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added drive off line/one ball auto + two ball auto

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aarav18
2022-03-24 10:15:44 -06:00
parent 6ffbdc57c6
commit c8acdfa039
1 changed files with 29 additions and 5 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+29 -5
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@@ -380,7 +380,7 @@ public class RobotContainer {
// ! 1.0 input, 1 second: 134 inches // ! 1.0 input, 1 second: 134 inches
// ! 0.75 input, 1 second: 48 inches // ! 0.75 input, 1 second: 48 inches
// ? positive leftY went left, negative leftY went right? // ? positive leftY went left, negative leftY went right?
// TODO: if line 372 is true, switch joystick inputs accordingly // TODO: if line 382 is true, switch joystick inputs accordingly
double turretDistanceFromFront = 10.0; // * distance of turret from the front of the robot in inches. might need to be somewhat accurate. double turretDistanceFromFront = 10.0; // * distance of turret from the front of the robot in inches. might need to be somewhat accurate.
@@ -396,7 +396,32 @@ public class RobotContainer {
new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry, true), new TrackTarget(m_robotTurret, m_robotBoomBoom, m_robotHood, m_robotVisionOdometry, true),
new RunCommandForTime(new RunCommand(() -> m_robotStorage.runStorage(StorageConstants.STORAGE_SPEED), m_robotStorage), 2.0) new RunCommandForTime(new RunCommand(() -> m_robotStorage.runStorage(StorageConstants.STORAGE_SPEED), m_robotStorage), 2.0)
)); // * weird way of shooting, i think we should make a new TrackTarget with built-in Storage control instead. )); // * weird way of shooting, i think we should make a new TrackTarget with built-in Storage control instead.
// ! SHOOT FIRST BALL, THEN DRIVE OFF LINE (HOPEFULLY)
// return new SequentialCommandGroup( new InstantCommand(() -> m_robotTurret.runShooterRotatePID(-Math.atan2((219.25 / 2.00) - turretDistanceFromFront, (82.83 / 2.00) - 15.56)), m_robotTurret), // * aim with turret to target
// weirdAutoShootingGroup, // * shoot
// new InstantCommand(() -> m_robotStorage.runStorage(0.0), m_robotStorage), // * stop running storage
// new SequentialCommandGroup( new InstantCommand(() -> m_robotSwerveDrive.resetGyro(), m_robotSwerveDrive), // * reset gyro before moving
// new DriveWithInputForTime(m_robotSwerveDrive, new double[] {0.0, 1.0, 0.0, 0.0}, 2.0))); // * drive off line
// ! TWO BALL AUTO (HOPEFULLY)
// return new SequentialCommandGroup( new InstantCommand(() -> m_robotTurret.runShooterRotatePID(-Math.atan2((219.25 / 2.00) - turretDistanceFromFront, (82.83 / 2.00) - 15.56)), m_robotTurret), // * aim with turret to target
// weirdAutoShootingGroup, // * shoot
// new InstantCommand(() -> m_robotStorage.runStorage(0.0), m_robotStorage), // * stop running storage
// new ExtenderIntakeGroup(m_robotIntake, m_robotExtender), // * extend out, in preparation of running intake
// new ParallelCommandGroup( new RunCommand(() -> m_robotIntake.runAtOutput(1.0), m_robotIntake), // * run intake all throughout path
// new SequentialCommandGroup( new InstantCommand(() -> m_robotSwerveDrive.resetGyro(), m_robotSwerveDrive), // * reset gyro before moving
// new DriveWithInputForTime(m_robotSwerveDrive, new double[] {0.0, 1.0, 0.0, 0.0}, (40.44 - offset) / distancePerSecond), // * drive to first ball
// new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(0.0, -1.0, 0.0, 0.0, true)), // * brake (see line 376)
// new InstantCommand(() -> m_robotTurret.runShooterRotatePID(-Math.atan2(firstBallPosition.y, firstBallPosition.x)), m_robotTurret), // * aim with turret to target
// weirdAutoShootingGroup, // * shoot
