Team4388/RiseOfRidgebotics2020
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Program Simple Auto

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This commit is contained in:
Keenan D. Buckley
2020-03-13 08:37:28 -06:00
parent 352d6c2891
commit d1254f1e1d
8 changed files with 255 additions and 14 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+8 -4
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@@ -269,6 +269,8 @@ public class RobotContainer {
}
public void buildAutos() {
resetOdometry(new Pose2d(0, 0, new Rotation2d(180)));
String[] sixBallAutoMiddlePaths = new String[]{
"SixBallMidComplete"
};
@@ -300,10 +302,12 @@ public class RobotContainer {
m_fiveBallAutoMiddle = new FiveBallAutoMiddle(m_robotDrive, buildPaths(fiveBallAutoMiddlePaths));
String[] tenBallAutoMiddlePaths = new String[]{
"SixBallMidComplete",
"TenBallMidComplete"
};
m_tenBallAutoMiddle = new TenBallAutoMiddle(m_robotDrive, buildPaths(tenBallAutoMiddlePaths));
m_tenBallAutoMiddle = new TenBallAutoMiddle(m_robotShooterHood, m_robotStorage, m_robotIntake, m_robotShooter,
m_robotShooterAim, m_robotDrive,buildPaths(tenBallAutoMiddlePaths));
}
/**
@@ -321,12 +325,12 @@ public class RobotContainer {
try {
SmartDashboard.putNumber("Trajectory Total Time", m_totalTimeAuto);
return m_sixBallAutoMiddle.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0));
//return m_sixBallAutoMiddle.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));
//return m_driveOffLinfeBackward.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_tenBallAutoMiddle.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0));
} catch (Exception e) {
System.err.println("ERROR");