From d8e13ef63330a9d1cde161379dbcb5ddb0cdabac Mon Sep 17 00:00:00 2001 From: Finn Clegg Date: Tue, 11 Oct 2022 19:59:52 -0400 Subject: [PATCH 1/3] two ball added for left and right and middle, two ball has yet to be added for three shot right --- .../robot/commands/Autonomous/OneShotSequenceMiddle.java | 7 +++++-- .../frc/robot/commands/Autonomous/TwoShotSequenceLeft.java | 2 ++ .../robot/commands/Autonomous/TwoShotSequenceRight.java | 3 +++ 3 files changed, 10 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc/robot/commands/Autonomous/OneShotSequenceMiddle.java b/src/main/java/frc/robot/commands/Autonomous/OneShotSequenceMiddle.java index 5fd9602..9113792 100644 --- a/src/main/java/frc/robot/commands/Autonomous/OneShotSequenceMiddle.java +++ b/src/main/java/frc/robot/commands/Autonomous/OneShotSequenceMiddle.java @@ -5,6 +5,7 @@ package frc.robot.commands.Autonomous; import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; +import edu.wpi.first.wpilibj2.command.WaitCommand; import frc.robot.Constants; import frc.robot.commands.DriveCommands.MoveDistance; import frc.robot.commands.HoodCommands.MoveHoodToAngle; @@ -30,8 +31,10 @@ public OneShotSequenceMiddle(TurretSubsystem turretSubsystem, IntakeSubsystem in // Add your commands in the addCommands() call, e.g. // addCommands(new FooCommand(), new BarCommand()); addCommands( - //new MoveAndMoveHood(driveTrain, 0.4, 12, hood), - new MoveDistance(driveTrain, .4, 0.3), + new MoveAndMoveHood(driveTrain, 0.4, 0.3, hood), + //new MoveDistance(driveTrain, .4, 0.3), + new NonVisionParallelShoot(shooterSubsystem, intakeSubsystem, 12000), + new WaitCommand(0.5), new NonVisionParallelShoot(shooterSubsystem, intakeSubsystem, 12000), new ParallelMoveAndTurretReset(driveTrain, speed, 1.65, turretSubsystem, Constants.AUTO_TURRET_SPEED, intakeSubsystem) ); diff --git a/src/main/java/frc/robot/commands/Autonomous/TwoShotSequenceLeft.java b/src/main/java/frc/robot/commands/Autonomous/TwoShotSequenceLeft.java index b20eb10..e58fbfb 100644 --- a/src/main/java/frc/robot/commands/Autonomous/TwoShotSequenceLeft.java +++ b/src/main/java/frc/robot/commands/Autonomous/TwoShotSequenceLeft.java @@ -32,6 +32,8 @@ public TwoShotSequenceLeft(TurretSubsystem turretSubsystem, double turretSpeed, new MoveAndMoveHood(driveTrain, 0.4, 0.3, hood), //new MoveHoodToAngle(hood, 106.0), new NonVisionParallelShootDeployIntake(shooterSubsystem, intakeSubsystem, 12000), + new WaitCommand(0.5), + new NonVisionParallelShootDeployIntake(shooterSubsystem, intakeSubsystem, 12000), new ParallelMoveAndTurretResetAndIntake(driveTrain, speed, 1.5, turretSubsystem, turretSpeed, intakeSubsystem, hood), new AutoTargetSequence(turretSubsystem, limeLightVision, hood), //new WaitCommand(0.8), diff --git a/src/main/java/frc/robot/commands/Autonomous/TwoShotSequenceRight.java b/src/main/java/frc/robot/commands/Autonomous/TwoShotSequenceRight.java index e9b8511..4b23b92 100644 --- a/src/main/java/frc/robot/commands/Autonomous/TwoShotSequenceRight.java +++ b/src/main/java/frc/robot/commands/Autonomous/TwoShotSequenceRight.java @@ -5,6 +5,7 @@ package frc.robot.commands.Autonomous; import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; +import edu.wpi.first.wpilibj2.command.WaitCommand; import