Team4388/RiseOfRidgebotics2020
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Merge branch 'auto-programming' of https://github.com/Team4388/RiseOfRidgebotics2020 into auto-programming

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This commit is contained in:
Aarav Shah
2021-02-11 17:53:07 -07:00
parent 060086c6bb c5a34f3708
commit eadc601ce9
16 changed files with 103 additions and 15 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+42 -4
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@@ -28,15 +28,19 @@ import edu.wpi.first.wpilibj.trajectory.TrajectoryGenerator;
import edu.wpi.first.wpilibj.trajectory.TrajectoryUtil;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.InstantCommand;
import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
import edu.wpi.first.wpilibj2.command.ParallelRaceGroup;
import edu.wpi.first.wpilibj2.command.RamseteCommand;
import edu.wpi.first.wpilibj2.command.RunCommand;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
import edu.wpi.first.wpilibj2.command.button.JoystickButton;
import frc4388.robot.Constants.DriveConstants;
import frc4388.robot.Constants.IntakeConstants;
import frc4388.robot.Constants.OIConstants;
import frc4388.robot.commands.auto.DriveOffLineBackward;
import frc4388.robot.commands.auto.DriveOffLineForward;
import frc4388.robot.commands.auto.EightBallAutoMiddle;
import frc4388.robot.commands.auto.FigureEight;
import frc4388.robot.commands.auto.FiveBallAutoMiddle;
import frc4388.robot.commands.auto.SixBallAutoMiddle;
import frc4388.robot.commands.auto.Slalom;
@@ -52,6 +56,7 @@ import frc4388.robot.commands.drive.DriveStraightAtVelocityPID;
import frc4388.robot.commands.drive.DriveStraightToPositionMM;
import frc4388.robot.commands.drive.DriveWithJoystick;
import frc4388.robot.commands.drive.TurnDegrees;
import frc4388.robot.commands.intake.RunIntake;
import frc4388.robot.commands.intake.RunIntakeWithTriggers;
import frc4388.robot.commands.shooter.CalibrateShooter;
import frc4388.robot.commands.shooter.TrackTarget;
@@ -111,6 +116,12 @@ public class RobotContainer {
SixBallAutoMiddle m_sixBallAutoMiddle;
SixBallAutoMiddle m_sixBallAuto0;
SixBallAutoMiddle m_sixBallAuto1;
FigureEight m_figureEight;
EightBallAutoMiddle m_eightBallAutoMiddle;
DriveOffLineForward m_driveOffLineForward;
@@ -164,8 +175,8 @@ public class RobotContainer {
// continually sends updates to the Blinkin LED controller to keep the lights on
m_robotLED.setDefaultCommand(new RunCommand(() -> m_robotLED.updateLED(), m_robotLED));
// runs the storage not
//m_robotStorage.setDefaultCommand(new RunCommand(() -> m_robotStorage.runStorage(0), m_robotStorage));
m_robotStorage.setDefaultCommand(new ManageStorage(m_robotStorage, StorageMode.IDLE));
m_robotStorage.setDefaultCommand(new RunCommand(() -> m_robotStorage.runStorage(0), m_robotStorage));
//m_robotStorage.setDefaultCommand(new ManageStorage(m_robotStorage, StorageMode.IDLE));
//m_robotLime.setDefaultCommand(new RunCommand(() -> m_robotLime.limeOff(), m_robotLime));
}
@@ -233,7 +244,7 @@ public class RobotContainer {
.whileHeld(new RunCommand(() -> m_robotIntake.runExtender(-0.5)))
.whenReleased(new InstantCommand(() -> m_robotIntake.runExtender(0)));
// safety for climber and leveler
// safety for climber and leveler
new JoystickButton(getOperatorJoystick(), XboxController.BACK_BUTTON)
.whenPressed(new InstantCommand(() -> m_robotClimber.setSafetyPressed(), m_robotClimber))
.whenReleased(new InstantCommand(() -> m_robotClimber.setSafetyNotPressed(), m_robotClimber));
@@ -294,6 +305,24 @@ public class RobotContainer {
m_barrel = new Barrel(m_robotDrive, buildPaths(barrel));
String[] sixBallAutoMiddle0 = new String[]{
"SixBallMid0"
};
m_sixBallAuto0 = new SixBallAutoMiddle(m_robotDrive, buildPaths(sixBallAutoMiddle0));
String[] sixBallAutoMiddle1 = new String[]{
"SixBallMid1"
};
m_sixBallAuto1 = new SixBallAutoMiddle(m_robotDrive, buildPaths(sixBallAutoMiddle1));
String[] figureEight = new String[]{
"FigureEight"
};
m_figureEight = new FigureEight(m_robotDrive, buildPaths(figureEight));
String[] eightBallAutoMiddlePaths = new String[]{
"EightBallMidComplete"
};
@@ -348,7 +377,16 @@ public class RobotContainer {
//return m_tenBallAutoMiddle.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0));
//return m_slalom.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0));
return m_barrel.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0));
// return m_figureEight.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0));
return new SequentialCommandGroup(
m_sixBallAuto0,
new InstantCommand(() -> resetOdometry(new Pose2d(0, 0, new Rotation2d()))),
m_sixBallAuto1
// /**new ParallelRaceGroup(
// m_sixBallAuto0,
// new RunIntake(m_robotIntake)
// )**/); //ParallelRaceGroup(m_sixBallAuto0, new RunIntake(m_robotIntake));
);
} catch (Exception e) {
System.err.println("ERROR");
}