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Sequential Intake

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This commit is contained in:
ryan123rudder
2021-03-31 18:53:42 -06:00
parent 813ab40e96
commit 6593c4cbaf
2 changed files with 8 additions and 6 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+1 -1
View File
@@ -380,7 +380,7 @@ public class RobotContainer {
"bRed", "bRed",
"bBlue" "bBlue"
}; };
m_galacticSearch = new GalacticSearch(m_robotLime, buildPaths(galacticSearchPaths)); m_galacticSearch = new GalacticSearch(m_robotLime, m_robotIntake, buildPaths(galacticSearchPaths));
} }
/** /**
src/main/java/frc4388/robot/commands/auto/GalacticSearch.java
+7 -5
View File
@@ -9,6 +9,8 @@ package frc4388.robot.commands.auto;
import edu.wpi.first.wpilibj2.command.RamseteCommand; import edu.wpi.first.wpilibj2.command.RamseteCommand;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
import frc4388.robot.commands.intake.RunIntake;
import frc4388.robot.subsystems.Intake;
import frc4388.robot.subsystems.LimeLight; import frc4388.robot.subsystems.LimeLight;
// NOTE: Consider using this command inline, rather than writing a subclass. For more // NOTE: Consider using this command inline, rather than writing a subclass. For more
@@ -18,22 +20,22 @@ public class GalacticSearch extends SequentialCommandGroup {
/** /**
* Creates a new GalacticSearch. * Creates a new GalacticSearch.
*/ */
public GalacticSearch(LimeLight m_limeLight, RamseteCommand[] paths) { public GalacticSearch(LimeLight m_limeLight, Intake m_intake, RamseteCommand[] paths) {
if (m_limeLight.galacticSearchPath == "A_RED") if (m_limeLight.galacticSearchPath == "A_RED")
{ {
addCommands(paths[0]); addCommands(new SequentialCommandGroup(paths[0], new RunIntake(m_intake)));
} }
else if (m_limeLight.galacticSearchPath == "A_BLUE") else if (m_limeLight.galacticSearchPath == "A_BLUE")
{ {
addCommands(paths[1]); addCommands(new SequentialCommandGroup(paths[1], new RunIntake(m_intake)));
} }
else if (m_limeLight.galacticSearchPath == "B_RED") else if (m_limeLight.galacticSearchPath == "B_RED")
{ {
addCommands(paths[2]); addCommands(new SequentialCommandGroup(paths[2], new RunIntake(m_intake)));
} }
else if (m_limeLight.galacticSearchPath == "B_BLUE") else if (m_limeLight.galacticSearchPath == "B_BLUE")
{ {
addCommands(paths[3]); addCommands(new SequentialCommandGroup(paths[3], new RunIntake(m_intake)));
} }
} }
} }