Making Galactic Search work

untested

src/main/java/frc4388/robot/commands/auto/GalacticSearch.java

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+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package frc4388.robot.commands.auto;
+
+import edu.wpi.first.wpilibj2.command.RamseteCommand;
+import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
+import frc4388.robot.subsystems.LimeLight;
+
+// NOTE:  Consider using this command inline, rather than writing a subclass.  For more
+// information, see:
+// https://docs.wpilib.org/en/latest/docs/software/commandbased/convenience-features.html
+public class GalacticSearch extends SequentialCommandGroup {
+  /**
+   * Creates a new GalacticSearch.
+   */
+  public GalacticSearch(LimeLight m_limeLight, RamseteCommand[] paths) {
+    if (m_limeLight.galacticSearchPath == "A_RED")
+    {
+      addCommands(paths[0]);
+    }
+    else if (m_limeLight.galacticSearchPath == "A_BLUE")
+    {
+      addCommands(paths[1]);
+    }
+    else if (m_limeLight.galacticSearchPath == "B_RED")
+    {
+      addCommands(paths[2]);
+    }
+    else if (m_limeLight.galacticSearchPath == "B_BLUE")
+    {
+      addCommands(paths[3]);
+    }
+  }
+}

src/main/java/frc4388/robot/commands/auto/IdentifyPath.java

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+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package frc4388.robot.commands.auto;
+
+import edu.wpi.first.networktables.NetworkTableInstance;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc4388.robot.Constants.VisionConstants;
+import frc4388.robot.subsystems.LimeLight;
+
+public class IdentifyPath extends CommandBase {
+
+  LimeLight m_limeLight;
+  double xAngle;
+  double yAngle;
+  double target;
+  public String path;
+
+  public IdentifyPath(LimeLight limeLight) {
+    m_limeLight = limeLight;
+    addRequirements(m_limeLight);
+    m_limeLight.limeOff();
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    m_limeLight.limeOn();
+    path = "";
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    target = m_limeLight.getV();
+    xAngle = m_limeLight.getX();
+    yAngle = m_limeLight.getY();
+    m_limeLight.changePipeline(1); //Dual Targetting
+
+      //Identify which of four paths
+    if (withinError(yAngle, VisionConstants.bothCloseVisibleY)) //BLUE PATHS
+    {
+      if(withinError(xAngle, VisionConstants.farLeftVisibleX)) //A PATH
+      {
+        path = "A_BLUE";
+      }
+      if(withinError(xAngle, VisionConstants.farRightVisibleX)) //B PATH
+      {
+        path = "B_BLUE";
+      }
+    }
+
+    else // RED PATHS
+    {
+      if(withinError(yAngle, VisionConstants.closeLeftVisibleY)) //A PATH
+      {
+        path = "A_RED";
+      }
+      if(withinError(yAngle, VisionConstants.closeRightVisibleY)) //B PATH
+      {
+        path = "B_RED";
+      }
+    }
+
+    
+
+  }
+
+  public boolean withinError(double angle, double input)
+  {
+    if(input > (angle - VisionConstants.searchError) && input < (angle + VisionConstants.searchError))
+    {
+      return true;
+    }
+    else
+    {
+      return false;
+    }
+  }
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    if (path != "")
+    {
+      SmartDashboard.putString("GalacticSearchPath", path);
+      m_limeLight.galacticSearchPath = path;
+      return true;
+    }
+    return false;
+  }
+}