Team4388/RiseOfRidgebotics2020
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FIXED AUTO and anded figureEightpath

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This commit is contained in:
ryan123rudder
2021-02-05 12:29:07 -07:00
parent 9eb5663b73
commit 0593a8595c
7 changed files with 52 additions and 5 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+12 -1
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@@ -37,6 +37,7 @@ import frc4388.robot.Constants.OIConstants;
import frc4388.robot.commands.auto.DriveOffLineBackward;
import frc4388.robot.commands.auto.DriveOffLineForward;
import frc4388.robot.commands.auto.EightBallAutoMiddle;
import frc4388.robot.commands.auto.FigureEight;
import frc4388.robot.commands.auto.FiveBallAutoMiddle;
import frc4388.robot.commands.auto.SixBallAutoMiddle;
import frc4388.robot.commands.auto.TenBallAutoMiddle;
@@ -109,6 +110,8 @@ public class RobotContainer {
SixBallAutoMiddle m_sixBallAutoMiddle;
FigureEight m_figureEight;
EightBallAutoMiddle m_eightBallAutoMiddle;
DriveOffLineForward m_driveOffLineForward;
@@ -270,12 +273,19 @@ public class RobotContainer {
}
public void buildAutos() {
System.out.println("BUILDING AUTOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOS");
String[] sixBallAutoMiddlePaths = new String[]{
"SixBallMidComplete"
};
m_sixBallAutoMiddle = new SixBallAutoMiddle(m_robotDrive, buildPaths(sixBallAutoMiddlePaths));
String[] figureEight = new String[]{
"FigureEight"
};
m_figureEight = new FigureEight(m_robotDrive, buildPaths(figureEight));
String[] eightBallAutoMiddlePaths = new String[]{
"EightBallMidComplete"
};
@@ -323,8 +333,9 @@ public class RobotContainer {
SmartDashboard.putNumber("Trajectory Total Time", m_totalTimeAuto);
//return m_sixBallAutoMiddle.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0));
return m_figureEight.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0));
//return m_eightBallAutoMiddle.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0));
return m_driveOffLineForward.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0));
//return m_driveOffLineForward.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0));
//return m_driveOffLineBackward.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0));
//return m_fiveBallAutoMiddle.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0));
//return m_tenBallAutoMiddle.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0));