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Finished all PIDs in high gear and added pneumatics subsystem literally everywhere

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This commit is contained in:
Aarav Shah
2020-03-01 13:48:18 -07:00
parent 92df6a3d5f
commit 21a7c5517a
6 changed files with 33 additions and 21 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+2 -2
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@@ -191,8 +191,8 @@ public class RobotContainer {
RamseteCommand ramseteCommand = getRamseteCommand(trajectory);
// Run path following command, then stop at the end.
//return ramseteCommand.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0));
return new AutoPath1FromCenter(m_robotDrive);
//return new AutoPath2FromRight(m_robotDrive);
return new AutoPath1FromCenter(m_robotDrive, m_robotPneumatics);
//return new AutoPath2FromRight(m_robotDrive, m_robotPneumatics);
}
TrajectoryConfig getTrajectoryConfig() {
src/main/java/frc4388/robot/commands/AutoPath1FromCenter.java
+10 -7
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@@ -9,32 +9,35 @@ package frc4388.robot.commands;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
import frc4388.robot.subsystems.Drive;
import frc4388.robot.subsystems.Pneumatics;
// NOTE: Consider using this command inline, rather than writing a subclass. For more
// information, see:
// https://docs.wpilib.org/en/latest/docs/software/commandbased/convenience-features.html
public class AutoPath1FromCenter extends SequentialCommandGroup {
Drive m_drive;
Pneumatics m_pneumatics;
/**
* Creates a new AutoPath1FromCenter.
*/
public AutoPath1FromCenter(Drive subsystem) {
public AutoPath1FromCenter(Drive subsystem, Pneumatics subsystem2) {
// Add your commands in the super() call, e.g.
// super(new FooCommand(), new BarCommand());
m_drive = subsystem;
m_pneumatics = subsystem2;
addCommands( new Wait(m_drive, 0, 1),
//shoot pre-loaded 3 balls
new GotoCoordinates(m_drive, 75, 44, -90),
new GotoCoordinates(m_drive, m_pneumatics, 75, 44, -90),
//Start Intake Ball 1
new GotoCoordinates(m_drive, 0, 12),
new GotoCoordinates(m_drive, 0, 28),
new GotoCoordinates(m_drive, m_pneumatics, 0, 12),
new GotoCoordinates(m_drive, m_pneumatics, 0, 28),
//Start Intake Ball 2
new GotoCoordinates(m_drive, 0, 8),
new GotoCoordinates(m_drive, 0, 28),
new GotoCoordinates(m_drive, m_pneumatics, 0, 8),
new GotoCoordinates(m_drive, m_pneumatics, 0, 28),
//Start Intake Ball 3
new GotoCoordinates(m_drive, 0, 8),
new GotoCoordinates(m_drive, m_pneumatics, 0, 8),
new Wait(m_drive, 0, 2)
//Shoot 3 Balls
);
src/main/java/frc4388/robot/commands/AutoPath2FromRight.java
+11 -8
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@@ -9,34 +9,37 @@ package frc4388.robot.commands;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
import frc4388.robot.subsystems.Drive;
import frc4388.robot.subsystems.Pneumatics;
// NOTE: Consider using this command inline, rather than writing a subclass. For more
// information, see:
// https://docs.wpilib.org/en/latest/docs/software/commandbased/convenience-features.html
public class AutoPath2FromRight extends SequentialCommandGroup {
Drive m_drive;
Pneumatics m_pneumatics;
/**
* Creates a new AutoPath2FromRight.
*/
public AutoPath2FromRight(Drive subsystem) {
public AutoPath2FromRight(Drive subsystem, Pneumatics subsystem2) {
// Add your commands in the super() call, e.g.
