Team4388/2024AcrossTheRidgebotiverse
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Add reverse mode

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Add reverse mode
Add example auto sequential commands

TODO:
Run with the robot
Do math
This commit is contained in:
Astatin3
2024-02-16 17:04:46 -07:00
parent 4b7cb07c1b
commit 84c5313a50
5 changed files with 60 additions and 22 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+10 -4
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@@ -68,7 +68,6 @@ public class RobotContainer {
/* Autos */
// 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");
@@ -90,10 +89,17 @@ public class RobotContainer {
new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter)
);
private AutoAlign autoAlign = new AutoAlign(m_robotSwerveDrive, limelight);
private SequentialCommandGroup autoShoot = new SequentialCommandGroup(
new RunCommand(() -> MoveToSpeaker.execute()),
new RunCommand(() -> new AutoAlign(m_robotSwerveDrive, limelight, false))
MoveToSpeaker,
autoAlign,
new InstantCommand(() -> m_robotShooter.spin()),
new InstantCommand(() -> m_robotIntake.handoff(), m_robotIntake),
new InstantCommand(() -> m_robotShooter.idle()),
new InstantCommand(() -> autoAlign.reverse()),
autoAlign
);