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\ No newline at end of file diff --git a/src/main/java/frc4388/robot/Robot.java b/src/main/java/frc4388/robot/Robot.java index b8ecd81..75955a6 100644 --- a/src/main/java/frc4388/robot/Robot.java +++ b/src/main/java/frc4388/robot/Robot.java @@ -82,7 +82,6 @@ public class Robot extends TimedRobot { */ @Override public void autonomousInit() { - m_autonomousCommand = m_robotContainer.getAutonomousCommand(); m_robotContainer.setDriveNeutralMode(NeutralMode.Coast); diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index 293d4b3..cff288e 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -38,6 +38,7 @@ 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.SequentialTest; import frc4388.robot.commands.auto.SixBallAutoMiddle; import frc4388.robot.commands.auto.Slalom; import frc4388.robot.commands.auto.TenBallAutoMiddle; @@ -135,6 +136,8 @@ public class RobotContainer { Bounce m_bounce; + SequentialTest m_sequentialTest; + /** * The container for the robot. Contains subsystems, OI devices, and commands. */ @@ -356,6 +359,13 @@ public class RobotContainer { }; m_tenBallAutoMiddle = new TenBallAutoMiddle(m_robotDrive, buildPaths(tenBallAutoMiddlePaths)); + + String[] sequentialTestPaths = new String[]{ + "Seq1", + "Seq2" + }; + + m_sequentialTest = new SequentialTest(this, buildPaths(sequentialTestPaths)); } /** @@ -381,9 +391,10 @@ public class RobotContainer { //return m_fiveBallAutoMiddle.andThen(() -> m_robotDrive.tankDriveVelocity(0, 0)); //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_barrelMany.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0)); - return m_barrel.andThen(()-> m_robotDrive.tankDriveVelocity(0,0)); + return m_barrel.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0)); + //return m_barrelStart.andThen(()-> m_robotDrive.tankDriveVelocity(0, 0)); + //return new SequentialCommandGroup(new TankDriveVelocity(m_robotDrive, 1000, 1000, 3), new TankDriveVelocity(m_robotDrive, 3000, 3000, 1)); + //return m_sequentialTest.andThen(() -> m_robotDrive.tankDriveVelocity(0,0)); } catch (Exception e) { System.err.println("ERROR"); diff --git a/src/main/java/frc4388/robot/commands/auto/SequentialTest.java b/src/main/java/frc4388/robot/commands/auto/SequentialTest.java new file mode 100644 index 0000000..1fdddb2 --- /dev/null +++ b/src/main/java/frc4388/robot/commands/auto/SequentialTest.java @@ -0,0 +1,33 @@ +/*----------------------------------------------------------------------------*/ +/* 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.wpilibj.geometry.Pose2d; +import edu.wpi.first.wpilibj2.command.InstantCommand; +import edu.wpi.first.wpilibj2.command.RamseteCommand; +import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; +import frc4388.robot.RobotContainer; +import frc4388.robot.subsystems.Drive; + +// 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 SequentialTest extends SequentialCommandGroup { + /** + * Creates a new SequentialTest. + */ + public SequentialTest(RobotContainer m_robotContainer, RamseteCommand[] paths) { + // Add your commands in the super() call, e.g. + // super(new FooCommand(), new BarCommand()); + addCommands( + paths[0], + new InstantCommand(() -> m_robotContainer.resetOdometry(new Pose2d())), + paths[1] + ); + } +}