From d5a4d6cab31846322124cdba1927093f74d339db Mon Sep 17 00:00:00 2001 From: ryan123rudder <42309874+ryan123rudder@users.noreply.github.com> Date: Tue, 16 Mar 2021 23:17:50 -0600 Subject: [PATCH] Modification --- src/main/deploy/paths/Bounce1.wpilib.json | 1 + src/main/deploy/paths/Bounce2.wpilib.json | 1 + src/main/deploy/paths/Bounce3.wpilib.json | 1 + src/main/deploy/paths/Bounce4.wpilib.json | 1 + .../java/frc4388/robot/RobotContainer.java | 28 ++++--------------- .../frc4388/robot/commands/auto/Bounce.java | 6 +++- .../java/frc4388/robot/subsystems/Drive.java | 1 + 7 files changed, 16 insertions(+), 23 deletions(-) create mode 100644 src/main/deploy/paths/Bounce1.wpilib.json create mode 100644 src/main/deploy/paths/Bounce2.wpilib.json create mode 100644 src/main/deploy/paths/Bounce3.wpilib.json create mode 100644 src/main/deploy/paths/Bounce4.wpilib.json diff --git a/src/main/deploy/paths/Bounce1.wpilib.json b/src/main/deploy/paths/Bounce1.wpilib.json new file mode 100644 index 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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 2ab358d..373f563 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -329,7 +329,10 @@ public class RobotContainer { m_barrelStart = new BarrelStart(m_robotDrive, buildPaths(barrelStart)); String[] bounce = new String[]{ - "Bounce" + "Bounce1", + "Bounce2", + "Bounce3", + "Bounce4" }; m_bounce = new Bounce(m_robotDrive, buildPaths(bounce)); @@ -401,13 +404,8 @@ public class RobotContainer { //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 new SequentialCommandGroup(m_driveOffLineForward, - // new InstantCommand(() -> resetOdometry(new Pose2d())), - // new TankDriveVelocity(m_robotDrive, 1000, 1000, 1)); - //return m_barrel.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0)); return m_barrelStart.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0)); - //return new SequentialCommandGroup(new TankDriveVelocity(m_robotDrive, 1000, 1000, 3), new TankDriveVelocity(m_robotDrive, 3000, 3000, 1)); //return m_sequentialTest.andThen(() -> m_robotDrive.tankDriveVelocity(0,0)); } catch (Exception e) { @@ -416,6 +414,7 @@ public class RobotContainer { return new InstantCommand(); } + TrajectoryConfig getTrajectoryConfig() { return new TrajectoryConfig( DriveConstants.MAX_SPEED_METERS_PER_SECOND, @@ -424,21 +423,6 @@ public class RobotContainer { .setKinematics(DriveConstants.kDriveKinematics); } - Trajectory getTrajectory(TrajectoryConfig config) { - Trajectory exampleTrajectory = TrajectoryGenerator.generateTrajectory( - // Start at the origin facing the +X direction - new Pose2d(2.9, -2.4, new Rotation2d(0)), - // Pass through these two interior waypoints, making an 's' curve path - List.of( - new Translation2d(4.1, -1.7) - ), - // End 3 meters straight ahead of where we started, facing forward - new Pose2d(5.1, -0.7, new Rotation2d(0)), - // Pass config - config); - return exampleTrajectory; - } - public RamseteCommand getRamseteCommand(Trajectory trajectory) { RamseteCommand ramseteCommand = new RamseteCommand( trajectory, @@ -466,8 +450,8 @@ public class RobotContainer { SmartDashboard.putString("trajectoryPath Initial", trajectoryPath.toString()); Trajectory trajectory = TrajectoryUtil.fromPathweaverJson(trajectoryPath); - initialTrajectory = trajectory; + initialTrajectory = trajectory; RamseteCommand ramseteCommand = getRamseteCommand(trajectory.relativeTo(initialTrajectory.getInitialPose())); ramseteCommands[0] = ramseteCommand; times[0] = initialTrajectory.getTotalTimeSeconds(); diff --git a/src/main/java/frc4388/robot/commands/auto/Bounce.java b/src/main/java/frc4388/robot/commands/auto/Bounce.java index 905e3fc..7a65a4a 100644 --- a/src/main/java/frc4388/robot/commands/auto/Bounce.java +++ b/src/main/java/frc4388/robot/commands/auto/Bounce.java @@ -21,7 +21,11 @@ public class Bounce extends SequentialCommandGroup { public Bounce(Drive drive, RamseteCommand[] paths) { // Add your commands in the super() call, e.g. // super(new FooCommand(), new BarCommand()); - addCommands(paths[0] + addCommands( + paths[0], + paths[1], + paths[2], + paths[3] ); } } diff --git a/src/main/java/frc4388/robot/subsystems/Drive.java b/src/main/java/frc4388/robot/subsystems/Drive.java index fe96ca2..3d04763 100644 --- a/src/main/java/frc4388/robot/subsystems/Drive.java +++ b/src/main/java/frc4388/robot/subsystems/Drive.java @@ -514,6 +514,7 @@ public class Drive extends SubsystemBase { m_odometry.resetPosition(pose, Rotation2d.fromDegrees(getHeading())); } + /** * Resets the yaw of the pigeon */