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fixed turret aiming in all autos

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aarav18
2022-03-24 10:43:19 -06:00
parent c3bf3f09b0
commit e70f2ed5d4
1 changed files with 6 additions and 5 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+6 -5
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@@ -405,15 +405,15 @@ public class RobotContainer {
)); // * 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) // ! 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 // return new SequentialCommandGroup( new RunCommandForTime(new RunCommand(() -> m_robotTurret.runShooterRotatePID(-Math.atan2((219.25 / 2.00) - turretDistanceFromFront, (82.83 / 2.00) - 15.56)), m_robotTurret), 1.0, true), // * aim with turret to target
// weirdAutoShootingGroup, // * shoot // weirdAutoShootingGroup, // * shoot
// new InstantCommand(() -> m_robotStorage.runStorage(0.0), m_robotStorage), // * stop running storage // 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 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 // new DriveWithInputForTime(m_robotSwerveDrive, new double[] {0.0, 1.0, 0.0, 0.0}, 1.0))); // * drive off line
// ! TWO BALL AUTO (HOPEFULLY) // ! 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 // return new SequentialCommandGroup( new RunCommandForTime(new RunCommand(() -> m_robotTurret.runShooterRotatePID(-Math.atan2((219.25 / 2.00) - turretDistanceFromFront, (82.83 / 2.00) - 15.56)), m_robotTurret), 1.0, true), // * aim with turret to target
// weirdAutoShootingGroup, // * shoot // weirdAutoShootingGroup, // * shoot
// new InstantCommand(() -> m_robotStorage.runStorage(0.0), m_robotStorage), // * stop running storage // new InstantCommand(() -> m_robotStorage.runStorage(0.0), m_robotStorage), // * stop running storage
@@ -423,9 +423,10 @@ public class RobotContainer {
// 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 376) // // new InstantCommand(() -> m_robotSwerveDrive.driveWithInput(0.0, -1.0, 0.0, 0.0, true)), // * brake (see line 376),
// new InstantCommand(() -> m_robotSwerveDrive.stopModules(), m_robotSwerveDrive),
// new InstantCommand(() -> m_robotTurret.runShooterRotatePID(-Math.atan2(firstBallPosition.y, firstBallPosition.x)), m_robotTurret), // * aim with turret to target // new RunCommandForTime(new RunCommand(() -> m_robotTurret.runShooterRotatePID(-Math.atan2(firstBallPosition.y, firstBallPosition.x)), m_robotTurret), 1.0, true), // * aim with turret to target
// weirdAutoShootingGroup, // * shoot // weirdAutoShootingGroup, // * shoot
// new InstantCommand(() -> m_robotStorage.runStorage(0.0), m_robotStorage)))); // * stop running storage // new InstantCommand(() -> m_robotStorage.runStorage(0.0), m_robotStorage)))); // * stop running storage