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This commit is contained in:
Aarav Shah
2021-04-03 15:39:00 -06:00
parent 2b760f520b
commit de69bd7a22
5 changed files with 25 additions and 17 deletions
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src/main/java/frc4388/robot/commands/auto/TenBallAutoMiddle.java
+4 -3
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@@ -18,6 +18,7 @@ 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.LimeLight;
import frc4388.robot.subsystems.Shooter;
import frc4388.robot.subsystems.ShooterAim;
import frc4388.robot.subsystems.ShooterHood;
@@ -30,7 +31,7 @@ public class TenBallAutoMiddle extends SequentialCommandGroup {
/**
* Creates a new TenBallAutoMiddle.
*/
public TenBallAutoMiddle(ShooterHood shooterHood, Storage storage, Intake intake, Shooter shooter, ShooterAim shooterAim, Drive drive, RamseteCommand[] paths) {
public TenBallAutoMiddle(ShooterHood shooterHood, Storage storage, Intake intake, Shooter shooter, ShooterAim shooterAim, Drive drive, LimeLight m_limeLight, RamseteCommand[] paths) {
// Add your commands in the super() call, e.g.
// super(new FooCommand(), new BarCommand());
addCommands(
@@ -46,10 +47,10 @@ public class TenBallAutoMiddle extends SequentialCommandGroup {
new Wait(drive, 4, 0),
new PrepChecker(shooter, shooterAim),
new RunCommand(() -> intake.runExtender(IntakeConstants.EXTENDER_SPEED), intake),
new ShootPrepGroup(shooter, shooterAim, shooterHood, storage)
new ShootPrepGroup(shooter, shooterAim, shooterHood, storage, m_limeLight)
),
new ParallelDeadlineGroup(
new ShootPrepGroup(shooter, shooterAim, shooterHood, storage),
new ShootPrepGroup(shooter, shooterAim, shooterHood, storage, m_limeLight),
new RunStorage(storage)
)
//paths[0],