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Merge branch 'auto-programming' of https://github.com/Team4388/RiseOfRidgebotics2020 into auto-programming

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This commit is contained in:
Aarav Shah
2020-03-11 17:57:35 -06:00
parent 9f4d0d47a0 2a3ee216ae
commit 60fd4a6e79
2 changed files with 39 additions and 1 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+11 -1
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@@ -39,6 +39,7 @@ import frc4388.robot.commands.auto.DriveOffLineForward;
import frc4388.robot.commands.auto.EightBallAutoMiddle;
import frc4388.robot.commands.auto.FiveBallAutoMiddle;
import frc4388.robot.commands.auto.SixBallAutoMiddle;
import frc4388.robot.commands.auto.TenBallAutoMiddle;
import frc4388.robot.commands.InterruptSubystem;
import frc4388.robot.commands.auto.AutoPath1FromCenter;
import frc4388.robot.commands.auto.Wait;
@@ -115,6 +116,8 @@ public class RobotContainer {
FiveBallAutoMiddle m_fiveBallAutoMiddle;
TenBallAutoMiddle m_tenBallAutoMiddle;
/**
* The container for the robot. Contains subsystems, OI devices, and commands.
@@ -295,6 +298,12 @@ public class RobotContainer {
};
m_fiveBallAutoMiddle = new FiveBallAutoMiddle(m_robotDrive, buildPaths(fiveBallAutoMiddlePaths));
String[] tenBallAutoMiddlePaths = new String[]{
"TenBallMidComplete"
};
m_tenBallAutoMiddle = new TenBallAutoMiddle(m_robotDrive, buildPaths(tenBallAutoMiddlePaths));
}
/**
@@ -316,7 +325,8 @@ public class RobotContainer {
//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) {
System.err.println("ERROR");
src/main/java/frc4388/robot/commands/auto/TenBallAutoMiddle.java
+28
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@@ -0,0 +1,28 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
package frc4388.robot.commands.auto;
import edu.wpi.first.wpilibj2.command.RamseteCommand;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
import frc4388.robot.subsystems.Drive;
// NOTE: Consider using this command inline, rather than writing a subclass. For more
// information, see:
// https://docs.wpilib.org/en/latest/docs/software/commandbased/convenience-features.html
public class TenBallAutoMiddle extends SequentialCommandGroup {
/**
* Creates a new TenBallAutoMiddle.
*/
public TenBallAutoMiddle(Drive drive, RamseteCommand[] paths) {
// Add your commands in the super() call, e.g.
// super(new FooCommand(), new BarCommand());
addCommands(
paths[0]
);
}
}