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Made both auto commands groups, and added param to wait

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This commit is contained in:
Aarav Shah
2020-02-29 14:55:17 -07:00
parent 6bdeaefc7c
commit a711fe43d4
5 changed files with 102 additions and 20 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+6 -18
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@@ -28,6 +28,8 @@ import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
import edu.wpi.first.wpilibj2.command.button.JoystickButton;
import frc4388.robot.Constants.*;
import frc4388.robot.commands.AutoPath1FromCenter;
import frc4388.robot.commands.AutoPath2FromRight;
import frc4388.robot.commands.DrivePositionMPAux;
import frc4388.robot.commands.DriveStraightAtVelocityPID;
import frc4388.robot.commands.DriveStraightToPositionMM;
@@ -117,7 +119,7 @@ public class RobotContainer {
/* Test Buttons */
// A driver test button
new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON)
.whenPressed(new DriveStraightToPositionMM(m_robotDrive, 240));
.whenPressed(new DriveStraightToPositionMM(m_robotDrive, 24));
// B driver test button
new JoystickButton(getDriverJoystick(), XboxController.B_BUTTON)
@@ -125,7 +127,7 @@ public class RobotContainer {
// Y driver test button
new JoystickButton(getDriverJoystick(), XboxController.Y_BUTTON)
.whenPressed(new Wait(m_robotDrive, 0));
.whenPressed(new Wait(m_robotDrive, 0, 0));
// X driver test button
new JoystickButton(getDriverJoystick(), XboxController.X_BUTTON)
@@ -190,23 +192,9 @@ public class RobotContainer {
// Run path following command, then stop at the end.
//return ramseteCommand.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0));
//Runs an Autonomous command group that would shoot our preloaded balls, pick up 3 more from the trench, and shoot those
//This assumes that we are positioned against parallel to the initiation line with our back bumper lined up with the center target
return new SequentialCommandGroup(new Wait(m_robotDrive, 0),
//shoot pre-loaded 3 balls
new GotoCoordinates(m_robotDrive, 75, 44, -90),
//Start Intake Ball 1
new GotoCoordinates(m_robotDrive, 0, 12, 0),
new GotoCoordinates(m_robotDrive, 0, 28, 0),
//Start Intake Ball 2
new GotoCoordinates(m_robotDrive, 0, 8, 0),
new GotoCoordinates(m_robotDrive, 0, 28, 0),
//Start Intake Ball 3
new GotoCoordinates(m_robotDrive, 0, 8, 0)
/*Shoot 3 Balls*/ );
//return new AutoPath1FromCenter(m_robotDrive);
return new AutoPath2FromRight(m_robotDrive);
/*new GotoCoordinates(m_robotDrive, 0, 68.75, 0),*/
//new StorageIntakeGroup(m_robotIntake, m_robotStorage),
}
TrajectoryConfig getTrajectoryConfig() {
return new TrajectoryConfig(