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Added a reset odometry in between sequential commands

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This commit is contained in:
ryan123rudder
2021-02-09 17:55:35 -07:00
parent 554465489e
commit 12b6f19be4
2 changed files with 15 additions and 12 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+14 -12
View File
@@ -281,7 +281,6 @@ public class RobotContainer {
}
public void buildAutos() {
System.out.println("BUILDING AUTOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOOS");
String[] sixBallAutoMiddlePaths = new String[]{
"SixBallMidComplete"
};
@@ -353,19 +352,22 @@ public class RobotContainer {
SmartDashboard.putNumber("Trajectory Total Time", m_totalTimeAuto);
//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 SequentialCommandGroup(
// 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 SequentialCommandGroup(
m_sixBallAuto0,
new InstantCommand(() -> resetOdometry(new Pose2d())),
//new Wait(m_robotDrive, 0.5, 0),
m_sixBallAuto1
/**new ParallelRaceGroup(
m_sixBallAuto0,
new RunIntake(m_robotIntake)
)**/); //ParallelRaceGroup(m_sixBallAuto0, new RunIntake(m_robotIntake));
// /**new ParallelRaceGroup(
// m_sixBallAuto0,
// new RunIntake(m_robotIntake)
// )**/); //ParallelRaceGroup(m_sixBallAuto0, new RunIntake(m_robotIntake));
);
} catch (Exception e) {
System.err.println("ERROR");
}
src/main/java/frc4388/robot/commands/auto/Wait.java
+1
View File
@@ -8,6 +8,7 @@
package frc4388.robot.commands.auto;
import edu.wpi.first.wpilibj2.command.CommandBase;
import edu.wpi.first.wpilibj2.command.Subsystem;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
public class Wait extends CommandBase {