// new InstantCommand(() -> m_robotStorage.runStorage(0.0), m_robotStorage)))); // * stop running storage
// ! THREE BALL AUTO (HOPEFULLY) // ! THREE BALL AUTO (HOPEFULLY)
return new SequentialCommandGroup( new InstantCommand(() -> m_robotTurret.runShooterRotatePID(-Math.atan2((219.25 / 2.00) - turretDistanceFromFront, (82.83 / 2.00) - 15.56)), m_robotTurret), // * aim with turret to target return new SequentialCommandGroup( new InstantCommand(() -> m_robotTurret.runShooterRotatePID(-Math.atan2((219.25 / 2.00) - turretDistanceFromFront, (82.83 / 2.00) - 15.56)), m_robotTurret), // * aim with turret to target
weirdAutoShootingGroup, // * shoot weirdAutoShootingGroup, // * shoot
@@ -407,9 +432,8 @@ public class RobotContainer {
new ParallelCommandGroup( new RunCommand(() -> m_robotIntake.runAtOutput(1.0), m_robotIntake), // * run intake all throughout path new ParallelCommandGroup( new RunCommand(() -> m_robotIntake.runAtOutput(1.0), m_robotIntake), // * run intake all throughout path
new SequentialCommandGroup( new InstantCommand(() -> m_robotSwerveDrive.resetGyro(), m_robotSwerveDrive), // * reset gyro before moving new SequentialCommandGroup( new InstantCommand(() -> m_robotSwerveDrive.resetGyro(), m_robotSwerveDrive), // * reset gyro before moving
new DriveWithInputForTime(m_robotSwerveDrive, new double[] {0.0, 1.0, 0.0, 0.0}, (40.44 - offset) / distancePerSecond), // * drive to first ball new DriveWithInputForTime(m_robotSwerveDrive, new double[] {0.0, 1.0, 0.0, 0.0}, (40.44 - offset) / distancePerSecond), // * drive to first ball
new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(0.0, -1.0, 0.0, 0.0, true)), // * brake (see line 363) new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(0.0, -1.0, 0.0, 0.0, true)), // * brake (see line 376)
new InstantCommand(() -> m_robotTurret.runShooterRotatePID(-Math.atan2(firstBallPosition.y, firstBallPosition.x)), m_robotTurret), // * aim with turret to target new InstantCommand(() -> m_robotTurret.runShooterRotatePID(-Math.atan2(firstBallPosition.y, firstBallPosition.x)), m_robotTurret), // * aim with turret to target
weirdAutoShootingGroup, // * shoot weirdAutoShootingGroup, // * shoot
@@ -417,7 +441,7 @@ public class RobotContainer {
new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(0.0, 0.0, -firstToSecond.unit().x, -firstToSecond.unit().y, true), m_robotSwerveDrive), // * rotate so intake points towards second ball new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(0.0, 0.0, -firstToSecond.unit().x, -firstToSecond.unit().y, true), m_robotSwerveDrive), // * rotate so intake points towards second ball
new DriveWithInputForTime(m_robotSwerveDrive, new double[] {-firstToSecond.unit().x, -firstToSecond.unit().y, 0.0, 0.0}, (firstToSecond.magnitude() - offset) / distancePerSecond), // * drive to second ball new DriveWithInputForTime(m_robotSwerveDrive, new double[] {-firstToSecond.unit().x, -firstToSecond.unit().y, 0.0, 0.0}, (firstToSecond.magnitude() - offset) / distancePerSecond), // * drive to second ball
new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(firstToSecond.unit().x, firstToSecond.unit().y, 0.0, 0.0, true)), // * brake (see line 363) new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(firstToSecond.unit().x, firstToSecond.unit().y, 0.0, 0.0, true)), // * brake (see line 376)
new Shoot(m_robotSwerveDrive, m_robotBoomBoom, m_robotTurret, m_robotHood, m_robotVisionOdometry, secondBallPosition.toDoubleArray()), // * aim to target new Shoot(m_robotSwerveDrive, m_robotBoomBoom, m_robotTurret, m_robotHood, m_robotVisionOdometry, secondBallPosition.toDoubleArray()), // * aim to target
weirdAutoShootingGroup, // * shoot weirdAutoShootingGroup, // * shoot