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This commit is contained in:
Ryan Manley
2022-04-07 18:29:48 -06:00
parent 06193efd83
commit c3660651ba
3 changed files with 7 additions and 7 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+5 -5
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@@ -458,14 +458,14 @@ public class RobotContainer {
);
}
private SequentialCommandGroup shoot(double storageRunTime, double timeout) {
private ParallelRaceGroup shoot(double storageRunTime, double timeout) {
return new SequentialCommandGroup(
new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry, m_robotLED, true).withTimeout(timeout),
new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry, m_robotLED, true),
new ParallelCommandGroup(
new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry, m_robotLED, true).until(TrackTarget::isTargetNotLocked),
new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry, m_robotLED, true),
new RunCommandForTime(new RunCommand(() -> m_robotStorage.runStorage(StorageConstants.STORAGE_SPEED), m_robotStorage), storageRunTime, true)
)
);
).withTimeout(timeout + storageRunTime);
}
SequentialCommandGroup weirdAutoShootingGroup = new SequentialCommandGroup(new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry, m_robotLED, true),
@@ -496,7 +496,7 @@ public class RobotContainer {
SequentialCommandGroup extendThenAimTurret() {
return new SequentialCommandGroup(
new ExtenderIntakeGroup(m_robotIntake, m_robotExtender),
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) // TODO: optimize time
new RunCommandForTime(new RunCommand(() -> m_robotTurret.runShooterRotatePID(-180), m_robotTurret), 1.0, true) // TODO: optimize time
);
}