Team4388/2026KPopRobotHunters
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This commit is contained in:
Michael Mikovsky
2026-02-21 14:08:32 -08:00
parent 81edff83bc
commit 4907e0c8a0
5 changed files with 54 additions and 20 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+15 -8
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@@ -10,7 +10,9 @@ package frc4388.robot;
import java.io.File;
import com.pathplanner.lib.commands.PathPlannerAuto;
import com.pathplanner.lib.trajectory.PathPlannerTrajectory;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.math.geometry.Rotation2d;
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.wpilibj.DriverStation;
@@ -353,16 +355,21 @@ public class RobotContainer {
autoChooser.onChange((filename) -> {
autoChooserUpdated = true;
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 {
// 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);
//----
PathPlannerAuto auto = new PathPlannerAuto(filename);
m_robotSwerveDrive.setInitalPose(auto.getStartingPose());
//-----
});
SmartDashboard.putData(autoChooser);