mirror of
https://github.com/Team4388/RiseOfRidgebotics2020.git
synced 2026-06-08 16:28:01 -06:00
Aarav Shah
44 lines
1.9 KiB
Java
44 lines
1.9 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.geometry.Pose2d;
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import edu.wpi.first.wpilibj2.command.InstantCommand;
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import edu.wpi.first.wpilibj2.command.RamseteCommand;
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import edu.wpi.first.wpilibj2.command.RunCommand;
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import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
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import frc4388.robot.RobotContainer;
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import frc4388.robot.subsystems.Drive;
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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 Bounce extends SequentialCommandGroup {
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/**
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* Creates a new Bounce.
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*/
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public Bounce(Drive drive, RobotContainer robotContainer, RamseteCommand[] paths) {
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// Add your commands in the super() call, e.g.
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// super(new FooCommand(), new BarCommand());
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addCommands(
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paths[0],
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new InstantCommand(() -> drive.switchReversed(true)),
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new InstantCommand(() -> robotContainer.resetOdometry(new Pose2d())),
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paths[1],
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new InstantCommand(() -> drive.switchReversed(false)),
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new InstantCommand(() -> robotContainer.resetOdometry(new Pose2d())),
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paths[2],
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new InstantCommand(() -> drive.switchReversed(true)),
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new InstantCommand(() -> robotContainer.resetOdometry(new Pose2d())),
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paths[3],
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new InstantCommand(() -> drive.switchReversed(false)),
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new InstantCommand(() -> robotContainer.resetOdometry(new Pose2d()))
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);
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}
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}
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