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6 Ball Auto Path with Intake WORKING

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This commit is contained in:
ryan123rudder
2021-02-05 15:20:45 -07:00
parent 26b56c8c21
commit 0b8ecf39f8
2 changed files with 7 additions and 5 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+4 -2
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@@ -28,6 +28,8 @@ import edu.wpi.first.wpilibj.trajectory.TrajectoryGenerator;
import edu.wpi.first.wpilibj.trajectory.TrajectoryUtil;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.InstantCommand;
import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
import edu.wpi.first.wpilibj2.command.ParallelRaceGroup;
import edu.wpi.first.wpilibj2.command.RamseteCommand;
import edu.wpi.first.wpilibj2.command.RunCommand;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
@@ -350,14 +352,14 @@ public class RobotContainer {
try {
SmartDashboard.putNumber("Trajectory Total Time", m_totalTimeAuto);
return m_sixBallAutoMiddle.andThen(m_sixBallAuto1);
//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_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 new ParallelRaceGroup(m_sixBallAutoMiddle, new RunIntake(m_robotIntake));
} catch (Exception e) {
System.err.println("ERROR");
}
src/main/java/frc4388/robot/commands/auto/SixBallAutoMiddle.java
+3 -3
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@@ -12,9 +12,11 @@ import java.nio.file.Path;
import edu.wpi.first.wpilibj.Filesystem;
import edu.wpi.first.wpilibj.trajectory.Trajectory;
import edu.wpi.first.wpilibj.trajectory.TrajectoryUtil;
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.Constants.IntakeConstants;
import frc4388.robot.commands.intake.RunIntake;
import frc4388.robot.subsystems.Drive;
import frc4388.robot.subsystems.Intake;
@@ -32,9 +34,7 @@ public class SixBallAutoMiddle extends SequentialCommandGroup {
Intake m_intake = new Intake();
addCommands(
paths[0],
new RunIntake(m_intake)//,
//paths[1]
paths[0]
);
}
}