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Added Path to Intake 3 balls in 6 ball Autonomous

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This commit is contained in:
Aarav Shah
2020-02-29 11:37:35 -07:00
parent f7d8d41445
commit a95e43d02d
3 changed files with 19 additions and 13 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+17 -11
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@@ -117,7 +117,7 @@ public class RobotContainer {
/* Test Buttons */
// A driver test button
new JoystickButton(getDriverJoystick(), XboxController.A_BUTTON)
.whenPressed(new DriveStraightToPositionMM(m_robotDrive, 192));
.whenPressed(new DriveStraightToPositionMM(m_robotDrive, 60));
// B driver test button
new JoystickButton(getDriverJoystick(), XboxController.B_BUTTON)
@@ -125,11 +125,11 @@ public class RobotContainer {
// Y driver test button
new JoystickButton(getDriverJoystick(), XboxController.Y_BUTTON)
.whenPressed(new GotoCoordinates(m_robotDrive, 12, 12, 0));
.whenPressed(new Wait(m_robotDrive, 0));
// X driver test button
new JoystickButton(getDriverJoystick(), XboxController.X_BUTTON)
.whenPressed(new DriveStraightToPositionPID(m_robotDrive, 36));
.whenPressed(new DriveStraightToPositionPID(m_robotDrive, 60));
/* Driver Buttons */
// sets solenoids into high gear
@@ -207,15 +207,21 @@ public class RobotContainer {
//add shooter command
//Below this would be the picking up additional balls outside of those in the trench directly behind us
//new GotoCoordinates(m_robotDrive, 36, 36),
//new DriveStraightToPositionPID(m_robotDrive, 160)
//new DriveStraightToPositionMM(m_robotDrive, 160)
new GotoCoordinates(m_robotDrive, 87, 47, -90));//,
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*/ );
/*new GotoCoordinates(m_robotDrive, 0, 68.75, 0),*/
//new StorageIntakeGroup(m_robotIntake, m_robotStorage),
//new TurnDegrees(m_robotDrive, 75),
//new DriveStraightToPositionMM(m_robotDrive, 18.0),
//new TurnDegrees(m_robotDrive, -45),
//new DriveStraightToPositionMM(m_robotDrive, 12.0));
}
TrajectoryConfig getTrajectoryConfig() {
return new TrajectoryConfig(
src/main/java/frc4388/robot/commands/GotoCoordinates.java
+1 -1
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@@ -44,7 +44,7 @@ public class GotoCoordinates extends SequentialCommandGroup {
addCommands( new TurnDegrees(m_drive, m_currentAngle),
new Wait(m_drive, 1),
new Wait(m_drive, 0.1),
new DriveStraightToPositionPID(m_drive, m_hypotDist),
new TurnDegrees(m_drive, m_endAngle - m_currentAngle));
}
src/main/java/frc4388/robot/commands/Wait.java
+1 -1
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@@ -21,7 +21,7 @@ public class Wait extends CommandBase {
/**
* Creates a new WaitCommand.
*/
public Wait(SubsystemBase subsystem, float seconds) {
public Wait(SubsystemBase subsystem, double seconds) {
// Use addRequirements() here to declare subsystem dependencies.
m_waitTime = (long) (seconds * 1000);