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Autonomous two ball start #169

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d8e13ef
two ball added for left and right and middle, two ball has yet to be …
fwc4838 Oct 11, 2022
f8aac5e
tree ball (three ball)
fwc4838 Oct 12, 2022
f985350
Made adjustments to timing in between shoots to account for results o…
fwc4838 Oct 17, 2022
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7 changes: 5 additions & 2 deletions src/main/java/frc/robot/commands/Autonomous/OneShotSequenceMiddle.java
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Original file line number Diff line number Diff line change
Expand Up @@ -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;
Expand All @@ -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(1),
new NonVisionParallelShoot(shooterSubsystem, intakeSubsystem, 12000),
new ParallelMoveAndTurretReset(driveTrain, speed, 1.65, turretSubsystem, Constants.AUTO_TURRET_SPEED, intakeSubsystem)
);
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8 changes: 4 additions & 4 deletions src/main/java/frc/robot/commands/Autonomous/ThreeShotSequenceRight.java
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Expand Up @@ -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(1),
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),
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2 changes: 2 additions & 0 deletions src/main/java/frc/robot/commands/Autonomous/TwoShotSequenceLeft.java
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Expand Up @@ -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(1),
new NonVisionParallelShootDeployIntake(shooterSubsystem, intakeSubsystem, 12000),
new ParallelMoveAndTurretResetAndIntake(driveTrain, speed, 1.5, turretSubsystem, turretSpeed, intakeSubsystem, hood),
new AutoTargetSequence(turretSubsystem, limeLightVision, hood),
//new WaitCommand(0.8),
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3 changes: 3 additions & 0 deletions src/main/java/frc/robot/commands/Autonomous/TwoShotSequenceRight.java
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Original file line number Diff line number Diff line change
Expand Up @@ -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;
Expand All @@ -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(1),
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),
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