From 18021fbdeb88c2af12e939f292601c67c0fcb0bf Mon Sep 17 00:00:00 2001 From: Aarav Shah Date: Wed, 11 Mar 2020 19:41:56 -0600 Subject: [PATCH] finished 5 ball --- PathWeaver/Paths/FiveBallMidComplete | 4 ++-- src/main/deploy/paths/FiveBallMidComplete.wpilib.json | 2 +- src/main/java/frc4388/robot/Robot.java | 2 ++ src/main/java/frc4388/robot/RobotContainer.java | 8 ++++++-- .../frc4388/robot/commands/auto/FiveBallAutoMiddle.java | 2 +- 5 files changed, 12 insertions(+), 6 deletions(-) diff --git a/PathWeaver/Paths/FiveBallMidComplete b/PathWeaver/Paths/FiveBallMidComplete index 6783265..b325387 100644 --- a/PathWeaver/Paths/FiveBallMidComplete +++ b/PathWeaver/Paths/FiveBallMidComplete @@ -1,5 +1,5 @@ X,Y,Tangent X,Tangent Y,Fixed Theta,Name 3.2,-2.3,0.5,0.0,true, 5.910341889267586,-1.8695488554289974,0.2974456214546777,-0.16656954801461854,true, -6.374357058736883,-2.3097683751819202,-0.09518259886549707,-0.16656954801461987,true, 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\ No newline at end of file diff --git a/src/main/java/frc4388/robot/Robot.java b/src/main/java/frc4388/robot/Robot.java index 084e7b8..4504f62 100644 --- a/src/main/java/frc4388/robot/Robot.java +++ b/src/main/java/frc4388/robot/Robot.java @@ -82,6 +82,8 @@ public class Robot extends TimedRobot { m_robotContainer.setDriveNeutralMode(NeutralMode.Brake); m_robotContainer.setDriveGearState(true); m_robotContainer.resetOdometry(new Pose2d()); + m_robotContainer.resetGyroYawRobotContainer(0); + //m_robotContainer.configDriveTrainSensors(FeedbackDevice.IntegratedSensor); /* diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index 771b2f1..b7db8a8 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -325,8 +325,8 @@ public class RobotContainer { //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 m_fiveBallAutoMiddle.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0)); + //return m_tenBallAutoMiddle.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0)); } catch (Exception e) { System.err.println("ERROR"); @@ -438,6 +438,10 @@ public class RobotContainer { m_robotDrive.setOdometry(pose); } + public void resetGyroYawRobotContainer(double angle) { + m_robotDrive.resetGyroYaw(angle); + } + /** * Used for analog inputs like triggers and axises. * @return IHandController interface for the Driver Controller. diff --git a/src/main/java/frc4388/robot/commands/auto/FiveBallAutoMiddle.java b/src/main/java/frc4388/robot/commands/auto/FiveBallAutoMiddle.java index bce3980..9a655de 100644 --- a/src/main/java/frc4388/robot/commands/auto/FiveBallAutoMiddle.java +++ b/src/main/java/frc4388/robot/commands/auto/FiveBallAutoMiddle.java @@ -22,7 +22,7 @@ public class FiveBallAutoMiddle extends SequentialCommandGroup { // Use addRequirements() here to declare subsystem dependencies. addCommands( paths[0], - new TankDriveVelocity(drive, -3.1, -0.3, 0.97) + new TankDriveVelocity(drive, -3.2, -0.2, 0.8) ); } }