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March 5th driver practice

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This commit is contained in:
Michael Mikovsky
2025-03-08 17:11:56 -07:00
parent c58a2406ac
commit a264e466bc
8 changed files with 74 additions and 33 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+6 -2
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@@ -274,6 +274,8 @@ public class RobotContainer {
new InstantCommand(() -> {m_robotElevator.transitionState(CoordinationState.L2Score);}, m_robotElevator),
new waitEndefectorRefrence(m_robotElevator),
new waitElevatorRefrence(m_robotElevator),
new InstantCommand(() -> {m_robotElevator.transitionState(CoordinationState.L2ScoreLeave);}, m_robotElevator),
new waitElevatorRefrence(m_robotElevator),
new MoveForTimeCommand(m_robotSwerveDrive,
new Translation2d(0,1), new Translation2d(), AutoConstants.L2_DRIVE_TIME, true),
new InstantCommand(() -> {m_robotElevator.transitionState(CoordinationState.Waiting);}, m_robotElevator),
@@ -293,6 +295,8 @@ public class RobotContainer {
new InstantCommand(() -> {m_robotElevator.transitionState(CoordinationState.L2Score);}, m_robotElevator),
new waitEndefectorRefrence(m_robotElevator),
new waitElevatorRefrence(m_robotElevator),
new InstantCommand(() -> {m_robotElevator.transitionState(CoordinationState.L2ScoreLeave);}, m_robotElevator),
new waitElevatorRefrence(m_robotElevator),
new MoveForTimeCommand(m_robotSwerveDrive,
new Translation2d(0,1), new Translation2d(), AutoConstants.L2_DRIVE_TIME, true),
new InstantCommand(() -> {m_robotElevator.transitionState(CoordinationState.Waiting);}, m_robotElevator),
@@ -326,7 +330,7 @@ public class RobotContainer {
new Translation2d(1,0), new Translation2d(0, 0), AutoConstants.ALGAE_DRIVE_TIME / 2, true),
new MoveForTimeCommand(m_robotSwerveDrive,
new Translation2d(1,1), new Translation2d(0, 0), AutoConstants.ALGAE_DRIVE_TIME * 2, true),
// new InstantCommand(() -> {m_robotElevator.transitionState(CoordinationState.Waiting);}, m_robotElevator),
new InstantCommand(() -> {m_robotElevator.transitionState(CoordinationState.Waiting);}, m_robotElevator),
new InstantCommand(() -> {m_robotSwerveDrive.endSlowPeriod();})
);
@@ -354,7 +358,7 @@ public class RobotContainer {
// new InstantCommand(() -> {m_robotElevator.transitionState(CoordinationState.BallRemoverL2Go);}, m_robotElevator),
new MoveForTimeCommand(m_robotSwerveDrive,
new Translation2d(1,1), new Translation2d(0, 0), AutoConstants.ALGAE_DRIVE_TIME, true),
// new InstantCommand(() -> {m_robotElevator.transitionState(CoordinationState.Waiting);}, m_robotElevator),
new InstantCommand(() -> {m_robotElevator.transitionState(CoordinationState.Waiting);}, m_robotElevator),
new InstantCommand(() -> {m_robotSwerveDrive.endSlowPeriod();})
);