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Fallback trajectories v2 #136

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Fallback trajectories v2 #136

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19 changes: 12 additions & 7 deletions src/main/java/com/team1701/robot/commands/AutonomousCommands.java
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Original file line number Diff line number Diff line change
Expand Up @@ -196,11 +196,7 @@ private Command followChoreoPath(String pathName, boolean resetPose) {
}

private Command driveBackPreWarmAndShoot(String pathName) {
return loggedSequence(
pauseDrive(pathName),
followChoreoPathAndPreWarm(pathName),
aimAndShoot(),
runOnce(() -> mRobotState.setUseAutonFallback(false)));
return loggedSequence(pauseDrive(pathName), followChoreoPathAndPreWarm(pathName), aimAndShoot());
}

private Command driveToNextPiece(AutoNote nextNote) {
Expand Down Expand Up @@ -246,15 +242,24 @@ private Pose2d getFinalPose(String pathName) {
return trajectory == null ? GeometryUtil.kPoseIdentity : trajectory.getFinalPose();
}

private class UseEfficientAutonFallback {
boolean useFallback = false;

public UseEfficientAutonFallback(boolean use) {
useFallback = use;
}
}

private Command efficientlyPreWarmShootAndDrive(String pathName, String returnPath, AutoNote nextNote) {
var useAutonFallback = new UseEfficientAutonFallback(false);
return race(
driveBackPreWarmAndShoot(pathName).andThen(followChoreoPathAndSeekNote(returnPath)),
waitSeconds(.7)
.andThen(either(
idle(),
runOnce(() -> mRobotState.setUseAutonFallback(true)),
runOnce(() -> useAutonFallback.useFallback = true),
mRobotState::hasNote)))
.andThen(either(driveToNextPiece(nextNote), none(), mRobotState::getUseAutonFallback));
.andThen(either(driveToNextPiece(nextNote), none(), () -> useAutonFallback.useFallback));
}

private Command followChoreoPathAndSeekNote(String pathName) {
Expand Down
11 changes: 0 additions & 11 deletions src/main/java/com/team1701/robot/states/RobotState.java
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Original file line number Diff line number Diff line change
Expand Up @@ -58,8 +58,6 @@ public class RobotState {

private ShootingState mShootingState = ShootingState.kDefault;

private boolean mUseAutonFallback = false;

public RobotState() {
mField = new Field2d();
SmartDashboard.putData("Field", mField);
Expand Down Expand Up @@ -391,15 +389,6 @@ public boolean isClimbMode() {
return mScoringMode == ScoringMode.CLIMB;
}

public boolean getUseAutonFallback() {
return mUseAutonFallback;
}

public boolean setUseAutonFallback(boolean use) {
mUseAutonFallback = use;
return mUseAutonFallback;
}

public enum ScoringMode {
SPEAKER,
AMP,
Expand Down