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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/commands/auto/TenBallAutoMiddle.java
+33 -2
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@@ -7,9 +7,21 @@
package frc4388.robot.commands.auto;
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.Constants.IntakeConstants;
import frc4388.robot.commands.shooter.CalibrateShooter;
import frc4388.robot.commands.shooter.PrepChecker;
import frc4388.robot.commands.shooter.ShootPrepGroup;
import frc4388.robot.commands.storage.RunStorage;
import frc4388.robot.subsystems.Drive;
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;
// NOTE: Consider using this command inline, rather than writing a subclass. For more
// information, see:
@@ -18,11 +30,30 @@ public class TenBallAutoMiddle extends SequentialCommandGroup {
/**
* Creates a new TenBallAutoMiddle.
*/
public TenBallAutoMiddle(Drive drive, RamseteCommand[] paths) {
public TenBallAutoMiddle(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(
paths[0]
new ParallelDeadlineGroup(
new Wait(drive, 0.1, 0),
new CalibrateShooter(shooter, shooterAim, shooterHood)
),
new ParallelDeadlineGroup(
new Wait(drive, 1, 0),
new RunCommand(() -> shooterAim.runShooterWithInput(-0.75), shooterAim)
),
new ParallelDeadlineGroup(
new Wait(drive, 4, 0),
new PrepChecker(shooter, shooterAim),
new RunCommand(() -> intake.runExtender(IntakeConstants.EXTENDER_SPEED), intake),
new ShootPrepGroup(shooter, shooterAim, shooterHood, storage)
),
new ParallelDeadlineGroup(
new ShootPrepGroup(shooter, shooterAim, shooterHood, storage),
new RunStorage(storage)
)
//paths[0],
//paths[1]
);
}
}