mirror of
https://github.com/Team4388/RiseOfRidgebotics2020.git
synced 2026-06-08 16:28:01 -06:00
Added 6BallTop fully and set framework for two others
This commit is contained in:
ryan123rudder
@@ -0,0 +1,3 @@
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5BallBottom1
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5BallBottom2
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5BallBottom3
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@@ -1,2 +1 @@
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6balloffensice1
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offensive2
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6BallOffensive1
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@@ -0,0 +1 @@
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6BallOffensive2
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@@ -1 +0,0 @@
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6balloffinsive2
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@@ -0,0 +1 @@
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6BallTop
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@@ -0,0 +1,3 @@
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8BallMid1
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8BallMid2
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8BallMid3
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@@ -0,0 +1,2 @@
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2BallOffensive
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LoopFrom2BallOffensive
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@@ -1,2 +0,0 @@
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2balloffensive
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LoopFrom2BallOffinicne
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]
|
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File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
@@ -1,9 +1,9 @@
|
||||
{
|
||||
"lengthUnit": "Meter",
|
||||
"exportUnit": "Always Meters",
|
||||
"maxVelocity": 2.6,
|
||||
"maxVelocity": 2.3,
|
||||
"maxAcceleration": 2.7,
|
||||
"trackWidth": 0.648,
|
||||
"gameName": "Infinite Recharge 2021",
|
||||
"outputDir": ".."
|
||||
"outputDir": ""
|
||||
}
|
||||
@@ -0,0 +1,8 @@
|
||||
{
|
||||
"lengthUnit": "Meter",
|
||||
"maxVelocity": 2.3,
|
||||
"maxAcceleration": 2.7,
|
||||
"wheelBase": 0.648,
|
||||
"gameName": "Bounce Path",
|
||||
"outputDir": ""
|
||||
}
|
||||
@@ -41,6 +41,7 @@ import frc4388.robot.commands.auto.GalacticSearch;
|
||||
import frc4388.robot.commands.auto.IdentifyPath;
|
||||
import frc4388.robot.commands.auto.SequentialTest;
|
||||
import frc4388.robot.commands.auto.SixBallAutoMiddle;
|
||||
import frc4388.robot.commands.auto.SixBallTop;
|
||||
import frc4388.robot.commands.auto.Slalom;
|
||||
import frc4388.robot.commands.auto.TenBallAutoMiddle;
|
||||
import frc4388.robot.commands.auto.Wait;
|
||||
@@ -120,21 +121,21 @@ public class RobotContainer {
