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barrelStart works

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This commit is contained in:
Aarav Shah
2021-03-12 14:51:05 -07:00
parent fd6ea36e7e
commit 33f96aa252
4 changed files with 59 additions and 5 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+16 -2
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@@ -41,11 +41,13 @@ import frc4388.robot.commands.auto.FiveBallAutoMiddle;
import frc4388.robot.commands.auto.SequentialTest;
import frc4388.robot.commands.auto.SixBallAutoMiddle;
import frc4388.robot.commands.auto.Slalom;
import frc4388.robot.commands.auto.TankDriveVelocity;
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.BarrelStart;
import frc4388.robot.commands.auto.Bounce;
import frc4388.robot.commands.auto.Wait;
import frc4388.robot.commands.climber.DisengageRachet;
@@ -132,6 +134,8 @@ public class RobotContainer {
Barrel m_barrel;
BarrelStart m_barrelStart;
BarrelMany m_barrelMany;
Bounce m_bounce;
@@ -317,6 +321,12 @@ public class RobotContainer {
};
m_barrel = new Barrel(m_robotDrive, buildPaths(barrel));
String[] barrelStart = new String[]{
"BarrelStart"
};
m_barrelStart = new BarrelStart(m_robotDrive, buildPaths(barrelStart));
String[] bounce = new String[]{
"Bounce"
@@ -391,8 +401,12 @@ public class RobotContainer {
//return m_fiveBallAutoMiddle.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0));
//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_barrelStart.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0));
//return new SequentialCommandGroup(m_driveOffLineForward,
// new InstantCommand(() -> resetOdometry(new Pose2d())),
// new TankDriveVelocity(m_robotDrive, 1000, 1000, 1));
//return m_barrel.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0));
return m_barrelStart.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0));
//return new SequentialCommandGroup(new TankDriveVelocity(m_robotDrive, 1000, 1000, 3), new TankDriveVelocity(m_robotDrive, 3000, 3000, 1));
//return m_sequentialTest.andThen(() -> m_robotDrive.tankDriveVelocity(0,0));
src/main/java/frc4388/robot/commands/auto/BarrelStart.java
+29
View File
@@ -0,0 +1,29 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
package frc4388.robot.commands.auto;
import edu.wpi.first.wpilibj2.command.RamseteCommand;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
import frc4388.robot.RobotContainer;
import frc4388.robot.subsystems.Drive;
// 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 BarrelStart extends SequentialCommandGroup {
/**
* Creates a new BarrelStart.
*/
public BarrelStart(Drive drive, RamseteCommand[] paths) {
// Add your commands in the super() call, e.g.
// super(new FooCommand(), new BarCommand());
addCommands(
paths[0]
);
}
}