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auto testing: afternoon of the third day

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This commit is contained in:
C4llSiqn
2025-03-19 11:56:44 -06:00
parent 6ac4b62089
commit d1fb8ce7b4
18 changed files with 142 additions and 459 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+21 -9
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@@ -163,7 +163,7 @@ public class RobotContainer {
new Translation2d(0,-0.5),
new Translation2d(), m_robotElevator::getEndeffectorLimit, true)
),
new InstantCommand(m_robotSwerveDrive::softStop, m_robotElevator),
new InstantCommand(m_robotSwerveDrive::softStop, m_robotSwerveDrive),
new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.ScoringFour), m_robotElevator),
@@ -172,10 +172,10 @@ public class RobotContainer {
new MoveForTimeCommand(m_robotSwerveDrive,
new Translation2d(0,1), new Translation2d(), AutoConstants.L4_DRIVE_TIME, true),
new ConditionalCommand(
new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.PrimedFour), m_robotElevator),
// new ConditionalCommand(
// new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.PrimedFour), m_robotElevator),
new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.Waiting), m_robotElevator),
() -> m_robotElevator.hasCoral()),
// () -> m_robotElevator.hasCoral()),
new InstantCommand(() -> {m_robotSwerveDrive.endSlowPeriod();})
);
@@ -280,7 +280,7 @@ public class RobotContainer {
new Translation2d(0,-0.5),
new Translation2d(), m_robotElevator::getEndeffectorLimit, true)
),
new InstantCommand(m_robotSwerveDrive::softStop, m_robotElevator),
new InstantCommand(m_robotSwerveDrive::softStop, m_robotSwerveDrive),
new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.ScoringFour), m_robotElevator),
@@ -290,10 +290,10 @@ public class RobotContainer {
new MoveForTimeCommand(m_robotSwerveDrive,
new Translation2d(0,1), new Translation2d(), AutoConstants.L4_DRIVE_TIME, true),
new ConditionalCommand(
new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.PrimedFour), m_robotElevator),
// new ConditionalCommand(
// new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.PrimedFour), m_robotElevator),
new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.Waiting), m_robotElevator),
() -> m_robotElevator.hasCoral()),
// () -> m_robotElevator.hasCoral()),
@@ -511,6 +511,10 @@ public class RobotContainer {
NamedCommands.registerCommand("place-coral-left-l2", AprilLidarAlignL2Left);
NamedCommands.registerCommand("place-coral-right-l2", AprilLidarAlignL2Right);
NamedCommands.registerCommand("lower-algae-removal", lowerAlgaeRemove);
NamedCommands.registerCommand("upper-algae-removal", upperAlgaeRemove);
NamedCommands.registerCommand("prepare-l4", new SequentialCommandGroup(
// new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.Hovering)),
// new waitElevatorRefrence(m_robotElevator),
@@ -830,7 +834,15 @@ public class RobotContainer {
}
autoChooser.onChange((filename) -> {
autoCommand = new PathPlannerAuto(filename);
if (filename.equals("Taxi")) {
autoCommand = new SequentialCommandGroup(
new MoveForTimeCommand(m_robotSwerveDrive,
new Translation2d(0, -1),
new Translation2d(), 1000, true
), new InstantCommand(()-> {m_robotSwerveDrive.softStop();} , m_robotSwerveDrive));
} else {
autoCommand = new PathPlannerAuto(filename);
}
System.out.println("Robot Auto Changed " + filename);
});
// SmartDashboard.putData(autoChooser);