|
||||
/* Autos */
|
||||
double m_totalTimeAuto;
|
||||
|
||||
SixBallAutoMiddle m_sixBallAutoMiddle;
|
||||
//SixBallAutoMiddle m_sixBallAutoMiddle;
|
||||
|
||||
SixBallAutoMiddle m_sixBallAutoMiddle0;
|
||||
//SixBallAutoMiddle m_sixBallAutoMiddle0;
|
||||
|
||||
SixBallAutoMiddle m_sixBallAutoMiddle1;
|
||||
//SixBallAutoMiddle m_sixBallAutoMiddle1;
|
||||
|
||||
EightBallAutoMiddle m_eightBallAutoMiddle;
|
||||
//EightBallAutoMiddle m_eightBallAutoMiddle;
|
||||
|
||||
DriveOffLineForward m_driveOffLineForward;
|
||||
|
||||
DriveOffLineBackward m_driveOffLineBackward;
|
||||
|
||||
FiveBallAutoMiddle m_fiveBallAutoMiddle;
|
||||
//FiveBallAutoMiddle m_fiveBallAutoMiddle;
|
||||
|
||||
TenBallAutoMiddle m_tenBallAutoMiddle;
|
||||
//TenBallAutoMiddle m_tenBallAutoMiddle;
|
||||
|
||||
Slalom m_slalom;
|
||||
|
||||
@@ -150,6 +151,12 @@ public class RobotContainer {
|
||||
|
||||
GalacticSearch m_galacticSearch;
|
||||
|
||||
SixBallTop m_sixBallTop;
|
||||
|
||||
EightBallMid m_eightBallMid;
|
||||
|
||||
FiveBallBottom m_fiveBallBottom;
|
||||
|
||||
public static boolean m_isShooterManual = false;
|
||||
|
||||
/**
|
||||
@@ -345,7 +352,7 @@ public class RobotContainer {
|
||||
String[] sixBallAutoMiddlePaths = new String[]{
|
||||
"SixBallMidComplete"
|
||||
};
|
||||
|
||||
/*
|
||||
m_sixBallAutoMiddle = new SixBallAutoMiddle(m_robotDrive, buildPaths(sixBallAutoMiddlePaths));
|
||||
|
||||
String[] sixBallAutoMiddle0Paths = new String[]{
|
||||
@@ -359,7 +366,7 @@ public class RobotContainer {
|
||||
};
|
||||
|
||||
m_sixBallAutoMiddle1 = new SixBallAutoMiddle(m_robotDrive, buildPaths(sixBallAutoMiddle1Paths));
|
||||
|
||||
*/
|
||||
String[] slalom = new String[]{
|
||||
"Slalom"
|
||||
};
|
||||
@@ -397,6 +404,7 @@ public class RobotContainer {
|
||||
"EightBallMidComplete"
|
||||
};
|
||||
|
||||
/*
|
||||
m_eightBallAutoMiddle = new EightBallAutoMiddle(m_robotDrive, buildPaths(eightBallAutoMiddlePaths));
|
||||
|
||||
String[] driveOffLineForwardPaths = new String[]{
|
||||
@@ -404,7 +412,7 @@ public class RobotContainer {
|
||||
};
|
||||
|
||||
m_driveOffLineForward = new DriveOffLineForward(m_robotDrive, this, buildPaths(driveOffLineForwardPaths));
|
||||
|
||||
*/
|
||||
String[] driveOffLineBackwardPaths = new String[]{
|
||||
"DriveOffLineBackward"
|
||||
};
|
||||
@@ -415,6 +423,7 @@ public class RobotContainer {
|
||||
"FiveBallMidComplete"
|
||||
};
|
||||
|
||||
/*
|
||||
m_fiveBallAutoMiddle = new FiveBallAutoMiddle(m_robotDrive, buildPaths(fiveBallAutoMiddlePaths));
|
||||
|
||||
String[] tenBallAutoMiddlePaths = new String[]{
|
||||
@@ -424,15 +433,34 @@ public class RobotContainer {
|
||||
m_tenBallAutoMiddle = new TenBallAutoMiddle(m_robotShooterHood, m_robotStorage, m_robotIntake, m_robotShooter,
|
||||
m_robotShooterAim, m_robotDrive,buildPaths(tenBallAutoMiddlePaths));
|
||||
|
||||
*/
|
||||
String[] galacticSearchPaths = new String[]{
|
||||
"GSC_ARED",
|
||||
"GSC_ABLUE",
|
