Team4388/RiseOfRidgebotics2020
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fixed reimporting paths problem

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This commit is contained in:
Aarav Shah
2020-03-11 20:52:52 -06:00
parent 18021fbdeb
commit 3ec37422c6
4 changed files with 17 additions and 10 deletions
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src/main/java/frc4388/robot/Robot.java
+4 -1
View File
@@ -64,6 +64,8 @@ public class Robot extends TimedRobot {
@Override
public void disabledInit() {
m_robotContainer.setDriveNeutralMode(NeutralMode.Coast);
/* Builds Autos */
m_robotContainer.buildAutos();
SmartDashboard.putString("Is Auto Start?", "NAH");
}
@@ -82,7 +84,8 @@ public class Robot extends TimedRobot {
m_robotContainer.setDriveNeutralMode(NeutralMode.Brake);
m_robotContainer.setDriveGearState(true);
m_robotContainer.resetOdometry(new Pose2d());
m_robotContainer.resetGyroYawRobotContainer(0);
//m_robotContainer.resetGyroYawRobotContainer(0);
//m_robotContainer.configDriveTrainSensors(FeedbackDevice.IntegratedSensor);
src/main/java/frc4388/robot/RobotContainer.java
+6 -3
View File
@@ -136,7 +136,7 @@ public class RobotContainer {
configureButtonBindings();
/* Builds Autos */
buildAutos();
//buildAutos();
/* Default Commands */
// drives the robot with a two-axis input from the driver controller
@@ -321,11 +321,11 @@ public class RobotContainer {
try {
SmartDashboard.putNumber("Trajectory Total Time", m_totalTimeAuto);
//return m_sixBallAutoMiddle.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0));
return m_sixBallAutoMiddle.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0));
//return m_eightBallAutoMiddle.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0));
//return m_driveOffLineForward.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0));
//return m_driveOffLineBackward.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0));
return m_fiveBallAutoMiddle.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0));
//return m_fiveBallAutoMiddle.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0));
//return m_tenBallAutoMiddle.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0));
} catch (Exception e) {
@@ -380,6 +380,9 @@ public class RobotContainer {
String path = paths[0];
String trajectoryJSON = "paths/" + path + ".wpilib.json";
Path trajectoryPath = Filesystem.getDeployDirectory().toPath().resolve(trajectoryJSON);
SmartDashboard.putString("trajectoryPath Initial", trajectoryPath.toString());
Trajectory trajectory = TrajectoryUtil.fromPathweaverJson(trajectoryPath);
initialTrajectory = trajectory;