Team4388/RiseOfRidgebotics2020
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Replaced GotoCoordinate with Distance PID instead Motion Magic

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This commit is contained in:
Aarav Shah
2020-02-29 11:08:38 -07:00
parent f62b51a108
commit f7d8d41445
4 changed files with 9 additions and 6 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+4 -2
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@@ -192,7 +192,7 @@ public class RobotContainer {
//Runs an Autonomous command group that would shoot our preloaded balls, pick up 3 more from the trench, and shoot those
//This assumes that we are positioned against the right wall with our shooter facing the target.
return new SequentialCommandGroup(new Wait(0, m_robotDrive),
return new SequentialCommandGroup(new Wait(m_robotDrive, 0),
//add aim command
//add shooter command
//new DriveStraightToPositionMM(m_robotDrive, 48.0),
@@ -208,7 +208,9 @@ public class RobotContainer {
//Below this would be the picking up additional balls outside of those in the trench directly behind us
//new GotoCoordinates(m_robotDrive, 36, 36),
new GotoCoordinates(m_robotDrive, 36, 36, -90));//,
//new DriveStraightToPositionPID(m_robotDrive, 160)
//new DriveStraightToPositionMM(m_robotDrive, 160)
new GotoCoordinates(m_robotDrive, 87, 47, -90));//,
//new StorageIntakeGroup(m_robotIntake, m_robotStorage),
//new TurnDegrees(m_robotDrive, 75),
//new DriveStraightToPositionMM(m_robotDrive, 18.0),