||||
"GSC_BRED",
|
||||
"GSC_BBLUE"
|
||||
};
|
||||
|
||||
m_galacticSearch = new GalacticSearch(m_robotLime, m_robotIntake, buildPaths(galacticSearchPaths));
|
||||
|
||||
String[] sixBallTopPaths = new String[]{
|
||||
"6BallTop"
|
||||
};
|
||||
|
||||
m_sixBallTop = new SixBallTop(m_robotShooterHood, m_robotStorage, m_robotIntake, m_robotShooter, m_robotShooterAim, m_robotDrive, buildPaths(sixBallTopPaths));
|
||||
|
||||
String[] eightBallMidPaths = new String[]{
|
||||
"2BallOffensive",
|
||||
"LoopFrom2BallOffensive"
|
||||
};
|
||||
m_eightBallMid = new EightBallMid(m_robotShooterHood, m_robotStorage, m_robotIntake, m_robotShooter, m_robotShooterAim, m_robotDrive, buildPaths(eightBallMidPaths));
|
||||
|
||||
String[] fiveBallBottomPaths = new String[]{
|
||||
"5BallBottom1",
|
||||
"5BallBottom2",
|
||||
"5BallBottom3"
|
||||
};
|
||||
m_fiveBallBottom = new FiveBallBottom(m_robotShooterHood, m_robotStorage, m_robotIntake, m_robotShooter, m_robotShooterAim, m_robotDrive, buildPaths(fiveBallBottomPaths));
|
||||
|
||||
}
|
||||
|
||||
public void idenPath()
|
||||
@@ -455,14 +483,29 @@ public class RobotContainer {
|
||||
//return m_sixBallAutoMiddle.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0));
|
||||
//return m_sixBallAutoMiddle1.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0));
|
||||
//return m_eightBallAutoMiddle.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0));
|
||||
//return m_driveOffLineBackward.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0));
|
||||
//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 m_barrel.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0));
|
||||
//return m_barrelStart.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0));
|
||||
//return m_sequentialTest.andThen(() -> m_robotDrive.tankDriveVelocity(0,0));
|
||||
return m_galacticSearch.andThen(() -> m_robotDrive.tankDriveVelocity(0,0));
|
||||
//return m_galacticSearch.andThen(() -> m_robotDrive.tankDriveVelocity(0,0));
|
||||
//return m_sixBallTop.andThen(() -> m_robotDrive.tankDriveVelocity(0,0));
|
||||
//return m_eightBallMid.andThen(() -> m_robotDrive.tankDriveVelocity(0,0));
|
||||
return m_fiveBallBottom.andThen(() -> m_robotDrive.tankDriveVelocity(0,0));
|
||||
|
||||
|
||||
/*
|
||||
TODO
|
||||
11BallTop
|
||||
6BallOffensive (Trench)
|
||||
6BallOffensive2
|
||||
8BallOffensive
|
||||
5BallBottom*
|
||||
8BallMid*
|
||||
6BallTop*
|
||||
*/
|
||||
|
||||
|
||||
} catch (Exception e) {
|
||||
|
||||
@@ -28,7 +28,7 @@ public class AutoPath1FromCenter extends SequentialCommandGroup {
|
||||
m_drive = subsystem;
|
||||
m_pneumatics = subsystem2;
|
||||
|
||||
addCommands( new Wait(m_drive, 0, 1),
|
||||
addCommands( new Wait(m_drive, 0),
|
||||
//shoot pre-loaded 3 balls
|
||||
new GotoCoordinatesRobotRelative(m_drive, m_pneumatics, 75, 44, -90),
|
||||
//Start Intake Ball 1
|
||||
@@ -39,7 +39,7 @@ public class AutoPath1FromCenter extends SequentialCommandGroup {
|
||||
