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added new command group

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This commit is contained in:
Kyra
2020-02-21 20:15:55 -07:00
parent 9f1aff6c8d
commit 0d50221dc6
2 changed files with 17 additions and 1 deletions
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src/main/java/frc4388/robot/Constants.java
+2
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@@ -19,6 +19,8 @@ import frc4388.utility.LEDPatterns;
* constants are needed, to reduce verbosity.
*/
public final class Constants {
public static final int SELECTED_AUTO = 1;
public static final class DriveConstants {
/* Drive Train IDs */
public static final int DRIVE_LEFT_FRONT_CAN_ID = 2;
src/main/java/frc4388/robot/RobotContainer.java
+15 -1
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@@ -13,7 +13,6 @@ import com.ctre.phoenix.motorcontrol.FeedbackDevice;
import com.ctre.phoenix.motorcontrol.NeutralMode;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.command.WaitCommand;
import edu.wpi.first.wpilibj.controller.RamseteController;
import edu.wpi.first.wpilibj.geometry.Pose2d;
import edu.wpi.first.wpilibj.geometry.Rotation2d;
@@ -24,8 +23,10 @@ import edu.wpi.first.wpilibj.trajectory.TrajectoryConfig;
import edu.wpi.first.wpilibj.trajectory.TrajectoryGenerator;
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.RamseteCommand;
import edu.wpi.first.wpilibj2.command.RunCommand;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
import edu.wpi.first.wpilibj2.command.button.JoystickButton;
import frc4388.robot.Constants.*;
@@ -235,6 +236,19 @@ public class RobotContainer {
// Run path following command, then stop at the end.
return ramseteCommand.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0));*/
if (Constants.SELECTED_AUTO == 0) {
return new InstantCommand();
}
else if (Constants.SELECTED_AUTO == 1) {
return new SequentialCommandGroup( new Wait(5, m_robotDrive),
new TurnDegrees(45, m_robotDrive),
new ParallelCommandGroup(
new InstantCommand(() -> m_robotDrive.setShiftState(false), m_robotDrive),
new TurnDegrees(315, m_robotDrive)
)
);
}
return new InstantCommand();
}