Team4388/RiseOfRidgebotics2020
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This commit is contained in:
Aarav Shah
2021-04-03 14:11:05 -06:00
parent 573682bc31
commit 535f92725e
32 changed files with 98 additions and 65 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+9 -4
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@@ -55,6 +55,8 @@ import frc4388.robot.commands.shooter.CalibrateShooter;
import frc4388.robot.commands.shooter.ShootPrepGroup;
import frc4388.robot.commands.shooter.TrackTarget;
import frc4388.robot.commands.shooter.TrimShooter;
import frc4388.robot.commands.storage.ManageStorage;
import frc4388.robot.commands.storage.ManageStorage.StorageMode;
import frc4388.robot.subsystems.Camera;
import frc4388.robot.subsystems.Climber;
import frc4388.robot.subsystems.Drive;
@@ -173,8 +175,8 @@ public class RobotContainer {
// continually sends updates to the Blinkin LED controller to keep the lights on
m_robotLED.setDefaultCommand(new RunCommand(() -> m_robotLED.updateLED(), m_robotLED));
// runs the storage not
m_robotStorage.setDefaultCommand(new RunCommand(() -> m_robotStorage.runStorage(0), m_robotStorage));
//m_robotStorage.setDefaultCommand(new ManageStorage(m_robotStorage, StorageMode.IDLE));
//m_robotStorage.setDefaultCommand(new RunCommand(() -> m_robotStorage.runStorage(0), m_robotStorage));
m_robotStorage.setDefaultCommand(new ManageStorage(m_robotStorage, StorageMode.IDLE));
//m_robotLime.setDefaultCommand(new RunCommand(() -> m_robotLime.limeOff(), m_robotLime));
}
@@ -294,10 +296,14 @@ public class RobotContainer {
"GSC_BRED",
"GSC_BBLUE"
};
m_robotLime.identifyPath();
idenPath();
m_galacticSearch = new GalacticSearch(m_robotLime, m_robotIntake, buildPaths(galacticSearchPaths));
}
public void idenPath()
{
m_robotLime.identifyPath();
}
/**
* Use this to pass the autonomous command to the main {@link Robot} class.
*
@@ -308,7 +314,6 @@ public class RobotContainer {
//TrajectoryConfig config = getTrajectoryConfig();
//Trajectory trajectory = getTrajectory(config);
//RamseteCommand ramseteCommand = getRamseteCommand(trajectory);
// Run path following command, then stop at the end.
try {
SmartDashboard.putNumber("Trajectory Total Time", m_totalTimeAuto);