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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/commands/auto/BarrelStart.java
+4 -1
View File
@@ -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
View File
@@ -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()))
);
}
}