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Added Run Intake to end of Drive Forward Auto

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This commit is contained in:
ryan123rudder
2021-02-05 13:54:16 -07:00
parent 0593a8595c
commit cbc0c9443c
4 changed files with 14 additions and 7 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+6 -5
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@@ -33,6 +33,7 @@ import edu.wpi.first.wpilibj2.command.RunCommand;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
import edu.wpi.first.wpilibj2.command.button.JoystickButton;
import frc4388.robot.Constants.DriveConstants;
import frc4388.robot.Constants.IntakeConstants;
import frc4388.robot.Constants.OIConstants;
import frc4388.robot.commands.auto.DriveOffLineBackward;
import frc4388.robot.commands.auto.DriveOffLineForward;
@@ -161,8 +162,8 @@ public class RobotContainer {
// continually sends updates to the Blinkin LED controller to keep the lights on
m_robotLED.setDefaultCommand(new RunCommand(() -> m_robotLED.updateLED(), m_robotLED));
// 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_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));
}
@@ -230,7 +231,7 @@ public class RobotContainer {
.whileHeld(new RunCommand(() -> m_robotIntake.runExtender(-0.5)))
.whenReleased(new InstantCommand(() -> m_robotIntake.runExtender(0)));
// safety for climber and leveler
// safety for climber and leveler
new JoystickButton(getOperatorJoystick(), XboxController.BACK_BUTTON)
.whenPressed(new InstantCommand(() -> m_robotClimber.setSafetyPressed(), m_robotClimber))
.whenReleased(new InstantCommand(() -> m_robotClimber.setSafetyNotPressed(), m_robotClimber));
@@ -332,8 +333,8 @@ public class RobotContainer {
try {
SmartDashboard.putNumber("Trajectory Total Time", m_totalTimeAuto);
//return m_sixBallAutoMiddle.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0));
return m_figureEight.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0));
return m_sixBallAutoMiddle.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0));
//return m_figureEight.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0));
//return m_eightBallAutoMiddle.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0));
//return m_driveOffLineForward.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0));
//return m_driveOffLineBackward.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0));
src/main/java/frc4388/robot/commands/auto/DriveOffLineForward.java
+5 -1
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@@ -9,7 +9,9 @@ package frc4388.robot.commands.auto;
import edu.wpi.first.wpilibj2.command.RamseteCommand;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
import frc4388.robot.commands.intake.RunIntake;
import frc4388.robot.subsystems.Drive;
import frc4388.robot.subsystems.Intake;
// NOTE: Consider using this command inline, rather than writing a subclass. For more
// information, see:
@@ -21,9 +23,11 @@ public class DriveOffLineForward extends SequentialCommandGroup {
public DriveOffLineForward(Drive drive, RamseteCommand[] paths) {
// Add your commands in the super() call, e.g.
// super(new FooCommand(), new BarCommand());
Intake m_intake = new Intake();
addCommands(
paths[0]
paths[0],
new RunIntake(m_intake)
);
}
}