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replacement basic auto #54

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merged 2 commits into from
Oct 27, 2023
Merged

replacement basic auto #54

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86ab2b0
replacement basic auto
minhnguyenbhs Oct 26, 2023
147584b
edited auto, removed smartdashboard drivetime
minhnguyenbhs Oct 27, 2023
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2 changes: 2 additions & 0 deletions src/main/java/frc/robot/Constants.java
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Original file line number Diff line number Diff line change
Expand Up @@ -7,6 +7,8 @@

public class Constants {

public static final double autoDriveTime = 5;

public final class ArmConstants {

public static final int wristMotorID = 19; //19?
Expand Down
7 changes: 2 additions & 5 deletions src/main/java/frc/robot/Robot.java
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Original file line number Diff line number Diff line change
Expand Up @@ -14,6 +14,7 @@
import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.CommandScheduler;
import frc.robot.commands.auto.Auto;

/**
* The VM is configured to automatically run this class, and to call the functions corresponding to
Expand All @@ -23,8 +24,6 @@
*/
public class Robot extends TimedRobot {

private final Timer m_timer = new Timer();

private RobotContainer m_robotContainer;

private final Timer loopTimer = new Timer();
Expand Down Expand Up @@ -53,9 +52,7 @@ public void robotInit() {
/** This function is run once each time the robot enters autonomous mode. */
@Override
public void autonomousInit() {
m_timer.reset();
m_timer.start();

m_robotContainer.getAutonomous().schedule();

}

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7 changes: 7 additions & 0 deletions src/main/java/frc/robot/RobotContainer.java
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Original file line number Diff line number Diff line change
Expand Up @@ -3,12 +3,14 @@
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
import edu.wpi.first.wpilibj2.command.button.JoystickButton;
import edu.wpi.first.wpilibj2.command.button.Trigger;
import frc.robot.commands.ArmMove;
import frc.robot.commands.DriveWithJoysticks;
import frc.robot.commands.auto.Auto;
import frc.robot.subsystems.ArmSubsystem;
import frc.robot.subsystems.ArmSubsystem.Mode;
import frc.robot.subsystems.drive.DriveSubsystem;
Expand Down Expand Up @@ -44,6 +46,7 @@ public RobotContainer() {
));
configureButtonBindings();

SmartDashboard.putNumber("Auto Drive Time", 5);
}

private void configureButtonBindings() {
Expand All @@ -64,5 +67,9 @@ private void configureButtonBindings() {

}

public Command getAutonomous() {
return new Auto(arm, drive, Constants.autoDriveTime);
}


}
23 changes: 14 additions & 9 deletions src/main/java/frc/robot/commands/auto/Auto.java
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Original file line number Diff line number Diff line change
@@ -1,11 +1,14 @@
package frc.robot.commands.auto;

import edu.wpi.first.math.kinematics.ChassisSpeeds;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.CommandBase;
import edu.wpi.first.wpilibj2.command.Commands;
import edu.wpi.first.wpilibj2.command.InstantCommand;
import edu.wpi.first.wpilibj2.command.ParallelRaceGroup;
import edu.wpi.first.wpilibj2.command.RunCommand;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
import edu.wpi.first.wpilibj2.command.WaitCommand;
import frc.robot.commands.ArmMove;
Expand All @@ -17,17 +20,19 @@ public class Auto extends SequentialCommandGroup {


public Auto(ArmSubsystem arm, DriveSubsystem drive, double driveTime) {
addRequirements(arm);
addRequirements(drive);

addCommands(
new InstantCommand(() -> arm.setMode(Mode.SHOOT_HIGH)),
new WaitCommand(1),
new InstantCommand(() -> arm.setMode(Mode.IDLE)),
new ParallelRaceGroup(
new ArmMove(arm, Mode.SHOOT_HIGH).raceWith(new WaitCommand(1.0)),
new ParallelRaceGroup (
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Is ParallelRaceGroup correct here? Will ArmMove complete and end the race?

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ArmMove never is finished, so it shouldn't win the race against the wait

new ArmMove(arm, Mode.INTAKE),
new RunCommand(() -> drive.setGoalChassisSpeeds(new ChassisSpeeds(0.5, 0, 0))),
new WaitCommand(driveTime)
)
);

),
new InstantCommand(() -> SmartDashboard.putBoolean("drive finished", true)),
new InstantCommand(() -> drive.setGoalChassisSpeeds(new ChassisSpeeds(0, 0, 0))),
new ArmMove(arm, Mode.STOW)
);
}


}