mirror of
https://github.com/Team4388/RiseOfRidgebotics2020.git
synced 2026-06-09 00:38:00 -06:00
Merge branch 'master' into add-shooter
This commit is contained in:
ryan123rudder
@@ -9,7 +9,6 @@ package frc4388.robot;
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import java.util.List;
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import com.ctre.phoenix.motorcontrol.FeedbackDevice;
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import com.ctre.phoenix.motorcontrol.NeutralMode;
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import edu.wpi.first.wpilibj.Joystick;
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@@ -17,7 +16,6 @@ import edu.wpi.first.wpilibj.controller.RamseteController;
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import edu.wpi.first.wpilibj.geometry.Pose2d;
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import edu.wpi.first.wpilibj.geometry.Rotation2d;
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import edu.wpi.first.wpilibj.geometry.Translation2d;
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import edu.wpi.first.wpilibj.kinematics.ChassisSpeeds;
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import edu.wpi.first.wpilibj.trajectory.Trajectory;
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import edu.wpi.first.wpilibj.trajectory.TrajectoryConfig;
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import edu.wpi.first.wpilibj.trajectory.TrajectoryGenerator;
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@@ -28,11 +26,10 @@ import edu.wpi.first.wpilibj2.command.RunCommand;
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import edu.wpi.first.wpilibj2.command.button.JoystickButton;
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import frc4388.robot.Constants.*;
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import frc4388.robot.commands.DriveStraightAtVelocityPID;
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import frc4388.robot.commands.DrivePositionMPAux;
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import frc4388.robot.commands.DriveWithJoystick;
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import frc4388.robot.commands.DriveStraightToPositionMM;
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import frc4388.robot.commands.DriveStraightToPositionPID;
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import frc4388.robot.commands.DriveWithJoystick;
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import frc4388.robot.commands.DriveWithJoystickUsingDeadAssistPID;
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import frc4388.robot.commands.HoldTarget;
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import frc4388.robot.commands.DriveWithJoystickDriveStraight;
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@@ -41,6 +38,10 @@ import frc4388.robot.commands.RunExtenderOutIn;
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import frc4388.robot.commands.RunIntakeWithTriggers;
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import frc4388.robot.commands.ShooterVelocityControlPID;
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import frc4388.robot.commands.StorageIntake;
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import frc4388.robot.commands.RunClimberWithTriggers;
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import frc4388.robot.commands.RunExtenderOutIn;
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import frc4388.robot.commands.RunIntakeWithTriggers;
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import frc4388.robot.commands.StorageIntakeGroup;
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import frc4388.robot.subsystems.Drive;
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import frc4388.robot.subsystems.Intake;
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import frc4388.robot.subsystems.LED;
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@@ -62,7 +63,6 @@ import frc4388.robot.subsystems.Camera;
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import frc4388.robot.subsystems.Leveler;
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import frc4388.robot.subsystems.LimeLight;
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import frc4388.robot.subsystems.Storage;
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import frc4388.utility.LEDPatterns;
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import frc4388.utility.controller.IHandController;
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import frc4388.utility.controller.XboxController;
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@@ -104,17 +104,16 @@ public class RobotContainer {
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m_robotDrive.setDefaultCommand(new DriveWithJoystick(m_robotDrive, getDriverController()));
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// drives intake with input from triggers on the opperator controller
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m_robotIntake.setDefaultCommand(new RunIntakeWithTriggers(m_robotIntake, getOperatorController()));
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// drives climber with input from triggers on the opperator controller
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m_robotClimber.setDefaultCommand(new RunClimberWithTriggers(m_robotClimber, getDriverController()));
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// continually sends updates to the Blinkin LED controller to keep the lights on
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m_robotLED.setDefaultCommand(new RunCommand(() -> m_robotLED.updateLED(), m_robotLED));
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// runs the drum shooter in idle mode
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// runs the turret with joystick
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m_robotShooterAim.setDefaultCommand(new RunCommand(() -> m_robotShooterAim.runShooterWithInput(m_operatorXbox.getLeftXAxis()), m_robotShooterAim));
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// drives the leveler with an axis input from the driver controller
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m_robotLeveler.setDefaultCommand(new RunLevelerWithJoystick(m_robotLeveler, getDriverController()));
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// moves the drum not
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m_robotShooter.setDefaultCommand(new RunCommand(() -> m_robotShooter.runDrumShooter(0), m_robotShooter));
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// drives climber with input from triggers on the opperator controller
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m_robotClimber.setDefaultCommand(new RunClimberWithTriggers(m_robotClimber, getDriverController()));
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// drives the leveler with an axis input from the driver controller
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m_robotLeveler.setDefaultCommand(new RunLevelerWithJoystick(m_robotLeveler, getDriverController()));
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// continually sends updates to the Blinkin LED controller to keep the lights on
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m_robotLED.setDefaultCommand(new RunCommand(() -> m_robotLED.updateLED(), m_robotLED));
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}
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/**
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@@ -124,16 +123,31 @@ public class RobotContainer {
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* passing it to a {@link edu.wpi.first.wpilibj2.command.button.JoystickButton}.
