Team4388/RiseOfRidgebotics2020
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changes to paths

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This commit is contained in:
Aarav Shah
2021-04-03 11:09:19 -06:00
parent 7bca9f4d55
commit 03f822162d
20 changed files with 191 additions and 111 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+7 -93
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@@ -100,6 +100,8 @@ public class RobotContainer {
private final XboxController m_operatorXbox = new XboxController(OIConstants.XBOX_OPERATOR_ID);
private final Joystick m_joystick = new Joystick(0);
public boolean isGS = false;
/* Autos */
double m_totalTimeAuto;
@@ -286,100 +288,13 @@ public class RobotContainer {
}
public void buildAutos() {
String[] sixBallAutoMiddlePaths = new String[]{
"SixBallMidComplete"
};
m_sixBallAutoMiddle = new SixBallAutoMiddle(m_robotDrive, buildPaths(sixBallAutoMiddlePaths));
String[] sixBallAutoMiddle0Paths = new String[]{
"SixBallMid0"
};
m_sixBallAutoMiddle0 = new SixBallAutoMiddle(m_robotDrive, buildPaths(sixBallAutoMiddle0Paths));
String[] sixBallAutoMiddle1Paths = new String[]{
"SixBallMid1"
};
m_sixBallAutoMiddle1 = new SixBallAutoMiddle(m_robotDrive, buildPaths(sixBallAutoMiddle1Paths));
String[] slalom = new String[]{
"Slalom"
};
m_slalom = new Slalom(m_robotDrive, buildPaths(slalom));
String[] barrel = new String[]{
"Barrel"
};
m_barrel = new Barrel(m_robotDrive, buildPaths(barrel));
String[] barrelStart = new String[]{
"BarrelStart"
};
m_barrelStart = new BarrelStart(m_robotDrive, buildPaths(barrelStart));
String[] bounce = new String[]{
"Bounce1",
"Bounce2",
"Bounce3",
"Bounce4"
};
m_bounce = new Bounce(m_robotDrive, buildPaths(bounce));
String[] barrelMany = new String[]{
"BarrelManyWaypoints"
};
m_barrelMany = new BarrelMany(m_robotDrive, buildPaths(barrelMany));
String[] eightBallAutoMiddlePaths = new String[]{
"EightBallMidComplete"
};
m_eightBallAutoMiddle = new EightBallAutoMiddle(m_robotDrive, buildPaths(eightBallAutoMiddlePaths));
String[] driveOffLineForwardPaths = new String[]{
"DriveOffLineForward"
};
m_driveOffLineForward = new DriveOffLineForward(m_robotDrive, buildPaths(driveOffLineForwardPaths));
String[] driveOffLineBackwardPaths = new String[]{
"DriveOffLineBackward"
};
m_driveOffLineBackward = new DriveOffLineBackward(m_robotDrive, buildPaths(driveOffLineBackwardPaths));
String[] fiveBallAutoMiddlePaths = new String[]{
"FiveBallMidComplete"
};
m_fiveBallAutoMiddle = new FiveBallAutoMiddle(m_robotDrive, buildPaths(fiveBallAutoMiddlePaths));
String[] tenBallAutoMiddlePaths = new String[]{
"TenBallMidComplete"
};
m_tenBallAutoMiddle = new TenBallAutoMiddle(m_robotDrive, buildPaths(tenBallAutoMiddlePaths));
String[] sequentialTestPaths = new String[]{
"Seq1",
"Seq2"
};
m_sequentialTest = new SequentialTest(this, buildPaths(sequentialTestPaths));
String[] galacticSearchPaths = new String[]{
"aRed",
"aBlue",
"bRed",
"bBlue"
"GSC_ARED",
"GSC_ABLUE",
"GSC_BRED",
"GSC_BBLUE"
};
m_robotLime.identifyPath();
m_galacticSearch = new GalacticSearch(m_robotLime, m_robotIntake, buildPaths(galacticSearchPaths));
}
@@ -397,7 +312,6 @@ public class RobotContainer {
// Run path following command, then stop at the end.
try {
SmartDashboard.putNumber("Trajectory Total Time", m_totalTimeAuto);
//return m_sixBallAutoMiddle.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0));
//return m_sixBallAutoMiddle1.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0));
//return m_eightBallAutoMiddle.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0));