Team4388/2026KPopRobotHunters
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auto align wackiness

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This commit is contained in:
Shikhar
2026-02-24 22:55:28 -07:00
parent 0af963284a
commit 826a87371c
3 changed files with 24 additions and 70 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+2 -6
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@@ -11,9 +11,7 @@ import java.io.File;
import com.pathplanner.lib.auto.NamedCommands;
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;
@@ -29,7 +27,6 @@ import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
import edu.wpi.first.wpilibj2.command.WaitCommand;
import edu.wpi.first.wpilibj2.command.button.JoystickButton;
import edu.wpi.first.wpilibj2.command.button.Trigger;
import frc4388.robot.commands.MoveForTimeCommand;
import frc4388.robot.commands.alignment.AutoAlign;
import frc4388.robot.constants.Constants;
import frc4388.robot.constants.Constants.OIConstants;
@@ -41,7 +38,6 @@ import frc4388.robot.subsystems.intake.Intake;
import frc4388.robot.subsystems.intake.Intake.IntakeMode;
import frc4388.robot.subsystems.shooter.Shooter;
import frc4388.robot.subsystems.shooter.ShooterConstants;
import frc4388.robot.subsystems.shooter.Shooter.ShooterMode;
import frc4388.robot.subsystems.swerve.SwerveDrive;
import frc4388.robot.subsystems.vision.Vision;
import frc4388.utility.DeferredBlock;
@@ -124,8 +120,8 @@ public class RobotContainer {
);
private Command RobotShoot = new SequentialCommandGroup(
new InstantCommand(() ->
new AutoAlign(m_robotSwerveDrive, m_vision, true)),
// TEST NEW AUTO ALIGN
//new AutoAlign(m_robotSwerveDrive, m_vision),
new InstantCommand(()-> m_robotShooter.setShooterShoot(), m_robotShooter),
new InstantCommand(()-> m_robotShooter.setShooterReady(), m_robotShooter),
new WaitCommand(3),