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Bounce testijg

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This commit is contained in:
Aarav Shah
2021-03-27 16:20:46 -06:00
parent 4de7754881
commit 05f8eb14b1
6 changed files with 14 additions and 9 deletions
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src/main/deploy/paths/Bounce1.wpilib.json
+1 -1
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File diff suppressed because one or more lines are too long
src/main/java/frc4388/robot/RobotContainer.java
+4 -4
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@@ -353,7 +353,7 @@ public class RobotContainer {
"DriveOffLineForward"
};
m_driveOffLineForward = new DriveOffLineForward(m_robotDrive, buildPaths(driveOffLineForwardPaths));
m_driveOffLineForward = new DriveOffLineForward(m_robotDrive, this, buildPaths(driveOffLineForwardPaths));
String[] driveOffLineBackwardPaths = new String[]{
"DriveOffLineBackward"
@@ -399,13 +399,13 @@ public class RobotContainer {
//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));
//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));
return m_slalom.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0));
//return m_slalom.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0));
//return m_barrelStart.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0));
//return m_bounce.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0));
} catch (Exception e) {
System.err.println("ERROR");
}
src/main/java/frc4388/robot/commands/auto/DriveOffLineForward.java
+6 -1
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@@ -7,8 +7,11 @@
package frc4388.robot.commands.auto;
import edu.wpi.first.wpilibj.geometry.Pose2d;
import edu.wpi.first.wpilibj2.command.InstantCommand;
import edu.wpi.first.wpilibj2.command.RamseteCommand;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
import frc4388.robot.RobotContainer;
import frc4388.robot.subsystems.Drive;
// NOTE: Consider using this command inline, rather than writing a subclass. For more
@@ -18,11 +21,13 @@ public class DriveOffLineForward extends SequentialCommandGroup {
/**
* Creates a new DriveOffLineForward.
*/
public DriveOffLineForward(Drive drive, RamseteCommand[] paths) {
public DriveOffLineForward(Drive drive, RobotContainer robotContainer, RamseteCommand[] paths) {
// Add your commands in the super() call, e.g.
// super(new FooCommand(), new BarCommand());
addCommands(
new InstantCommand(() -> drive.switchReversed(true)),
new InstantCommand(() -> robotContainer.resetOdometry(new Pose2d())),
paths[0]
);
}
src/main/java/frc4388/robot/subsystems/Drive.java
+1 -1
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@@ -338,7 +338,7 @@ public class Drive extends SubsystemBase {
public void updateOdometry(boolean reversed){
if (reversed){
m_odometry.update(Rotation2d.fromDegrees( getHeading() - 180),
m_odometry.update(Rotation2d.fromDegrees( getHeading()),
-inchesToMeters(getDistanceInches(m_rightFrontMotor)),
inchesToMeters(getDistanceInches(m_leftFrontMotor)));
}