Team4388/2023WayOfTheRobot
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dpad queueing WORKS!!!

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aarav18
2023-03-18 14:48:09 -06:00
parent a3bc7b56b9
commit c18f93be82
1 changed files with 11 additions and 2 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+11 -2
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@@ -98,12 +98,21 @@ public class RobotContainer {
// new DriveToLimeDistance(m_robotSwerveDrive, m_robotLimeLight, 37, () -> m_robotLimeLight.getDistanceToTape()) // new DriveToLimeDistance(m_robotSwerveDrive, m_robotLimeLight, 37, () -> m_robotLimeLight.getDistanceToTape())
).andThen(new InstantCommand(() -> readyForPlacement = true), new InstantCommand(() -> isPole = true)); ).andThen(new InstantCommand(() -> readyForPlacement = true), new InstantCommand(() -> isPole = true));
// private SequentialCommandGroup alignToShelf =
// new SequentialCommandGroup(
// new RotateToAngle(m_robotSwerveDrive, 0.0),
// new InstantCommand(() -> m_robotLimeLight.setToAprilPipeline(), m_robotLimeLight),
// new LimeAlign(m_robotSwerveDrive, m_robotLimeLight, () -> m_robotLimeLight.getAprilPoint().getYaw(), 0.04),
// new RotateToAngle(m_robotSwerveDrive, 0.0),
// new RunCommand(() -> m_robotSwerveDrive.driveWithInput(new Translation2d(0.0, -0.4), new Translation2d(0.0, 0.0), true), m_robotSwerveDrive)
// ).andThen(new InstantCommand(() -> readyForPlacement = true), new InstantCommand(() -> isPole = false));
private SequentialCommandGroup alignToShelf = private SequentialCommandGroup alignToShelf =
new SequentialCommandGroup( new SequentialCommandGroup(
new RotateToAngle(m_robotSwerveDrive, 0.0), new AprilRotAlign(m_robotSwerveDrive, m_robotLimeLight),
new InstantCommand(() -> m_robotLimeLight.setToAprilPipeline(), m_robotLimeLight), new InstantCommand(() -> m_robotLimeLight.setToAprilPipeline(), m_robotLimeLight),
new LimeAlign(m_robotSwerveDrive, m_robotLimeLight, () -> m_robotLimeLight.getAprilPoint().getYaw(), 0.04), new LimeAlign(m_robotSwerveDrive, m_robotLimeLight, () -> m_robotLimeLight.getAprilPoint().getYaw(), 0.04),
new RotateToAngle(m_robotSwerveDrive, 0.0), new AprilRotAlign(m_robotSwerveDrive, m_robotLimeLight),
new RunCommand(() -> m_robotSwerveDrive.driveWithInput(new Translation2d(0.0, -0.4), new Translation2d(0.0, 0.0), true), m_robotSwerveDrive) new RunCommand(() -> m_robotSwerveDrive.driveWithInput(new Translation2d(0.0, -0.4), new Translation2d(0.0, 0.0), true), m_robotSwerveDrive)
).andThen(new InstantCommand(() -> readyForPlacement = true), new InstantCommand(() -> isPole = false)); ).andThen(new InstantCommand(() -> readyForPlacement = true), new InstantCommand(() -> isPole = false));