new GotoCoordinatesRobotRelative(m_drive, m_pneumatics, 0, 28),
|
||||
//Start Intake Ball 3
|
||||
new GotoCoordinatesRobotRelative(m_drive, m_pneumatics, 0, 8),
|
||||
new Wait(m_drive, 0, 2)
|
||||
new Wait(m_drive, 0)
|
||||
//Shoot 3 Balls
|
||||
);
|
||||
}
|
||||
|
||||
@@ -28,7 +28,7 @@ public class AutoPath2FromRight extends SequentialCommandGroup {
|
||||
m_drive = subsystem;
|
||||
m_pneumatics = subsystem2;
|
||||
|
||||
addCommands( new Wait(m_drive, 0, 1),
|
||||
addCommands( new Wait(m_drive, 0),
|
||||
new GotoCoordinatesRobotRelative(m_drive, m_pneumatics, 0, 77),
|
||||
//Start Intake Ball 1
|
||||
new GotoCoordinatesRobotRelative(m_drive, m_pneumatics, 0, 8),
|
||||
@@ -48,7 +48,7 @@ public class AutoPath2FromRight extends SequentialCommandGroup {
|
||||
//Move to 10th Ball
|
||||
new GotoCoordinatesRobotRelative(m_drive, m_pneumatics, -6.34, 13.30),
|
||||
//Shoot 5 more Balls (Total 10 Ball Autonomous Path)
|
||||
new Wait(m_drive, 0, 2)
|
||||
new Wait(m_drive, 0)
|
||||
);
|
||||
}
|
||||
}
|
||||
|
||||
@@ -0,0 +1,60 @@
|
||||
/*----------------------------------------------------------------------------*/
|
||||
/* Copyright (c) 2019 FIRST. All Rights Reserved. */
|
||||
/* Open Source Software - may be modified and shared by FRC teams. The code */
|
||||
/* must be accompanied by the FIRST BSD license file in the root directory of */
|
||||
/* the project. */
|
||||
/*----------------------------------------------------------------------------*/
|
||||
|
||||
package frc4388.robot.commands.auto;
|
||||
|
||||
import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
|
||||
import edu.wpi.first.wpilibj2.command.ParallelDeadlineGroup;
|
||||
import edu.wpi.first.wpilibj2.command.RamseteCommand;
|
||||
import edu.wpi.first.wpilibj2.command.RunCommand;
|
||||
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
|
||||
import frc4388.robot.subsystems.Intake;
|
||||
import frc4388.robot.subsystems.Shooter;
|
||||
import frc4388.robot.subsystems.ShooterAim;
|
||||
import frc4388.robot.subsystems.ShooterHood;
|
||||
import frc4388.robot.subsystems.Storage;
|
||||
import frc4388.robot.commands.intake.RunExtenderOutIn;
|
||||
import frc4388.robot.commands.intake.RunIntake;
|
||||
import frc4388.robot.commands.shooter.CalibrateShooter;
|
||||
import frc4388.robot.commands.shooter.TrackTarget;
|
||||
import frc4388.robot.subsystems.Drive;
|
||||
|
||||
|
||||
// NOTE: Consider using this command inline, rather than writing a subclass. For more
|
||||
// information, see:
|
||||
// https://docs.wpilib.org/en/latest/docs/software/commandbased/convenience-features.html
|
||||
public class EightBallMid extends SequentialCommandGroup {
|
||||
/**
|
||||
* Creates a new EightBallMid.
|
||||
*/
|
||||
public EightBallMid(ShooterHood shooterHood, Storage storage, Intake intake, Shooter shooter, ShooterAim shooterAim, Drive drive, RamseteCommand[] paths) {
|
||||
// Add your commands in the super() call, e.g.
