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Added bounce path

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Co-Authored-By: Nirvan Bhalala <78400306+nbhalala27@users.noreply.github.com>
This commit is contained in:
Aarav Shah
2021-02-25 17:15:10 -07:00
parent e660b59d1f
commit 709630533a
5 changed files with 52 additions and 2 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+12 -1
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@@ -45,6 +45,7 @@ import frc4388.robot.commands.InterruptSubystem;
import frc4388.robot.commands.auto.AutoPath1FromCenter;
import frc4388.robot.commands.auto.Barrel;
import frc4388.robot.commands.auto.BarrelMany;
import frc4388.robot.commands.auto.Bounce;
import frc4388.robot.commands.auto.Wait;
import frc4388.robot.commands.climber.DisengageRachet;
import frc4388.robot.commands.climber.RunClimberWithTriggers;
@@ -132,6 +133,8 @@ public class RobotContainer {
BarrelMany m_barrelMany;
Bounce m_bounce;
/**
* The container for the robot. Contains subsystems, OI devices, and commands.
*/
@@ -311,6 +314,12 @@ public class RobotContainer {
};
m_barrel = new Barrel(m_robotDrive, buildPaths(barrel));
String[] bounce = new String[]{
"Bounce"
};
m_bounce = new Bounce(m_robotDrive, buildPaths(bounce));
String[] barrelMany = new String[]{
"BarrelManyWaypoints"
@@ -371,9 +380,11 @@ public class RobotContainer {
//return m_driveOffLineBackward.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0));
//return m_fiveBallAutoMiddle.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0));
//return m_tenBallAutoMiddle.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0));
return m_slalom.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0));
//return m_slalom.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0));
//return m_barrel.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0));
//return m_barrelMany.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0));
return m_bounce.andThen(()-> m_robotDrive.tankDriveVelocity(0,0));
} catch (Exception e) {
System.err.println("ERROR");
}
src/main/java/frc4388/robot/commands/auto/Bounce.java
+27
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@@ -0,0 +1,27 @@
/*----------------------------------------------------------------------------*/
/* 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.RamseteCommand;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
import frc4388.robot.subsystems.Drive;
// 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 Bounce extends SequentialCommandGroup {
/**
* Creates a new Bounce.
*/
public Bounce(Drive drive, RamseteCommand[] paths) {
// Add your commands in the super() call, e.g.
// super(new FooCommand(), new BarCommand());
addCommands(paths[0]
);
}
}