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Co-Authored-By: Nirvan Bhalala <78400306+nbhalala27@users.noreply.github.com>
This commit is contained in:
Aarav Shah
2021-03-25 16:33:12 -06:00
parent 3ccf20afc6
commit ab1a8a7564
15 changed files with 54 additions and 23 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+6 -10
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@@ -182,7 +182,7 @@ public class RobotContainer {
// runs the storage not
m_robotStorage.setDefaultCommand(new RunCommand(() -> m_robotStorage.runStorage(0), m_robotStorage));
//m_robotStorage.setDefaultCommand(new ManageStorage(m_robotStorage, StorageMode.IDLE));
//m_robotLime.setDefaultCommand(new RunCommand(() -> m_robotLime.limeOff(), m_robotLime));
m_robotLime.setDefaultCommand(new RunCommand(() -> m_robotLime.limeOff(), m_robotLime));
}
/**
@@ -329,7 +329,10 @@ public class RobotContainer {
m_barrelStart = new BarrelStart(m_robotDrive, buildPaths(barrelStart));
String[] bounce = new String[]{
"Bounce"
"Bounce1",
"Bounce2",
"Bounce3",
"Bounce4"
};
m_bounce = new Bounce(m_robotDrive, this, buildPaths(bounce));
@@ -401,14 +404,7 @@ public class RobotContainer {
//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 new SequentialCommandGroup(m_driveOffLineForward,
// new InstantCommand(() -> resetOdometry(new Pose2d())),
// new TankDriveVelocity(m_robotDrive, 1000, 1000, 1));
//return m_barrel.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0));
return m_barrelStart.andThen(()-> m_robotDrive.tankDriveVelocity(1, 1));
//return new SequentialCommandGroup(new TankDriveVelocity(m_robotDrive, 1000, 1000, 3), new TankDriveVelocity(m_robotDrive, 3000, 3000, 1));
//return m_sequentialTest.andThen(() -> m_robotDrive.tankDriveVelocity(0,0));
return m_barrelStart.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0));
} catch (Exception e) {
System.err.println("ERROR");
src/main/java/frc4388/robot/commands/auto/BarrelStart.java
+4 -1
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@@ -10,6 +10,7 @@ package frc4388.robot.commands.auto;
import edu.wpi.first.wpilibj2.command.InstantCommand;
import edu.wpi.first.wpilibj2.command.RamseteCommand;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
import edu.wpi.first.wpilibj2.command.CommandBase;
import frc4388.robot.RobotContainer;
import frc4388.robot.subsystems.Drive;
@@ -25,7 +26,9 @@ public class BarrelStart extends SequentialCommandGroup {
// super(new FooCommand(), new BarCommand());
addCommands(
paths[0],
new InstantCommand(() -> drive.tankDriveVelocity(1, 1))
new Wait(drive, 0.01, 1),
new TankDriveVelocity(drive, 3, 3, 1)
//new InstantCommand(() -> drive.tankDriveVelocity(7, 7)).withTimeout(7) //my life be like oooooo aaaaaa ooooo aaaa
);
}
src/main/java/frc4388/robot/commands/auto/Bounce.java
+9 -1
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@@ -29,7 +29,15 @@ public class Bounce extends SequentialCommandGroup {
paths[0],
new InstantCommand(() -> drive.switchReversed(true)),
new InstantCommand(() -> robotContainer.resetOdometry(new Pose2d())),
paths[1]
paths[1],
new InstantCommand(() -> drive.switchReversed(false)),
new InstantCommand(() -> robotContainer.resetOdometry(new Pose2d())),
paths[2],
new InstantCommand(() -> drive.switchReversed(true)),
new InstantCommand(() -> robotContainer.resetOdometry(new Pose2d())),
paths[3],
new InstantCommand(() -> drive.switchReversed(false)),
new InstantCommand(() -> robotContainer.resetOdometry(new Pose2d()))
);
}
}