Merge branch 'master' into auto-programming

2026-06-09 08:48:01 -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 +1,54 @@
+/*----------------------------------------------------------------------------*/
+/* 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)
+                  );
+  }
+}