|
||||
// super(new FooCommand(), new BarCommand());
|
||||
addCommands(
|
||||
//TODO REWRITE
|
||||
//Shoot and Extend Intake
|
||||
new CalibrateShooter(shooter, shooterAim, shooterHood),
|
||||
new ParallelDeadlineGroup(
|
||||
new Wait(drive,5),
|
||||
new TrackTarget(shooterAim),
|
||||
new RunCommand(() -> shooterHood.runAngleAdjustPID(shooterHood.addFireAngle())),
|
||||
new RunExtenderOutIn(intake)
|
||||
),
|
||||
//Intake and Path
|
||||
new ParallelDeadlineGroup(
|
||||
paths[0],
|
||||
new RunIntake(intake)
|
||||
),
|
||||
//Shoot
|
||||
new ParallelDeadlineGroup(
|
||||
new Wait(drive,5),
|
||||
new TrackTarget(shooterAim),
|
||||
new RunCommand(() -> shooterHood.runAngleAdjustPID(shooterHood.addFireAngle()))
|
||||
)
|
||||
);
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,60 @@
|
||||
/*----------------------------------------------------------------------------*/
|
||||
/* Copyright (c) 2019 FIRST. All Rights Reserved. */
|
||||
/* Open Source Software - may be modified and shared by FRC teams. The code */
|
||||
/* must be accompanied by the FIRST BSD license file in the root directory of */
|
||||
/* the project. */
|
||||
/*----------------------------------------------------------------------------*/
|
||||
|
||||
package frc4388.robot.commands.auto;
|
||||
|
||||
import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
|
||||
import edu.wpi.first.wpilibj2.command.ParallelDeadlineGroup;
|
||||
import edu.wpi.first.wpilibj2.command.RamseteCommand;
|
||||
import edu.wpi.first.wpilibj2.command.RunCommand;
|
||||
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
|
||||
import frc4388.robot.subsystems.Intake;
|
||||
import frc4388.robot.subsystems.Shooter;
|
||||
import frc4388.robot.subsystems.ShooterAim;
|
||||
import frc4388.robot.subsystems.ShooterHood;
|
||||
import frc4388.robot.subsystems.Storage;
|
||||
import frc4388.robot.commands.intake.RunExtenderOutIn;
|
||||
import frc4388.robot.commands.intake.RunIntake;
|
||||
import frc4388.robot.commands.shooter.CalibrateShooter;
|
||||
import frc4388.robot.commands.shooter.TrackTarget;
|
||||
import frc4388.robot.subsystems.Drive;
|
||||
|
||||
|
||||
// NOTE: Consider using this command inline, rather than writing a subclass. For more
|
||||
// information, see:
|
||||
// https://docs.wpilib.org/en/latest/docs/software/commandbased/convenience-features.html
|
||||
public class FiveBallBottom extends SequentialCommandGroup {
|
||||
/**
|
||||
* Creates a new FiveBallBottom.
|
||||
*/
|
||||
public FiveBallBottom(ShooterHood shooterHood, Storage storage, Intake intake, Shooter shooter, ShooterAim shooterAim, Drive drive, RamseteCommand[] paths) {
|
||||
// Add your commands in the super() call, e.g.
|
||||
// super(new FooCommand(), new BarCommand());
|
||||
//TODO Rewrite
|
||||
addCommands(
|
||||
//Shoot and Extend Intake
|
||||
new CalibrateShooter(shooter, shooterAim, shooterHood),
|
||||
new ParallelDeadlineGroup(
|
||||
new Wait(drive,5),
|
||||
new TrackTarget(shooterAim),
|
||||
new RunCommand(() -> shooterHood.runAngleAdjustPID(shooterHood.addFireAngle())),
|
||||
new RunExtenderOutIn(intake)
|
||||
),
|
||||
//Intake and Path
|
||||
new ParallelDeadlineGroup(
|
||||
paths[0],
|
||||
new RunIntake(intake)
|
||||
),
|
||||
//Shoot
|
||||
new ParallelDeadlineGroup(
|
||||
new Wait(drive,5),
|
||||
new TrackTarget(shooterAim),
|
||||
new RunCommand(() -> shooterHood.runAngleAdjustPID(shooterHood.addFireAngle()))
|
||||
)
|
||||
);
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,59 @@
|
||||
/*----------------------------------------------------------------------------*/
|
||||
/* Copyright (c) 2019 FIRST. All Rights Reserved. */
|
||||
/* Open Source Software - may be modified and shared by FRC teams. The code */
|
||||
/* must be accompanied by the FIRST BSD license file in the root directory of */
|
||||
/* the project. */
|
||||
/*----------------------------------------------------------------------------*/
|
||||
|
||||
package frc4388.robot.commands.auto;
|
||||
|
||||
import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
|
||||
import edu.wpi.first.wpilibj2.command.ParallelDeadlineGroup;
|
||||
import edu.wpi.first.wpilibj2.command.RamseteCommand;
|
||||
import edu.wpi.first.wpilibj2.command.RunCommand;
|
||||
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
|
||||
import frc4388.robot.subsystems.Intake;
|
||||
import frc4388.robot.subsystems.Shooter;
|
||||
import frc4388.robot.subsystems.ShooterAim;
|
||||
import frc4388.robot.subsystems.ShooterHood;
|
||||
import frc4388.robot.subsystems.Storage;
|
||||
import frc4388.robot.commands.intake.RunExtenderOutIn;
|
||||
import frc4388.robot.commands.intake.RunIntake;
|
||||
import frc4388.robot.commands.shooter.CalibrateShooter;
|
||||
import frc4388.robot.commands.shooter.TrackTarget;
|
||||
import frc4388.robot.subsystems.Drive;
|
||||
|
||||
|
||||
// NOTE: Consider using this command inline, rather than writing a subclass. For more
|
||||
// information, see:
|
||||
// https://docs.wpilib.org/en/latest/docs/software/commandbased/convenience-features.html
|
||||
public class SixBallTop extends SequentialCommandGroup {
|
||||
/**
|
||||
* Creates a new SixBallTop.
