Merge branch 'master' into auto-programming

2026-06-09 00:38:00 -06:00 · 2020-03-06 20:44:58 -07:00
parent 3c0b92a4ac 733ed01d9e
commit 6c1265a872
59 changed files with 822 additions and 589 deletions
@@ -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
+                  );
+  }
+}