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Created New Autos

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This commit is contained in:
Michael Mikovsky
2025-01-24 20:41:09 -07:00
parent a490b25311
commit 5ed7e59ccb
4 changed files with 101 additions and 20 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+20
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@@ -30,6 +30,8 @@ import edu.wpi.first.wpilibj2.command.button.Trigger;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.InstantCommand;
import edu.wpi.first.wpilibj2.command.RunCommand;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
import edu.wpi.first.wpilibj2.command.WaitCommand;
import edu.wpi.first.wpilibj2.command.Commands;
// Autos
@@ -100,6 +102,21 @@ public class RobotContainer {
new VirtualController[]{getVirtualDriverController(), getVirtualOperatorController()},
true, false);
private Command AutoGotoPosition = new GotoPositionCommand(m_robotSwerveDrive, m_vision);
private Command placeCoral = new SequentialCommandGroup(
new InstantCommand(() -> System.out.println("Placing Some Coral")),
new WaitCommand(3)
);
private Command aprilAlign = new SequentialCommandGroup(
new InstantCommand(() -> System.out.println("Aligning...")),
new WaitCommand(1)
);
private Command grabCoral = new SequentialCommandGroup(
new InstantCommand(() -> System.out.println("Yoinking some coral...")),
new WaitCommand(2)
);
/**
* The container for the robot. Contains subsystems, OI devices, and commands.
@@ -107,6 +124,9 @@ public class RobotContainer {
public RobotContainer() {
NamedCommands.registerCommand("AutoGotoPosition", AutoGotoPosition);
NamedCommands.registerCommand("april-allign", aprilAlign);
NamedCommands.registerCommand("place-coral", placeCoral);
NamedCommands.registerCommand("grab-coral", grabCoral);
configureButtonBindings();
configureVirtualButtonBindings();