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a small change, autos work.

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This commit is contained in:
Michael Mikovsky
2025-02-28 18:46:30 -07:00
parent 870dfa2e67
commit bd67c9e8d3
24 changed files with 139 additions and 332 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+12 -3
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@@ -47,6 +47,7 @@ import frc4388.robot.commands.LidarAlign;
import frc4388.robot.commands.MoveForTimeCommand;
import frc4388.robot.commands.waitElevatorRefrence;
import frc4388.robot.commands.waitEndefectorRefrence;
import frc4388.robot.commands.waitFeedCoral;
import frc4388.robot.commands.Swerve.neoJoystickPlayback;
import frc4388.robot.commands.Swerve.neoJoystickRecorder;
@@ -295,6 +296,13 @@ public class RobotContainer {
* The container for the robot. Contains subsystems, OI devices, and commands.
*/
public RobotContainer() {
NamedCommands.registerCommand("grab-coral", new waitFeedCoral(m_robotElevator));
NamedCommands.registerCommand("align-feed", new SequentialCommandGroup(
new MoveForTimeCommand(m_robotSwerveDrive,
new Translation2d(0, 1),
new Translation2d(), 200, true
), new InstantCommand(()-> {m_robotSwerveDrive.softStop();} , m_robotSwerveDrive)));
NamedCommands.registerCommand("place-coral-left-l4", AprilLidarAlignL4Left);
NamedCommands.registerCommand("place-coral-right-l4", AprilLidarAlignL4Right);
@@ -642,9 +650,9 @@ public class RobotContainer {
// return autoCommand;
// } catch (Exception e) {
// DriverStation.reportError("Path planner error: " + e.getMessage(), e.getStackTrace());
// return autoCommand;
return autoCommand;
// }
return new PathPlannerAuto("Line-up-no-arm");
// return new PathPlannerAuto("Line-up-no-arm");
// zach told me to do the below comment
//return new GotoPositionCommand(m_robotSwerveDrive, m_vision);
// return new GotoPositionCommand(m_robotSwerveDrive, m_vision, AutoConstants.targetpos);
@@ -659,7 +667,8 @@ public class RobotContainer {
for (String auto : autos) {
if (auto.endsWith(".auto"))
autoChooser.addOption(auto.replaceAll(".auto", ""), auto);
autoChooser.addOption(auto.replaceAll(".auto", ""), auto.replaceAll(".auto", ""));
// System.out.println(auto);
}
autoChooser.onChange((filename) -> {