// super(new FooCommand(), new BarCommand());
m_drive = subsystem;
m_pneumatics = subsystem2;
addCommands( new Wait(m_drive, 0, 1),
new GotoCoordinates(m_drive, 0, 77),
new GotoCoordinates(m_drive, m_pneumatics, 0, 77),
//Start Intake Ball 1
new GotoCoordinates(m_drive, 0, 8),
new GotoCoordinates(m_drive, 0, 28),
new GotoCoordinates(m_drive, m_pneumatics, 0, 8),
new GotoCoordinates(m_drive, m_pneumatics, 0, 28),
//Start Intake Ball 2
new GotoCoordinates(m_drive, 0, 8),
new GotoCoordinates(m_drive, m_pneumatics, 0, 8),
//Shoot 5 Balls
new GotoCoordinates(m_drive, 0, 28),
new GotoCoordinates(m_drive, m_pneumatics, 0, 28),
//Start Intake Ball 1 (second round)
new GotoCoordinates(m_drive, 0, 8),
new GotoCoordinates(m_drive, m_pneumatics, 0, 8),
//Start Moving to 4th Ball
new GotoCoordinates(m_drive, 60, -50),
new GotoCoordinates(m_drive, m_pneumatics, 60, -50),
new Wait(m_drive, 0, 2)
);
}
src/main/java/frc4388/robot/commands/DriveStraightToPositionMM.java
+1
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@@ -30,6 +30,7 @@ public class DriveStraightToPositionMM extends CommandBase {
public DriveStraightToPositionMM(Drive subsystem, Pneumatics subsystem2, double targetPos) {
// Use addRequirements() here to declare subsystem dependencies.
m_drive = subsystem;
m_pneumatics = subsystem2;
try {
if (m_pneumatics.m_isSpeedShiftHigh) {
m_targetPosIn = targetPos * DriveConstants.TICKS_PER_INCH_HIGH * 2;
src/main/java/frc4388/robot/commands/DriveStraightToPositionPID.java
+1
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@@ -29,6 +29,7 @@ public class DriveStraightToPositionPID extends CommandBase {
public DriveStraightToPositionPID(Drive subsystem, Pneumatics subsystem2, double targetPos) {
// Use addRequirements() here to declare subsystem dependencies.
m_drive = subsystem;
m_pneumatics = subsystem2;
try {
if (m_pneumatics.m_isSpeedShiftHigh) {
m_targetPosIn = targetPos * DriveConstants.TICKS_PER_INCH_HIGH * 2;
src/main/java/frc4388/robot/commands/GotoCoordinates.java
+8 -4
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@@ -10,12 +10,14 @@ package frc4388.robot.commands;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
import frc4388.robot.subsystems.Drive;
import frc4388.robot.subsystems.Pneumatics;
// NOTE: Consider using this command inline, rather than writing a subclass. For more
// information, see:
// https://docs.wpilib.org/en/latest/docs/software/commandbased/convenience-features.html
public class GotoCoordinates extends SequentialCommandGroup {
Drive m_drive;
Pneumatics m_pneumatics;
double m_xTarget;
double m_yTarget;
@@ -26,10 +28,11 @@ public class GotoCoordinates extends SequentialCommandGroup {
/**
* Creates a new GotoPosition.
*/
public GotoCoordinates(Drive subsystem, double xTarget, double yTarget, double endAngle) {
public GotoCoordinates(Drive subsystem, Pneumatics subsystem2, double xTarget, double yTarget, double endAngle) {
// Add your commands in the super() call, e.g.
// super(new FooCommand(), new BarCommand());
m_drive = subsystem;
m_pneumatics = subsystem2;
m_xTarget = xTarget;
m_yTarget = yTarget;
@@ -42,12 +45,13 @@ public class GotoCoordinates extends SequentialCommandGroup {
addCommands( new TurnDegrees(m_drive, m_currentAngle),
new Wait(m_drive, 0, 0),
new DriveStraightToPositionPID(m_drive, m_hypotDist),
new DriveStraightToPositionPID(m_drive, m_pneumatics, m_hypotDist),
new TurnDegrees(m_drive, m_endAngle - m_currentAngle));
}
public GotoCoordinates(Drive subsystem, double xTarget, double yTarget) {
public GotoCoordinates(Drive subsystem, Pneumatics subsystem2, double xTarget, double yTarget) {
m_drive = subsystem;
m_pneumatics = subsystem2;
m_xTarget = xTarget;
m_yTarget = yTarget;
@@ -60,7 +64,7 @@ public class GotoCoordinates extends SequentialCommandGroup {
addCommands( new TurnDegrees(m_drive, m_currentAngle),
new Wait(m_drive, 0, 0),
new DriveStraightToPositionPID(m_drive, m_hypotDist),
new DriveStraightToPositionPID(m_drive, m_pneumatics, m_hypotDist),
new TurnDegrees(m_drive, m_endAngle - m_currentAngle));
}