frc.robot.commands.DriveCommands.MoveDistance; import frc.robot.commands.HoodCommands.MoveHoodToAngle; import frc.robot.commands.ShooterCommands.AutoTargetSequence; @@ -31,6 +32,8 @@ public TwoShotSequenceRight(TurretSubsystem turretSubsystem, double turretSpeed, //new MoveAndMoveHood(driveTrain, speed, 12, hood), new MoveHoodToAngle(hood, 109.0), new NonVisionParallelShootDeployIntake(shooterSubsystem, intakeSubsystem, 11900), + new WaitCommand(0.5), + new NonVisionParallelShootDeployIntake(shooterSubsystem, intakeSubsystem, 11900), new ParallelMoveAndTurretResetAndIntake(driveTrain, 0.4, 1.0, turretSubsystem, turretSpeed, intakeSubsystem, hood), new AutoTargetSequence(turretSubsystem, limeLightVision, hood), //new WaitCommand(0.8), From f8aac5eb1973ce00773103f37b22daba1c8d8b54 Mon Sep 17 00:00:00 2001 From: Finn Clegg Date: Tue, 11 Oct 2022 20:11:23 -0400 Subject: [PATCH 2/3] tree ball (three ball) --- .../robot/commands/Autonomous/ThreeShotSequenceRight.java | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/src/main/java/frc/robot/commands/Autonomous/ThreeShotSequenceRight.java b/src/main/java/frc/robot/commands/Autonomous/ThreeShotSequenceRight.java index 62c4cb3..fd58623 100644 --- a/src/main/java/frc/robot/commands/Autonomous/ThreeShotSequenceRight.java +++ b/src/main/java/frc/robot/commands/Autonomous/ThreeShotSequenceRight.java @@ -31,13 +31,13 @@ public ThreeShotSequenceRight(TurretSubsystem turretSubsystem, double turretSpee // Add your commands in the addCommands() call, e.g. // addCommands(new FooCommand(), new BarCommand()); addCommands( - //new MoveHoodToAngle(hood, 109.0), - //new NonVisionParallelShoot(shooterSubsystem, intakeSubsystem, 12000.0), + new MoveHoodToAngle(hood, 109.0), + new NonVisionParallelShoot(shooterSubsystem, intakeSubsystem, 12000.0), + new WaitCommand(0.5), + new NonVisionParallelShoot(shooterSubsystem, intakeSubsystem, 12000.0), new ParallelMoveAndTurretResetAndIntake(driveTrain, 0.4, 1, turretSubsystem, turretSpeed, intakeSubsystem, hood), new AutoTargetSequence(turretSubsystem, limeLightVision, hood), new ShooterSequeunce(shooterSubsystem, limeLightVision, turretSubsystem), - new WaitCommand(0.5), - new ShooterSequeunce(shooterSubsystem, limeLightVision, turretSubsystem), new PidTurnDegrees(driveTrain, -111), new ParralelMoveAndIntakeAndSetTurret(driveTrain, 0.5, 2.3, turretSubsystem, -turretSpeed, intakeSubsystem, hood, turretSubsystem), new PidTurnDegrees(driveTrain, 65), From f985350efc38a882253d4e6a9a24321d0e018692 Mon Sep 17 00:00:00 2001 From: fclegg <59775798+fclegg@users.noreply.github.com> Date: Mon, 17 Oct 2022 18:40:00 -0400 Subject: [PATCH 3/3] Made adjustments to timing in between shoots to account for results of testing --- .../frc/robot/commands/Autonomous/OneShotSequenceMiddle.java | 2 +- .../frc/robot/commands/Autonomous/ThreeShotSequenceRight.java | 2 +- .../java/frc/robot/commands/Autonomous/TwoShotSequenceLeft.java | 2 +- .../frc/robot/commands/Autonomous/TwoShotSequenceRight.java | 2 +- 4 files changed, 4 insertions(+), 4 deletions(-) diff --git a/src/main/java/frc/robot/commands/Autonomous/OneShotSequenceMiddle.java b/src/main/java/frc/robot/commands/Autonomous/OneShotSequenceMiddle.java index 9113792..48d89bf 100644 --- a/src/main/java/frc/robot/commands/Autonomous/OneShotSequenceMiddle.java +++ b/src/main/java/frc/robot/commands/Autonomous/OneShotSequenceMiddle.java @@ -34,7 +34,7 @@ public OneShotSequenceMiddle(TurretSubsystem turretSubsystem, IntakeSubsystem in new MoveAndMoveHood(driveTrain, 0.4, 0.3, hood), //new MoveDistance(driveTrain, .4, 0.3), new NonVisionParallelShoot(shooterSubsystem, intakeSubsystem, 12000), - new WaitCommand(0.5), + new WaitCommand(1), new NonVisionParallelShoot(shooterSubsystem, intakeSubsystem, 12000), new ParallelMoveAndTurretReset(driveTrain, speed, 1.65, turretSubsystem, Constants.AUTO_TURRET_SPEED, intakeSubsystem) ); diff --git a/src/main/java/frc/robot/commands/Autonomous/ThreeShotSequenceRight.java b/src/main/java/frc/robot/commands/Autonomous/ThreeShotSequenceRight.java index fd58623..9bbb24d 100644 --- a/src/main/java/frc/robot/commands/Autonomous/ThreeShotSequenceRight.java +++ b/src/main/java/frc/robot/commands/Autonomous/ThreeShotSequenceRight.java @@ -33,7 +33,7 @@ public ThreeShotSequenceRight(TurretSubsystem turretSubsystem, double turretSpee addCommands( new MoveHoodToAngle(hood, 109.0), new NonVisionParallelShoot(shooterSubsystem, intakeSubsystem, 12000.0), - new WaitCommand(0.5), + new WaitCommand(1), new NonVisionParallelShoot(shooterSubsystem, intakeSubsystem, 12000.0), new ParallelMoveAndTurretResetAndIntake(driveTrain, 0.4, 1, turretSubsystem, turretSpeed, intakeSubsystem, hood), new AutoTargetSequence(turretSubsystem, limeLightVision, hood), diff --git a/src/main/java/frc/robot/commands/Autonomous/TwoShotSequenceLeft.java b/src/main/java/frc/robot/commands/Autonomous/TwoShotSequenceLeft.java index e58fbfb..84ca6d1 100644 --- a/src/main/java/frc/robot/commands/Autonomous/TwoShotSequenceLeft.java +++ b/src/main/java/frc/robot/commands/Autonomous/TwoShotSequenceLeft.java @@ -32,7 +32,7 @@ public TwoShotSequenceLeft(TurretSubsystem turretSubsystem, double turretSpeed, new MoveAndMoveHood(driveTrain, 0.4, 0.3, hood), //new MoveHoodToAngle(hood, 106.0), new NonVisionParallelShootDeployIntake(shooterSubsystem, intakeSubsystem, 12000), - new WaitCommand(0.5), + new WaitCommand(1), new NonVisionParallelShootDeployIntake(shooterSubsystem, intakeSubsystem, 12000), new ParallelMoveAndTurretResetAndIntake(driveTrain, speed, 1.5, turretSubsystem, turretSpeed, intakeSubsystem, hood), new AutoTargetSequence(turretSubsystem, limeLightVision, hood), diff --git a/src/main/java/frc/robot/commands/Autonomous/TwoShotSequenceRight.java b/src/main/java/frc/robot/commands/Autonomous/TwoShotSequenceRight.java index 4b23b92..f18b7ac 100644 --- a/src/main/java/frc/robot/commands/Autonomous/TwoShotSequenceRight.java +++ b/src/main/java/frc/robot/commands/Autonomous/TwoShotSequenceRight.java @@ -32,7 +32,7 @@ public TwoShotSequenceRight(TurretSubsystem turretSubsystem, double turretSpeed, //new MoveAndMoveHood(driveTrain, speed, 12, hood), new MoveHoodToAngle(hood, 109.0), new NonVisionParallelShootDeployIntake(shooterSubsystem, intakeSubsystem, 11900), - new WaitCommand(0.5), + new WaitCommand(1), new NonVisionParallelShootDeployIntake(shooterSubsystem, intakeSubsystem, 11900), new ParallelMoveAndTurretResetAndIntake(driveTrain, 0.4, 1.0, turretSubsystem, turretSpeed, intakeSubsystem, hood), new AutoTargetSequence(turretSubsystem, limeLightVision, hood),