Team4388/RiseOfRidgebotics2020
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This commit is contained in:
ryan123rudder
2021-03-16 23:17:50 -06:00
parent b0f4857b0d
commit d5a4d6cab3
7 changed files with 16 additions and 23 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+6 -22
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@@ -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();