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Fix Ramsete

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This commit is contained in:
Keenan D. Buckley
2020-03-07 09:10:29 -07:00
parent 8f08a14e5c
commit 3bbd00e0f6
3 changed files with 35 additions and 23 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+9 -3
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@@ -134,7 +134,7 @@ public class RobotContainer {
/* Test Buttons */
// A driver test button
new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON)
.whenPressed(new DriveStraightToPositionMM(m_robotDrive, m_robotPneumatics, 24.0));
.whileHeld(new InstantCommand(() -> m_robotDrive.tankDriveVelocity(1, -1), m_robotDrive));
// B driver test button
new JoystickButton(getDriverJoystick(), XboxController.B_BUTTON)
@@ -265,10 +265,16 @@ public class RobotContainer {
new Pose2d(0, 0, new Rotation2d(0)),
// Pass through these two interior waypoints, making an 's' curve path
List.of(
new Translation2d(0, 50)
new Translation2d(1, -1),
new Translation2d(2, 0.0),
new Translation2d(1, 1),
new Translation2d(0, 0),
new Translation2d(1, -1),
new Translation2d(2, 0.0),
new Translation2d(1, 1)
),
// End 3 meters straight ahead of where we started, facing forward
new Pose2d(50, 50, new Rotation2d(0)),
new Pose2d(0, 0, new Rotation2d(0)),
// Pass config
config);
return exampleTrajectory;