Team4388/2025RidgeScape
1
0
Fork 0
mirror of https://github.com/Team4388/2025RidgeScape.git synced 2026-06-09 00:38:02 -06:00
Code Issues Packages Projects Releases Wiki Activity

de stall l4

Browse Source
This commit is contained in:
C4llSiqn
2025-02-25 11:33:46 -07:00
parent 761a56cf0f
commit f9eb029b66
3 changed files with 29 additions and 17 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/main/java/frc4388/robot/RobotContainer.java
+12 -5
View File
@@ -141,19 +141,26 @@ public class RobotContainer {
private Command AprilLidarAlignL4Left = new SequentialCommandGroup(
new InstantCommand(() -> {m_robotSwerveDrive.shiftDown();m_robotSwerveDrive.shiftDown();}),
new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.PrimedFour), m_robotElevator),
new GotoLastApril(m_robotSwerveDrive, m_vision, FieldConstants.L4_DISTANCE_2, Side.LEFT),
// new InstantCommand(() -> System.out.println("Soup")),
// new WaitCommand(1),
new waitEndefectorRefrence(m_robotElevator),
new waitElevatorRefrence(m_robotElevator),
new GotoLastApril(m_robotSwerveDrive, m_vision, FieldConstants.L4_DISTANCE_1, Side.LEFT),
new LidarAlign(m_robotSwerveDrive, m_lidar),
new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.ScoringFour), m_robotElevator),
new waitEndefectorRefrence(m_robotElevator),
new MoveForTimeCommand(m_robotSwerveDrive,
new Translation2d(0,1), new Translation2d(), 500, true),
new InstantCommand(() -> m_robotElevator.transitionState(CoordinationState.Waiting), m_robotElevator)
);
@@ -529,7 +536,7 @@ public class RobotContainer {
// return autoCommand;
// } catch (Exception e) {
// DriverStation.reportError("Path planner error: " + e.getMessage(), e.getStackTrace());
return Commands.none();
return autoCommand;
// }
// return new PathPlannerAuto("Line-up-no-arm");
// zach told me to do the below comment
@@ -551,9 +558,9 @@ public class RobotContainer {
autoChooser.onChange((filename) -> {
autoCommand = new PathPlannerAuto(filename);
System.out.println("Robot Auto Changed");
System.out.println("Robot Auto Changed " + filename);
});
SmartDashboard.putData(autoChooser);
// SmartDashboard.putData(autoChooser);
}