Team4388/2024AcrossTheRidgebotiverse
1
0
Fork 0
mirror of https://github.com/Team4388/2024AcrossTheRidgebotiverse.git synced 2026-06-09 00:38:02 -06:00
Code Issues Packages Projects Releases Wiki Activity

Add reverse mode

Browse Source 
- Add reverse mode of autoAlign

TODO:
-  Shoot between normal and reverse mode
- Use the robot
- Make the math in autoAlign
This commit is contained in:
Astatin3
2024-02-16 12:59:22 -07:00
parent 20bac49f8d
commit 4b7cb07c1b
8 changed files with 175 additions and 81 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/main/java/frc4388/robot/RobotContainer.java
+10 -6
View File
@@ -51,11 +51,14 @@ public class RobotContainer {
m_robotMap.rightFront,
m_robotMap.leftBack,
m_robotMap.rightBack,
m_robotMap.gyro);
private final Shooter m_robotShooter = new Shooter(m_robotMap.leftShooter, m_robotMap.rightShooter);
/* Limelight */
private final Limelight limelight = new Limelight();
private final Intake m_robotIntake = new Intake(m_robotMap.intakeMotor, m_robotMap.pivotMotor);
private final Shooter m_robotShooter = new Shooter(m_robotMap.leftShooter, m_robotMap.rightShooter, limelight);
private final Intake m_robotIntake = new Intake(m_robotMap.intakeMotor, m_robotMap.pivotMotor);
//private final Intake m_robotIntake = new Intake(m_robotMap.intakeMotor, m_robotMap.pivotMotor);
@@ -64,8 +67,8 @@ public class RobotContainer {
private final DeadbandedXboxController m_operatorXbox = new DeadbandedXboxController(OIConstants.XBOX_OPERATOR_ID);
/* Autos */
private Limelight limelight = new Limelight();
public AutoAlign autoAlign = new AutoAlign(m_robotSwerveDrive, limelight);
// This shoud be in a SequentialCommandGroup vvv
//public AutoAlign autoAlign = new AutoAlign(m_robotSwerveDrive, limelight, false);
private Command taxi = new JoystickPlayback(m_robotSwerveDrive, "Taxi.txt");
private Command MoveToSpeaker = new JoystickPlayback(m_robotSwerveDrive, "MoveToSpeaker.txt");
@@ -87,9 +90,10 @@ public class RobotContainer {
new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter)
);
private SequentialCommandGroup autoShoot = new SequentialCommandGroup(
new RunCommand(() -> MoveToSpeaker.execute()),
new RunCommand(() -> autoAlign.execute())
new RunCommand(() -> new AutoAlign(m_robotSwerveDrive, limelight, false))
);