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added new paths, changed barrel

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This commit is contained in:
Aarav Shah
2021-02-19 17:00:20 -07:00
parent 120efd3302
commit 54fed67767
3 changed files with 34 additions and 15 deletions
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PathWeaver/Paths/Barrel
+14 -12
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@@ -1,13 +1,15 @@
X,Y,Tangent X,Tangent Y,Fixed Theta,Name
1.2831,-2.134,0.7360322102686336,-0.018555433872318616,true,
3.396233460027056,-2.2025005475745667,0.8597351027507569,-0.1484434709785476,true,
4.466263479997423,-3.0374950718288987,0.19173948334729118,-0.9896231398569859,true,
3.625083811118984,-3.693120401984152,-0.9834379952328804,0.35255324357405105,true,
3.433344327771693,-2.6540161051343163,0.8597351027507569,1.0391042968498356,true,
6.63106409843458,-1.8252067255040902,0.9463271274882441,0.9648825613605613,true,
6.148622817754299,-0.9159904657604843,-1.5277307221542218,-0.11751774785801683,true,
5.542478644591896,-1.9983907749790633,0.42058983443921694,-0.9030311151194992,true,
6.971247052760418,-3.501380918636861,1.7689513624943638,-0.7174767763963148,true,
8.344349159311989,-3.0127544933324737,0.012370289248213595,0.834994524254332,true,
7.416577465696062,-2.214870836822779,-1.9606908458416532,-0.09896231398569766,true,
0.7984727179024672,-2.134,-1.0391042968498356,0.0618514462410622,true,
1.1943219738452617,-2.286,1.0,0.0,true,
3.396233460027056,-2.2025005475745667,1.6761741931327716,0.12370289248212352,true,
4.466263479997423,-3.0436802164530046,0.15462861560265395,-1.1071408877150035,true,
3.618898666494878,-3.6374541003671967,-1.2555843586935511,0.21029491721960936,true,
3.4951957740127546,-2.530313212652193,1.2184734909489143,0.8226242350061197,true,
6.105326805385555,-2.208685692198673,1.5215455775301168,0.4824412806802809,true,
6.847544160278296,-1.5035792050505696,0.08040688011338037,0.6679956194034656,true,
6.1362525285060885,-0.8788795980158475,-1.261769503317658,0.012370289248212263,true,
5.4868123429749405,-1.7757255685112412,0.42058983443921694,-0.9030311151194992,true,
6.760952135540809,-3.3405671584101007,1.7689513624943638,-0.7174767763963148,true,
8.096943374347742,-3.3900483154029506,0.6061441731624058,0.4824412806802809,true,
8.053647361978998,-2.4375360432906006,-0.7360322102686343,0.5690333054177668,true,
5.598144946208851,-2.190130258326354,-5.115114604135798,0.06803659086516767,true,
0.266550280229337,-2.060242221220125,-1.0700300199703663,0.0061851446241063535,true,
src/main/deploy/paths/Barrel.wpilib.json
+1 -1
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src/main/java/frc4388/robot/RobotContainer.java
+19 -2
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@@ -112,6 +112,10 @@ public class RobotContainer {
SixBallAutoMiddle m_sixBallAutoMiddle;
SixBallAutoMiddle m_sixBallAutoMiddle0;
SixBallAutoMiddle m_sixBallAutoMiddle1;
EightBallAutoMiddle m_eightBallAutoMiddle;
DriveOffLineForward m_driveOffLineForward;
@@ -166,8 +170,8 @@ 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));
}
@@ -284,6 +288,18 @@ public class RobotContainer {
m_sixBallAutoMiddle = new SixBallAutoMiddle(m_robotDrive, buildPaths(sixBallAutoMiddlePaths));
String[] sixBallAutoMiddle0Paths = new String[]{
"SixBallMid0"
};
m_sixBallAutoMiddle0 = new SixBallAutoMiddle(m_robotDrive, buildPaths(sixBallAutoMiddle0Paths));
String[] sixBallAutoMiddle1Paths = new String[]{
"SixBallMid1"
};
m_sixBallAutoMiddle1 = new SixBallAutoMiddle(m_robotDrive, buildPaths(sixBallAutoMiddle1Paths));
String[] slalom = new String[]{
"Slalom"
};
@@ -349,6 +365,7 @@ public class RobotContainer {
SmartDashboard.putNumber("Trajectory Total Time", m_totalTimeAuto);
//return m_sixBallAutoMiddle.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0));
//return m_sixBallAutoMiddle1.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));