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Debug autos

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This commit is contained in:
Michael Mikovsky
2025-01-25 14:47:23 -07:00
parent a7ac44c25d
commit 1b9b7ed00c
23 changed files with 272 additions and 62 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+13 -6
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@@ -92,6 +92,10 @@ public class RobotContainer {
// public List<Subsystem> subsystems = new ArrayList<>();
// ! Teleop Commands
public void stop() {
new InstantCommand(()->{}, m_robotSwerveDrive).schedule();;;;;
m_robotSwerveDrive.stopModules();
}
// ! /* Autos */
private String lastAutoName = "defualt.auto";
@@ -104,8 +108,10 @@ public class RobotContainer {
private Command AutoGotoPosition = new GotoPositionCommand(m_robotSwerveDrive, m_vision);
private Command placeCoral = new SequentialCommandGroup(
new InstantCommand(() -> m_robotSwerveDrive.stopModules()),
new InstantCommand(() -> System.out.println("Placing Some Coral")),
new WaitCommand(3)
new WaitCommand(3),
new InstantCommand(() -> System.out.println("Done placing Some Coral"))
);
private Command aprilAlign = new SequentialCommandGroup(
@@ -115,7 +121,8 @@ public class RobotContainer {
private Command grabCoral = new SequentialCommandGroup(
new InstantCommand(() -> System.out.println("Yoinking some coral...")),
new WaitCommand(2)
new WaitCommand(2),
new InstantCommand(() -> System.out.println("Done yoinking some coral..."))
);
/**
@@ -210,10 +217,10 @@ public class RobotContainer {
// ? /* Operator Buttons */
new JoystickButton(getDeadbandedDriverController(), XboxController.Y_BUTTON)
.onTrue(new GotoPositionCommand(m_robotSwerveDrive, m_vision));
.onTrue(AutoGotoPosition);
new JoystickButton(getDeadbandedDriverController(), XboxController.B_BUTTON)
.onTrue(new InstantCommand(() -> {}, m_robotSwerveDrive));
.onTrue(new InstantCommand(()->{}, m_robotSwerveDrive));
// creates an empty command & requires the swerve drive, subsystems can run only 1 command at a time
// ? /* Programer Buttons (Controller 3)*/
@@ -300,10 +307,10 @@ public class RobotContainer {
//return autoPlayback;
//return new GotoPositionCommand(m_robotSwerveDrive, m_vision)
return autoChooser.getSelected();
return autoChooser.getSelected().andThen(new InstantCommand(() -> System.err.println("Auto Ded!")));
// try{
// // Load the path you want to follow using its name in the GUI
// return new PathPlannerAuto("New Auto");
// return new PathPlannerAuto("New Auto");
// } catch (Exception e) {
// DriverStation.reportError("Path planner error: " + e.getMessage(), e.getStackTrace());
// return Commands.none();