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Add WIP command schedule

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Preload PathPlanner autos
Remove old PathPlanner recorder (again)
Temporarily disable PhotonCamera version check
This commit is contained in:
nathanrsxtn
2022-04-05 17:54:01 -06:00
parent e90d709217
commit c224aa61a6
4 changed files with 142 additions and 16 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+5 -2
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@@ -122,6 +122,9 @@ public class RobotContainer {
private SendableChooser<SequentialCommandGroup> quickAutoChooser = new SendableChooser<>();
private final SequentialCommandGroup autoJMove1 = buildAuto(3.0, 3.0, "JMove1");
private final SequentialCommandGroup autoJMove2 = buildAuto(3.0, 3.0, "JMove2");
/**
* SmartDash
* - Limelight cam X
@@ -625,11 +628,11 @@ public class RobotContainer {
// ! PathPlanner Testing
ParallelDeadlineGroup intakeWithPath1 = new ParallelDeadlineGroup(new RunCommandForTime(new RunCommand(() -> m_robotIntake.runAtOutput(-1.0), m_robotIntake), 3.0, true),
new RunCommand(() -> m_robotSerializer.setSerializer(0.8), m_robotSerializer),
buildAuto(3.0, 3.0, "JMove"));
autoJMove1);
ParallelDeadlineGroup intakeWithPath2 = new ParallelDeadlineGroup(new RunCommandForTime(new RunCommand(() -> m_robotIntake.runAtOutput(-1.0), m_robotIntake), 5.0, true),
new RunCommand(() -> m_robotSerializer.setSerializer(0.8), m_robotSerializer),
buildAuto(3.0, 3.0, "JMove2"));
autoJMove2);
ParallelCommandGroup extendWhileTurretIsAiming = new ParallelCommandGroup(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), new ExtenderIntakeGroup(m_robotIntake, m_robotExtender));
ParallelCommandGroup intakeWithPathAndTrackTarget = new ParallelCommandGroup(intakeWithPath1, weirdAutoShootingGroup2);