Team4388/RiseOfRidgebotics2020
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Odometry Working haha

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This commit is contained in:
Aarav Shah
2020-03-06 18:46:45 -07:00
parent b3558887cc
commit 3c0b92a4ac
6 changed files with 57 additions and 31 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+7 -9
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@@ -228,20 +228,20 @@ public class RobotContainer {
Trajectory trajectory = getTrajectory(config);
RamseteCommand ramseteCommand = getRamseteCommand(trajectory);
// Run path following command, then stop at the end.
//return ramseteCommand.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0));
return ramseteCommand.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0));
//return new AutoPath1FromCenter(m_robotDrive, m_robotPneumatics);
//return new AutoPath2FromRight(m_robotDrive, m_robotPneumatics);
if (Constants.SELECTED_AUTO == 1) {
/*if (Constants.SELECTED_AUTO == 1) {
return new SequentialCommandGroup(new Wait(m_robotDrive, 5, 0),
new TurnDegrees(m_robotDrive, 45),
new InstantCommand(() -> m_robotPneumatics.setShiftState(false), m_robotDrive),
new TurnDegrees(m_robotDrive, 315)
);
}
}*/
return new InstantCommand();
//return new InstantCommand();
}
TrajectoryConfig getTrajectoryConfig() {
return new TrajectoryConfig(
@@ -257,14 +257,12 @@ 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(10, 0)
new Translation2d(0, 50)
),
// End 3 meters straight ahead of where we started, facing forward
new Pose2d(20, 20, new Rotation2d(0)),
new Pose2d(50, 50, new Rotation2d(0)),
// Pass config
config);
// 10 = 20, 20 = 35, 30 = 53.5
// (0,10) = (8,22)
return exampleTrajectory;
}