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*/
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private void configureButtonBindings() {
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/* Driver Buttons */
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/* Test Buttons */
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// A driver test button
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new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON)
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.whenPressed(new InstantCommand());
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// B driver test button
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new JoystickButton(getDriverJoystick(), XboxController.B_BUTTON)
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.whenPressed(new InstantCommand());
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// Y driver test button
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new JoystickButton(getDriverJoystick(), XboxController.Y_BUTTON)
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.whenPressed(new InstantCommand());
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// X driver test button
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new JoystickButton(getDriverJoystick(), XboxController.X_BUTTON)
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.whenPressed(new InstantCommand());
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/* Driver Buttons */
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// sets solenoids into high gear
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new JoystickButton(getDriverJoystick(), XboxController.RIGHT_BUMPER_BUTTON)
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.whenPressed(new InstantCommand(() -> m_robotDrive.setShiftState(true), m_robotDrive));
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.whenPressed(new InstantCommand(() -> m_robotDrive.setShiftState(false), m_robotDrive));
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// sets solenoids into low gear
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new JoystickButton(getDriverJoystick(), XboxController.LEFT_BUMPER_BUTTON)
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.whenPressed(new InstantCommand(() -> m_robotDrive.setShiftState(false), m_robotDrive));
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.whenPressed(new InstantCommand(() -> m_robotDrive.setShiftState(true), m_robotDrive));
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/* Operator Buttons */
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@@ -173,7 +187,62 @@ public class RobotContainer {
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new JoystickButton(getOperatorJoystick(), XboxController.B_BUTTON)
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.whileHeld(new RunCommand(() -> m_robotShooter.runDrumShooterVelocityPID(13000, m_robotShooter.m_shooterFalcon.getSelectedSensorVelocity())));
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}
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/**
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* Use this to pass the autonomous command to the main {@link Robot} class.
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*
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* @return the command to run in autonomous
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*/
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public Command getAutonomousCommand() {
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// Create config for trajectory
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TrajectoryConfig config = getTrajectoryConfig();
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Trajectory trajectory = getTrajectory(config);
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RamseteCommand ramseteCommand = getRamseteCommand(trajectory);
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// Run path following command, then stop at the end.
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//return ramseteCommand.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0));
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// return new InstantCommand();
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return new DrivePositionMPAux(m_robotDrive, 500.0, 12.0, 2, 60.0, 0.0);
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}
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TrajectoryConfig getTrajectoryConfig() {
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return new TrajectoryConfig(
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DriveConstants.MAX_SPEED_METERS_PER_SECOND,
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DriveConstants.MAX_ACCELERATION_METERS_PER_SECOND_SQUARED)
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// Add kinematics to ensure max speed is actually obeyed
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.setKinematics(DriveConstants.kDriveKinematics);
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}
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Trajectory getTrajectory(TrajectoryConfig config) {
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Trajectory exampleTrajectory = TrajectoryGenerator.generateTrajectory(
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// Start at the origin facing the +X direction
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new Pose2d(0, 0, new Rotation2d(0)),
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// Pass through these two interior waypoints, making an 's' curve path
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List.of(
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new Translation2d(10, 0)
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),
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// End 3 meters straight ahead of where we started, facing forward
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new Pose2d(20, 20, new Rotation2d(0)),
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// Pass config
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config);
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// 10 = 20, 20 = 35, 30 = 53.5
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// (0,10) = (8,22)
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return exampleTrajectory;
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}
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RamseteCommand getRamseteCommand(Trajectory trajectory) {
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RamseteCommand ramseteCommand = new RamseteCommand(
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trajectory,
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m_robotDrive::getPose,
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new RamseteController(),
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DriveConstants.kDriveKinematics,
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m_robotDrive::tankDriveVelocity,
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m_robotDrive);
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return ramseteCommand;
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}
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/**
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* Sets Motors to a NeutralMode.
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* @param mode NeutralMode to set motors to
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@@ -190,54 +259,14 @@ public class RobotContainer {
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m_robotDrive.setShiftState(state);
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}
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public void configDriveTrainSensors(FeedbackDevice type) {
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m_robotDrive.configMotorSensor(type);
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}
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/**
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*
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*/
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public void resetOdometry() {
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m_robotDrive.resetGyroAngles();
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m_robotDrive.setOdometry(new Pose2d());
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}
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/**
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* Use this to pass the autonomous command to the main {@link Robot} class.
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*
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* @return the command to run in autonomous
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*/
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public Command getAutonomousCommand() {
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// Create config for trajectory
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/*TrajectoryConfig config = new TrajectoryConfig( DriveConstants.MAX_SPEED_METERS_PER_SECOND,
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DriveConstants.MAX_ACCELERATION_METERS_PER_SECOND_SQUARED)
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// Add kinematics to ensure max speed is actually obeyed
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.setKinematics(DriveConstants.kDriveKinematics);
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Trajectory exampleTrajectory = TrajectoryGenerator.generateTrajectory(
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// Start at the origin facing the +X direction
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new Pose2d(0, 0, new Rotation2d(0)),
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// Pass through these two interior waypoints, making an 's' curve path
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List.of(
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new Translation2d(10, 0)
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),
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// End 3 meters straight ahead of where we started, facing forward
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new Pose2d(20, 20, new Rotation2d(0)),
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// Pass config
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config);
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// 10 = 20, 20 = 35, 30 = 53.5
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// (0,10) = (8,22)
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RamseteCommand ramseteCommand = new RamseteCommand(
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exampleTrajectory,
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m_robotDrive::getPose,
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new RamseteController(),
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DriveConstants.kDriveKinematics,
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m_robotDrive::tankDriveVelocity,
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m_robotDrive);
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// Run path following command, then stop at the end.
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return ramseteCommand.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0));*/
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return new InstantCommand();
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}
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/**
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* Used for analog inputs like triggers and axises.
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* @return IHandController interface for the Driver Controller.
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