mirror of
https://github.com/Team4388/RiseOfRidgebotics2020.git
synced 2026-06-09 08:48:01 -06:00
Aarav Shah
52 lines
2.1 KiB
Java
52 lines
2.1 KiB
Java
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2019 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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package frc4388.robot.commands.auto;
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import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
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import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
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import edu.wpi.first.wpilibj2.command.RamseteCommand;
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import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
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import frc4388.robot.commands.intake.RunIntake;
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import frc4388.robot.subsystems.Intake;
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import frc4388.robot.subsystems.LimeLight;
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// NOTE: Consider using this command inline, rather than writing a subclass. For more
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// information, see:
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// https://docs.wpilib.org/en/latest/docs/software/commandbased/convenience-features.html
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public class GalacticSearch extends SequentialCommandGroup {
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/**
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* Creates a new GalacticSearch.
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*/
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public GalacticSearch(LimeLight m_limeLight, Intake m_intake, RamseteCommand[] paths) {
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// addCommands(
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// new IdentifyPath(m_limeLight),
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// new ExecuteCommand(m_limeLight, paths)
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// );
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if (m_limeLight.galacticSearchPath == "A_RED")
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{
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addCommands(new ParallelCommandGroup(paths[0], new RunIntake(m_intake)));
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}
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else if (m_limeLight.galacticSearchPath == "A_BLUE")
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{
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addCommands(new ParallelCommandGroup(paths[1], new RunIntake(m_intake)));
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}
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else if (m_limeLight.galacticSearchPath == "B_RED")
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{
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addCommands(new ParallelCommandGroup(paths[2], new RunIntake(m_intake)));
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}
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else if (m_limeLight.galacticSearchPath == "B_BLUE")
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{
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addCommands(new ParallelCommandGroup(paths[3], new RunIntake(m_intake)));
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}
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else if (m_limeLight.galacticSearchPath == "test")
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{
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addCommands(new ParallelCommandGroup(paths[0], new RunIntake(m_intake)));
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}
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}
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}
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