From b7465a002940a4c8c10a16022d59ea1bd2d202ad Mon Sep 17 00:00:00 2001 From: Aarav Shah Date: Thu, 25 Mar 2021 16:46:35 -0600 Subject: [PATCH] BarrelPath Co-Authored-By: Nirvan Bhalala <78400306+nbhalala27@users.noreply.github.com> --- PathWeaver/Paths/Barrel | 1 - PathWeaver/Paths/BarrelStart | 10 +++++----- src/main/deploy/paths/Barrel.wpilib.json | 2 +- src/main/deploy/paths/BarrelStart.wpilib.json | 2 +- src/main/java/frc4388/robot/RobotContainer.java | 4 ++-- .../java/frc4388/robot/commands/auto/BarrelStart.java | 5 ++--- 6 files changed, 11 insertions(+), 13 deletions(-) diff --git a/PathWeaver/Paths/Barrel b/PathWeaver/Paths/Barrel index c035273..85dd553 100644 --- a/PathWeaver/Paths/Barrel +++ b/PathWeaver/Paths/Barrel @@ -12,4 +12,3 @@ X,Y,Tangent X,Tangent Y,Fixed Theta,Name 8.096943374347742,-3.3900483154029506,0.6061441731624058,0.4824412806802809,true, 8.053647361978998,-2.4375360432906006,-0.7360322102686343,0.5690333054177668,true, 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\ No newline at end of file diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index 21cbb67..0d3270f 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -317,13 +317,13 @@ public class RobotContainer { m_slalom = new Slalom(m_robotDrive, buildPaths(slalom)); String[] barrel = new String[]{ - "Barrel" + "BarrelStart" }; m_barrel = new Barrel(m_robotDrive, buildPaths(barrel)); String[] barrelStart = new String[]{ - "BarrelStart" + "Barrel" }; m_barrelStart = new BarrelStart(m_robotDrive, buildPaths(barrelStart)); diff --git a/src/main/java/frc4388/robot/commands/auto/BarrelStart.java b/src/main/java/frc4388/robot/commands/auto/BarrelStart.java index 76b7f61..25c229a 100644 --- a/src/main/java/frc4388/robot/commands/auto/BarrelStart.java +++ b/src/main/java/frc4388/robot/commands/auto/BarrelStart.java @@ -26,9 +26,8 @@ public class BarrelStart extends SequentialCommandGroup { // super(new FooCommand(), new BarCommand()); addCommands( paths[0], - 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 + //new Wait(drive, 0.01, 1), + new TankDriveVelocity(drive, 3, 3, 1) //my life be like oooooo aaaaaa ooooo aaaa ); }