,7 +151,7 @@ public class Robot extends TimedRobot {
@Override
public void disabledPeriodic() {
// System.out.println((180.0 / Math.PI) * Math.atan2(-(82.83 / 2.00) + 15.56, -(219.25 / 2.00) - 40.44 + 10.00));
System.out.println((40.44 - 10.0) / 134.0);
}
/**
src/main/java/frc4388/robot/RobotContainer.java
+3 -3
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@@ -497,14 +497,14 @@ public class RobotContainer {
new RunCommandForTime(new RunCommand(() -> m_robotStorage.runStorage(StorageConstants.STORAGE_SPEED), m_robotStorage), 5.0)
)); // * weird way of shooting, i think we should make a new TrackTarget with built-in Storage control instead.
// ! DRIVE BACKWARDS AND SHOOT
// ! 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}, (3.0 * 12) / distancePerSecond),//0.269), // * go backwards three feet
new InstantCommand(() -> m_robotSwerveDrive.stopModules(), m_robotSwerveDrive), // * brake
weirdAutoShootingGroup, // * shoot
new InstantCommand(() -> m_robotStorage.runStorage(0.0), m_robotStorage) // * stop running storage
);
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