Team4388/RiseOfRidgebotics2020
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Made two barrel paths

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One with many waypoints, and one with only a few. The one with a lot didnt work very well. A jerking motion happens right before making the second loop, almost always
This commit is contained in:
Aarav Shah
2021-02-16 17:54:28 -07:00
parent c5eb514923
commit 120efd3302
6 changed files with 79 additions and 20 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+9 -1
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@@ -44,6 +44,7 @@ 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.BarrelMany;
import frc4388.robot.commands.auto.Wait;
import frc4388.robot.commands.climber.DisengageRachet;
import frc4388.robot.commands.climber.RunClimberWithTriggers;
@@ -125,6 +126,7 @@ public class RobotContainer {
Barrel m_barrel;
BarrelMany m_barrelMany;
/**
* The container for the robot. Contains subsystems, OI devices, and commands.
@@ -294,6 +296,12 @@ public class RobotContainer {
m_barrel = new Barrel(m_robotDrive, buildPaths(barrel));
String[] barrelMany = new String[]{
"BarrelManyWaypoints"
};
m_barrelMany = new BarrelMany(m_robotDrive, buildPaths(barrelMany));
String[] eightBallAutoMiddlePaths = new String[]{
"EightBallMidComplete"
};
@@ -348,7 +356,7 @@ public class RobotContainer {
//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));
//return m_barrelMany.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0));
} catch (Exception e) {
System.err.println("ERROR");
}