Team4388/RiseOfRidgebotics2020
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Added a five ball auto path

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Co-Authored-By: kyrarivera <kyrarivera@users.noreply.github.com>
This commit is contained in:
Aarav Shah
2020-03-11 16:46:40 -06:00
parent f4e184a2f8
commit ef62fc1119
2 changed files with 43 additions and 6 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+16 -6
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@@ -37,6 +37,7 @@ 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.FiveBallAutoMiddle;
import frc4388.robot.commands.auto.SixBallAutoMiddle;
import frc4388.robot.commands.InterruptSubystem;
import frc4388.robot.commands.auto.AutoPath1FromCenter;
@@ -112,6 +113,8 @@ public class RobotContainer {
DriveOffLineBackward m_driveOffLineBackward;
FiveBallAutoMiddle m_fiveBallAutoMiddle;
/**
* The container for the robot. Contains subsystems, OI devices, and commands.
@@ -267,25 +270,31 @@ public class RobotContainer {
"SixBallMidComplete"
};
m_sixBallAutoMiddle = new SixBallAutoMiddle(m_robotDrive, buildPaths(sixBallAutoMiddlePaths, false));
m_sixBallAutoMiddle = new SixBallAutoMiddle(m_robotDrive, buildPaths(sixBallAutoMiddlePaths));
String[] eightBallAutoMiddlePaths = new String[]{
"EightBallMidComplete"
};
m_eightBallAutoMiddle = new EightBallAutoMiddle(m_robotDrive, buildPaths(eightBallAutoMiddlePaths, false));
m_eightBallAutoMiddle = new EightBallAutoMiddle(m_robotDrive, buildPaths(eightBallAutoMiddlePaths));
String[] driveOffLineForwardPaths = new String[]{
"DriveOffLineForward"
};
m_driveOffLineForward = new DriveOffLineForward(m_robotDrive, buildPaths(driveOffLineForwardPaths, false));
m_driveOffLineForward = new DriveOffLineForward(m_robotDrive, buildPaths(driveOffLineForwardPaths));
String[] driveOffLineBackwardPaths = new String[]{
"DriveOffLineBackward"
};
m_driveOffLineBackward = new DriveOffLineBackward(m_robotDrive, buildPaths(driveOffLineBackwardPaths, true));
m_driveOffLineBackward = new DriveOffLineBackward(m_robotDrive, buildPaths(driveOffLineBackwardPaths));
String[] fiveBallAutoMiddlePaths = new String[]{
"FiveBallMidComplete"
};
m_fiveBallAutoMiddle = new FiveBallAutoMiddle(m_robotDrive, buildPaths(fiveBallAutoMiddlePaths));
}
/**
@@ -306,7 +315,8 @@ public class RobotContainer {
//return m_sixBallAutoMiddle.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0));
//return m_eightBallAutoMiddle.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0));
//return m_driveOffLineForward.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0));
return m_driveOffLineBackward.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0));
//return m_driveOffLineBackward.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0));
return m_fiveBallAutoMiddle.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0));
} catch (Exception e) {
System.err.println("ERROR");
@@ -349,7 +359,7 @@ public class RobotContainer {
return ramseteCommand;
}
public RamseteCommand[] buildPaths(String[] paths, boolean isReversed) {
public RamseteCommand[] buildPaths(String[] paths) {
RamseteCommand[] ramseteCommands = new RamseteCommand[paths.length];
double[] times = new double[paths.length];
Trajectory initialTrajectory;