|
||||
*/
|
||||
public SixBallTop(ShooterHood shooterHood, Storage storage, Intake intake, Shooter shooter, ShooterAim shooterAim, Drive drive, RamseteCommand[] paths) {
|
||||
// Add your commands in the super() call, e.g.
|
||||
// super(new FooCommand(), new BarCommand());
|
||||
addCommands(
|
||||
//Shoot and Extend Intake
|
||||
new CalibrateShooter(shooter, shooterAim, shooterHood),
|
||||
new ParallelDeadlineGroup(
|
||||
new Wait(drive,5),
|
||||
new TrackTarget(shooterAim),
|
||||
new RunCommand(() -> shooterHood.runAngleAdjustPID(shooterHood.addFireAngle())),
|
||||
new RunExtenderOutIn(intake)
|
||||
),
|
||||
//Intake and Path
|
||||
new ParallelDeadlineGroup(
|
||||
paths[0],
|
||||
new RunIntake(intake)
|
||||
),
|
||||
//Shoot
|
||||
new ParallelDeadlineGroup(
|
||||
new Wait(drive,5),
|
||||
new TrackTarget(shooterAim),
|
||||
new RunCommand(() -> shooterHood.runAngleAdjustPID(shooterHood.addFireAngle()))
|
||||
)
|
||||
);
|
||||
}
|
||||
}
|
||||
@@ -35,15 +35,15 @@ public class TenBallAutoMiddle extends SequentialCommandGroup {
|
||||
// super(new FooCommand(), new BarCommand());
|
||||
addCommands(
|
||||
new ParallelDeadlineGroup(
|
||||
new Wait(drive, 0.1, 0),
|
||||
new Wait(drive, 0.1),
|
||||
new CalibrateShooter(shooter, shooterAim, shooterHood)
|
||||
),
|
||||
new ParallelDeadlineGroup(
|
||||
new Wait(drive, 1, 0),
|
||||
new Wait(drive, 1),
|
||||
new RunCommand(() -> shooterAim.runShooterWithInput(-0.75), shooterAim)
|
||||
),
|
||||
new ParallelDeadlineGroup(
|
||||
new Wait(drive, 4, 0),
|
||||
new Wait(drive, 4),
|
||||
new PrepChecker(shooter, shooterAim),
|
||||
new RunCommand(() -> intake.runExtender(IntakeConstants.EXTENDER_SPEED), intake),
|
||||
new ShootPrepGroup(shooter, shooterAim, shooterHood, storage)
|
||||
|
||||
@@ -23,12 +23,12 @@ public class Wait extends CommandBase {
|
||||
/**
|
||||
* Creates a new WaitCommand.
|
||||
*/
|
||||
public Wait(SubsystemBase subsystem, double seconds, int waitNum) {
|
||||
public Wait(SubsystemBase subsystem, double seconds) {
|
||||
// Use addRequirements() here to declare subsystem dependencies.
