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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/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
);