mirror of
https://github.com/Team4388/RiseOfRidgebotics2020.git
synced 2026-06-09 00:38:00 -06:00
Aarav Shah
61 lines
2.6 KiB
Java
61 lines
2.6 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.wpilibj2.command.ParallelDeadlineGroup;
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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.Constants.IntakeConstants;
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import frc4388.robot.commands.shooter.CalibrateShooter;
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import frc4388.robot.commands.shooter.PrepChecker;
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import frc4388.robot.commands.shooter.ShootPrepGroup;
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import frc4388.robot.commands.storage.RunStorage;
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import frc4388.robot.subsystems.Drive;
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import frc4388.robot.subsystems.Intake;
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import frc4388.robot.subsystems.LimeLight;
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import frc4388.robot.subsystems.Shooter;
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import frc4388.robot.subsystems.ShooterAim;
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import frc4388.robot.subsystems.ShooterHood;
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import frc4388.robot.subsystems.Storage;
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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 TenBallAutoMiddle extends SequentialCommandGroup {
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/**
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* Creates a new TenBallAutoMiddle.
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*/
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public TenBallAutoMiddle(ShooterHood shooterHood, Storage storage, Intake intake, Shooter shooter, ShooterAim shooterAim, Drive drive, LimeLight m_limeLight, 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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new ParallelDeadlineGroup(
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new Wait(drive, 0.1, 0),
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new CalibrateShooter(shooter, shooterAim, shooterHood)
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),
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new ParallelDeadlineGroup(
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new Wait(drive, 1, 0),
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new RunCommand(() -> shooterAim.runShooterWithInput(-0.75), shooterAim)
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),
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new ParallelDeadlineGroup(
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new Wait(drive, 4, 0),
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new PrepChecker(shooter, shooterAim),
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new RunCommand(() -> intake.runExtender(IntakeConstants.EXTENDER_SPEED), intake),
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new ShootPrepGroup(shooter, shooterAim, shooterHood, storage, m_limeLight)
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),
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new ParallelDeadlineGroup(
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new ShootPrepGroup(shooter, shooterAim, shooterHood, storage, m_limeLight),
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new RunStorage(storage)
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)
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//paths[0],
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//paths[1]
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);
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}
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}
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