Team4388/2023WayOfTheRobot
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alignToShelf READY TO TEST

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aarav18
2023-03-16 23:08:56 -06:00
parent 330d2a7817
commit 54c29fa121
1 changed files with 2 additions and 1 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+2 -1
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@@ -99,10 +99,11 @@ public class RobotContainer {
() -> m_robotLimeLight.getNumTapes() <= 2 () -> m_robotLimeLight.getNumTapes() <= 2
); );
// TODO: find actual distance
private SequentialCommandGroup alignToShelf = new SequentialCommandGroup( private SequentialCommandGroup alignToShelf = new SequentialCommandGroup(
new RotateToAngle(m_robotSwerveDrive, 0.0), new RotateToAngle(m_robotSwerveDrive, 0.0),
new LimeAlign(m_robotSwerveDrive, m_robotLimeLight, () -> m_robotLimeLight.getAprilPoint().getYaw()), new LimeAlign(m_robotSwerveDrive, m_robotLimeLight, () -> m_robotLimeLight.getAprilPoint().getYaw()),
new DriveToLimeDistance(m_robotSwerveDrive, m_robotLimeLight, 30, () -> m_robotLimeLight.getDistanceToApril()) // TODO: find distance new DriveToLimeDistance(m_robotSwerveDrive, m_robotLimeLight, 30, () -> m_robotLimeLight.getDistanceToApril())
).andThen(new InstantCommand(() -> readyForPlacement = true), new InstantCommand(() -> isPole = false)); ).andThen(new InstantCommand(() -> readyForPlacement = true), new InstantCommand(() -> isPole = false));
public SequentialCommandGroup place = null; public SequentialCommandGroup place = null;