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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/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]
);
}