|
||||
|
||||
m_waitTime = (long) (seconds * 1000);
|
||||
m_subsystem = subsystem;
|
||||
m_waitNum = waitNum;
|
||||
// m_waitNum = waitNum;
|
||||
|
||||
addRequirements(m_subsystem);
|
||||
}
|
||||
|
||||
@@ -44,7 +44,7 @@ public class GotoCoordinatesRobotRelative extends SequentialCommandGroup {
|
||||
m_endAngle = endAngle;
|
||||
|
||||
addCommands( new TurnDegrees(m_drive, m_currentAngle),
|
||||
new Wait(m_drive, 0, 0),
|
||||
new Wait(m_drive, 0),
|
||||
new DriveStraightToPositionPID(m_drive, m_pneumatics, m_hypotDist),
|
||||
new TurnDegrees(m_drive, (m_endAngle - m_currentAngle) % 360));
|
||||
}
|
||||
@@ -63,7 +63,7 @@ public class GotoCoordinatesRobotRelative extends SequentialCommandGroup {
|
||||
m_endAngle = m_currentAngle;
|
||||
|
||||
addCommands( new TurnDegrees(m_drive, m_currentAngle),
|
||||
new Wait(m_drive, 0, 0),
|
||||
new Wait(m_drive, 0),
|
||||
new DriveStraightToPositionPID(m_drive, m_pneumatics, m_hypotDist),
|
||||
new TurnDegrees(m_drive, m_endAngle - m_currentAngle));
|
||||
}
|
||||
|
||||
@@ -46,9 +46,9 @@ public class RunExtenderOutIn extends CommandBase {
|
||||
@Override
|
||||
public void execute() {
|
||||
if (m_intake.isExtended){
|
||||
m_intake.runExtender(0.3);
|
||||
m_intake.runExtender(0.5);
|
||||
} else {
|
||||
m_intake.runExtender(-0.3);
|
||||
m_intake.runExtender(-0.5);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
@@ -11,6 +11,7 @@ import edu.wpi.first.networktables.NetworkTableEntry;
|
||||
import edu.wpi.first.networktables.NetworkTableInstance;
|
||||
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
|
||||
import edu.wpi.first.wpilibj2.command.CommandBase;
|
||||
import frc4388.robot.Constants.ShooterConstants;
|
||||
import frc4388.robot.Constants.VisionConstants;
|
||||
import frc4388.robot.subsystems.LimeLight;
|
||||
import frc4388.robot.subsystems.Shooter;
|
||||
@@ -115,6 +116,19 @@ public class TrackTarget extends CommandBase {
|
||||
m_shooterHood.m_fireAngle = fireAngle;// + m_shooter.shooterTrims.m_hoodTrim;
|
||||
m_shooterAim.m_targetDistance = distance;
|
||||
}
|
||||
else{
|
||||
//Sweeping
|
||||
double turn = -0.5;
|
||||
if (m_shooterAim.getShooterRotatePosition() > ShooterConstants.TURRET_RIGHT_SOFT_LIMIT - 1)
|
||||
{
|
||||
turn = -0.5;
|
||||
}
|
||||
if (m_shooterAim.getShooterRotatePosition() < ShooterConstants.TURRET_LEFT_SOFT_LIMIT + 1)
|
||||
{
|
||||
turn = 0.5;
|
||||
}
|
||||
m_shooterAim.runShooterWithInput(turn);
|
||||
}
|
||||
}
|
||||
|
||||
// Called once the command ends or is interrupted.
|
||||
|
||||
@@ -132,6 +132,7 @@ public class ShooterAim extends SubsystemBase {
|
||||
return m_targetDistance * Math.sin(getTargetAngleDegrees());
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* Gets the angle of the Shooter relative to the inner port.
|
||||
* Use for tuning the Shooter Displacement
|
||||
|
||||
Reference in New Issue
Block a user