Team4388/RiseOfRidgebotics2020
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Added comp paths

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This commit is contained in:
Aarav Shah
2021-02-11 17:51:01 -07:00
parent 52433156e8
commit 060086c6bb
9 changed files with 120 additions and 4 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+23 -2
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@@ -39,9 +39,11 @@ import frc4388.robot.commands.auto.DriveOffLineForward;
import frc4388.robot.commands.auto.EightBallAutoMiddle;
import frc4388.robot.commands.auto.FiveBallAutoMiddle;
import frc4388.robot.commands.auto.SixBallAutoMiddle;
import frc4388.robot.commands.auto.Slalom;
import frc4388.robot.commands.auto.TenBallAutoMiddle;
import frc4388.robot.commands.InterruptSubystem;
import frc4388.robot.commands.auto.AutoPath1FromCenter;
import frc4388.robot.commands.auto.Barrel;
import frc4388.robot.commands.auto.Wait;
import frc4388.robot.commands.climber.DisengageRachet;
import frc4388.robot.commands.climber.RunClimberWithTriggers;
@@ -119,6 +121,10 @@ public class RobotContainer {
TenBallAutoMiddle m_tenBallAutoMiddle;
Slalom m_slalom;
Barrel m_barrel;
/**
* The container for the robot. Contains subsystems, OI devices, and commands.
@@ -177,7 +183,7 @@ public class RobotContainer {
// B driver test button
new JoystickButton(getDriverJoystick(), XboxController.B_BUTTON)
.whenPressed(new TurnDegrees(m_robotDrive, m_robotDrive.m_currentAngleYaw + 5));
.whenPressed(new TurnDegrees(m_robotDrive, 45));
// Y driver test button
new JoystickButton(getDriverJoystick(), XboxController.Y_BUTTON)
.whenPressed(new Wait(m_robotDrive, 0, 0));
@@ -276,6 +282,18 @@ public class RobotContainer {
m_sixBallAutoMiddle = new SixBallAutoMiddle(m_robotDrive, buildPaths(sixBallAutoMiddlePaths));
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[] eightBallAutoMiddlePaths = new String[]{
"EightBallMidComplete"
};
@@ -324,10 +342,12 @@ public class RobotContainer {
//return m_sixBallAutoMiddle.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_barrel.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0));
} catch (Exception e) {
System.err.println("ERROR");
@@ -454,6 +474,7 @@ public class RobotContainer {
return m_driverXbox;
}
/**
* Used for analog inputs like triggers and axises.
* @return The IHandController interface for the Operator Controller.