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Fixed Waiting Time

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Co-Authored-By: Keenan D. Buckley <hfocus@users.noreply.github.com>
This commit is contained in:
Aarav Shah
2020-03-07 13:41:33 -07:00
parent 05c0ef4047
commit 51a8de1045
3 changed files with 23 additions and 13 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+15 -9
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@@ -90,6 +90,9 @@ public class RobotContainer {
private final XboxController m_driverXbox = new XboxController(OIConstants.XBOX_DRIVER_ID);
private final XboxController m_operatorXbox = new XboxController(OIConstants.XBOX_OPERATOR_ID);
/* Autos */
SixBallAutoMiddle m_sixBallAutoMiddle;
/**
* The container for the robot. Contains subsystems, OI devices, and commands.
@@ -107,6 +110,9 @@ public class RobotContainer {
configureButtonBindings();
/* Builds Autos */
buildAutos();
/* Default Commands */
// drives the robot with a two-axis input from the driver controller
@@ -232,6 +238,14 @@ public class RobotContainer {
.whenReleased(new InstantCommand(() -> m_robotLime.limeOff()));
}
public void buildAutos() {
String[] sixBallAutoMiddlePaths = new String[]{
"FirstPath0",
"FirstPath1"
};
m_sixBallAutoMiddle = new SixBallAutoMiddle(m_robotDrive, buildPaths(sixBallAutoMiddlePaths));
}
/**
* Use this to pass the autonomous command to the main {@link Robot} class.
*
@@ -242,17 +256,9 @@ public class RobotContainer {
TrajectoryConfig config = getTrajectoryConfig();
//Trajectory trajectory = getTrajectory(config);
String trajectoryJSON0 = "paths/FirstPath0.wpilib.json";
String trajectoryJSON1 = "paths/FirstPath1.wpilib.json";
String[] sixBallAutoMiddlePaths = new String[]{
"FirstPath0",
"FirstPath1"
};
// Run path following command, then stop at the end.
//SequentialCommandGroup ramseteCommands = new SequentialCommandGroup(ramseteCommand0, ramseteCommand1);
return new SixBallAutoMiddle(buildPaths(sixBallAutoMiddlePaths)).andThen(() -> m_robotDrive.tankDriveVelocity(0, 0));
return m_sixBallAutoMiddle.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0));
//return new AutoPath1FromCenter(m_robotDrive, m_robotPneumatics);
//return new AutoPath2FromRight(m_robotDrive, m_robotPneumatics);