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Added Syntax Revered Path

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Added reveresed syntax for the Bounce Path.
Need to test and build paths.
This commit is contained in:
Kyra
2021-03-24 17:33:16 -06:00
parent b0f4857b0d
commit 699dee33df
3 changed files with 31 additions and 5 deletions
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src/main/java/frc4388/robot/commands/auto/Bounce.java
+10 -2
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@@ -7,8 +7,12 @@
package frc4388.robot.commands.auto;
import edu.wpi.first.wpilibj.geometry.Pose2d;
import edu.wpi.first.wpilibj2.command.InstantCommand;
import edu.wpi.first.wpilibj2.command.RamseteCommand;
import edu.wpi.first.wpilibj2.command.RunCommand;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
import frc4388.robot.RobotContainer;
import frc4388.robot.subsystems.Drive;
// NOTE: Consider using this command inline, rather than writing a subclass. For more
@@ -18,10 +22,14 @@ public class Bounce extends SequentialCommandGroup {
/**
* Creates a new Bounce.
*/
public Bounce(Drive drive, RamseteCommand[] paths) {
public Bounce(Drive drive, RobotContainer robotContainer, RamseteCommand[] paths) {
// Add your commands in the super() call, e.g.
// super(new FooCommand(), new BarCommand());
addCommands(paths[0]
addCommands(
paths[0],
new InstantCommand(() -> drive.switchReversed(true)),
new InstantCommand(() -> robotContainer.resetOdometry(new Pose2d())),
paths[1]
);
}
}