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Auto align Consistency improvements

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This commit is contained in:
Michael Mikovsky
2025-02-28 11:46:48 -07:00
parent a063f4b309
commit 90684ffc7b
7 changed files with 85 additions and 139 deletions
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src/main/java/frc4388/robot/commands/GotoLastApril.java
+1 -1
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@@ -10,7 +10,7 @@ import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.DriverStation.Alliance;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.Command;
import frc4388.robot.Constants.SwerveDriveConstants.AutoConstants;
import frc4388.robot.Constants.AutoConstants;
import frc4388.robot.subsystems.SwerveDrive;
import frc4388.robot.subsystems.Vision;
import frc4388.utility.Gains;
src/main/java/frc4388/robot/commands/IfCommand.java
-33
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@@ -1,33 +0,0 @@
package frc4388.robot.commands;
import java.time.Instant;
import java.util.function.BooleanSupplier;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Commands;
import edu.wpi.first.wpilibj2.command.InstantCommand;
// Command that is called if something is true
public class IfCommand extends InstantCommand {
BooleanSupplier isTrue;
Command trueCommand;
Command falseCommand;
public IfCommand(BooleanSupplier isTrue, Command trueCommand, Command falseCommand){
this.isTrue = isTrue;
this.trueCommand = trueCommand;
this.falseCommand = falseCommand;
}
public IfCommand(BooleanSupplier isTrue, Command trueCommand){
this(isTrue, trueCommand, Commands.none());
}
@Override
public void execute() {
if(isTrue.getAsBoolean())
trueCommand.schedule();
else
falseCommand.schedule();
}
}