Merge branch 'master' into auto-programming

src/main/java/frc4388/robot/commands/auto/AutoPath1FromCenter.java

@@ -0,0 +1,46 @@
+/*----------------------------------------------------------------------------*/
+/* 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.SequentialCommandGroup;
+import frc4388.robot.commands.drive.GotoCoordinates;
+import frc4388.robot.subsystems.Drive;
+import frc4388.robot.subsystems.Pneumatics;
+
+// 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 AutoPath1FromCenter extends SequentialCommandGroup {
+  Drive m_drive;
+  Pneumatics m_pneumatics;
+
+  /**
+   * Creates a new AutoPath1FromCenter.
+   */
+  public AutoPath1FromCenter(Drive subsystem, Pneumatics subsystem2) {
+    // Add your commands in the super() call, e.g.
+    // super(new FooCommand(), new BarCommand());
+    m_drive = subsystem;
+    m_pneumatics = subsystem2;
+
+    addCommands(  new Wait(m_drive, 0, 1), 
+                  //shoot pre-loaded 3 balls
+                  new GotoCoordinatesRobotRelative(m_drive, m_pneumatics, 75, 44, -90),
+                  //Start Intake Ball 1
+                  new GotoCoordinatesRobotRelative(m_drive, m_pneumatics, 0, 12),
+                  new GotoCoordinatesRobotRelative(m_drive, m_pneumatics, 0, 28),
+                  //Start Intake Ball 2
+                  new GotoCoordinatesRobotRelative(m_drive, m_pneumatics, 0, 8),
+                  new GotoCoordinatesRobotRelative(m_drive, m_pneumatics, 0, 28),
+                  //Start Intake Ball 3
+                  new GotoCoordinatesRobotRelative(m_drive, m_pneumatics, 0, 8),
+                  new Wait(m_drive, 0, 2)
+                  //Shoot 3 Balls
+                  );
+  }
+}

src/main/java/frc4388/robot/commands/auto/AutoPath2FromRight.java

@@ -0,0 +1,54 @@
+/*----------------------------------------------------------------------------*/
+/* 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.SequentialCommandGroup;
+import frc4388.robot.commands.drive.GotoCoordinates;
+import frc4388.robot.subsystems.Drive;
+import frc4388.robot.subsystems.Pneumatics;
+
+// 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 AutoPath2FromRight extends SequentialCommandGroup {
+  Drive m_drive;
+  Pneumatics m_pneumatics;
+
+  /**
+   * Creates a new AutoPath2FromRight.
+   */
+  public AutoPath2FromRight(Drive subsystem, Pneumatics subsystem2) {
+    // Add your commands in the super() call, e.g.
+    // super(new FooCommand(), new BarCommand());
+    m_drive = subsystem;
+    m_pneumatics = subsystem2;
+    
+    addCommands(  new Wait(m_drive, 0, 1),
+                  new GotoCoordinatesRobotRelative(m_drive, m_pneumatics, 0, 77),
+                  //Start Intake Ball 1
+                  new GotoCoordinatesRobotRelative(m_drive, m_pneumatics, 0, 8),
+                  new GotoCoordinatesRobotRelative(m_drive, m_pneumatics, 0, 28),
+                  //Start Intake Ball 2
+                  new GotoCoordinatesRobotRelative(m_drive, m_pneumatics, 0, 8),
+                  //Shoot 5 Balls
+                  new GotoCoordinatesRobotRelative(m_drive, m_pneumatics, 0, 28),
+                  //Start Intake Ball 6 (Ball 1 second round)
+                  new GotoCoordinatesRobotRelative(m_drive, m_pneumatics, 0, 8),
+                  //Move to 7th Ball
+                  new GotoCoordinatesRobotRelative(m_drive, m_pneumatics, 86.7, -64.11, -180),
+                  //Move to 8th Ball
+                  new GotoCoordinatesRobotRelative(m_drive, m_pneumatics, -6.34, 15.31, 90),
+                  //Move to 9th Ball
+                  new GotoCoordinatesRobotRelative(m_drive, m_pneumatics, 7.11, 24.41, 0),
+                  //Move to 10th Ball
+                  new GotoCoordinatesRobotRelative(m_drive, m_pneumatics, -6.34, 13.30),
+                  //Shoot 5 more Balls (Total 10 Ball Autonomous Path)
+                  new Wait(m_drive, 0, 2)
+                  );
+  }
+}

src/main/java/frc4388/robot/commands/auto/Wait.java

@@ -0,0 +1,71 @@
+/*----------------------------------------------------------------------------*/
+/* 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.CommandBase;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+public class Wait extends CommandBase {
+
+  long m_startTime;
+  long m_waitTime;
+  long m_currentTime;
+  SubsystemBase m_subsystem;
+  int m_waitNum;
+
+  int counter  = 0;
+
+  /**
+   * Creates a new WaitCommand.
+   */
+  public Wait(SubsystemBase subsystem, double seconds, int waitNum) {
+    // Use addRequirements() here to declare subsystem dependencies.
+
+    m_waitTime = (long) (seconds * 1000);
+    m_subsystem = subsystem;
+    m_waitNum = waitNum;
+
+    addRequirements(m_subsystem);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    m_currentTime = System.currentTimeMillis();
+    m_startTime = m_currentTime;
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+
+    if (counter == 0) {
+      //SmartDashboard.putNumber("Wait Coordinates" + m_waitNum, m_currentTime);
+    }
+
+    m_currentTime = System.currentTimeMillis();
+    //SmartDashboard.putNumber("Time Difference for Wait", (m_currentTime - m_startTime));
+
+    counter ++;
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    if ((m_currentTime - m_startTime) >= m_waitTime) {
+      return true;
+    } else {
+      return false;
+    }
+  }
+}