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Sequential Test

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wanted to see if they work in auto revert
This commit is contained in:
Aarav Shah
2021-03-12 13:50:52 -07:00
parent a06a72d297
commit fd6ea36e7e
26 changed files with 79 additions and 22 deletions
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src/main/java/frc4388/robot/Robot.java
-1
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@@ -82,7 +82,6 @@ public class Robot extends TimedRobot {
*/
@Override
public void autonomousInit() {
m_autonomousCommand = m_robotContainer.getAutonomousCommand();
m_robotContainer.setDriveNeutralMode(NeutralMode.Coast);
src/main/java/frc4388/robot/RobotContainer.java
+14 -3
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@@ -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");
src/main/java/frc4388/robot/commands/auto/SequentialTest.java
+33
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@@ -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]
);
}
}