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Merge pull request #179 from frc937/gkc-2024
GKC 2024 Changes (Disaster) AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAA
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24 changes: 24 additions & 0 deletions
24
src/main/java/frc/robot/commands/auto/DelayedTaxiAuto.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,24 @@ | ||
| // Copyright (c) FIRST and other WPILib contributors. | ||
| // Open Source Software; you can modify and/or share it under the terms of | ||
| // the WPILib BSD license file in the root directory of this project. | ||
|
|
||
| /* | ||
| * Asimov's Laws: | ||
| * The First Law: A robot may not injure a human being or, through inaction, allow a human being to come to harm. | ||
| * The Second Law: A robot must obey the orders given it by human beings except where such orders would conflict with the First Law. | ||
| * The Third Law: A robot must protect its own existence as long as such protection does not conflict with the First or Second Law. | ||
| */ | ||
|
|
||
| package frc.robot.commands.auto; | ||
|
|
||
| import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; | ||
| import edu.wpi.first.wpilibj2.command.WaitCommand; | ||
| import frc.robot.Constants; | ||
|
|
||
| /** Taxi auto that waits a bit before it taxis. */ | ||
| public class DelayedTaxiAuto extends SequentialCommandGroup { | ||
| /** Creates a new DelayedTaxiAuto. */ | ||
| public DelayedTaxiAuto() { | ||
| addCommands(new WaitCommand(Constants.Auto.TAXI_DELAY_TIME), new TaxiAuto()); | ||
| } | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,47 @@ | ||
| // Copyright (c) FIRST and other WPILib contributors. | ||
| // Open Source Software; you can modify and/or share it under the terms of | ||
| // the WPILib BSD license file in the root directory of this project. | ||
|
|
||
| /* | ||
| * Asimov's Laws: | ||
| * The First Law: A robot may not injure a human being or, through inaction, allow a human being to come to harm. | ||
| * The Second Law: A robot must obey the orders given it by human beings except where such orders would conflict with the First Law. | ||
| * The Third Law: A robot must protect its own existence as long as such protection does not conflict with the First or Second Law. | ||
| */ | ||
|
|
||
| package frc.robot.commands.auto; | ||
|
|
||
| import edu.wpi.first.wpilibj2.command.ParallelDeadlineGroup; | ||
| import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; | ||
| import edu.wpi.first.wpilibj2.command.WaitCommand; | ||
| import frc.robot.Constants; | ||
| import frc.robot.commands.drive.DriveFieldOrientedHeadingSnapping; | ||
|
|
||
| /** Auto that manually drives bot to blue amp. Made due to faulty limelight at comp. */ | ||
| public class DriveToAmpBlue extends SequentialCommandGroup { | ||
|
|
||
| /** Creates a new DriveToAmpBlue. */ | ||
| public DriveToAmpBlue() { | ||
| super( | ||
| new ParallelDeadlineGroup( | ||
| new WaitCommand(Constants.Auto.DriveToAmp.SNAPPING_TIME), | ||
| new DriveFieldOrientedHeadingSnapping( | ||
| () -> 0.0, | ||
| () -> 0.0, | ||
| () -> 0.0, | ||
| () -> false, | ||
| () -> false, | ||
| () -> true, | ||
| () -> false)), | ||
| new ParallelDeadlineGroup( | ||
| new WaitCommand(Constants.Auto.DriveToAmp.DRIVE_TO_AMP_TIME), | ||
| new DriveFieldOrientedHeadingSnapping( | ||
| () -> 0.0, | ||
| () -> 1.0, | ||
| () -> 0.0, | ||
| () -> false, | ||
| () -> false, | ||
| () -> false, | ||
| () -> false))); | ||
| } | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,47 @@ | ||
| // Copyright (c) FIRST and other WPILib contributors. | ||
| // Open Source Software; you can modify and/or share it under the terms of | ||
| // the WPILib BSD license file in the root directory of this project. | ||
|
|
||
| /* | ||
| * Asimov's Laws: | ||
| * The First Law: A robot may not injure a human being or, through inaction, allow a human being to come to harm. | ||
| * The Second Law: A robot must obey the orders given it by human beings except where such orders would conflict with the First Law. | ||
| * The Third Law: A robot must protect its own existence as long as such protection does not conflict with the First or Second Law. | ||
| */ | ||
|
|
||
| package frc.robot.commands.auto; | ||
|
|
||
| import edu.wpi.first.wpilibj2.command.ParallelDeadlineGroup; | ||
| import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; | ||
| import edu.wpi.first.wpilibj2.command.WaitCommand; | ||
| import frc.robot.Constants; | ||
| import frc.robot.commands.drive.DriveFieldOrientedHeadingSnapping; | ||
|
|
||
| /** Auto that manually drives bot to red amp. Made due to faulty limelight at comp. */ | ||
| public class DriveToAmpRed extends SequentialCommandGroup { | ||
|
|
||
| /** Creates a new DriveToAmpRed. */ | ||
| public DriveToAmpRed() { | ||
| super( | ||
| new ParallelDeadlineGroup( | ||
| new WaitCommand(Constants.Auto.DriveToAmp.SNAPPING_TIME), | ||
| new DriveFieldOrientedHeadingSnapping( | ||
| () -> 0.0, | ||
| () -> 0.0, | ||
| () -> 0.0, | ||
| () -> false, | ||
| () -> false, | ||
| () -> false, | ||
| () -> true)), | ||
| new ParallelDeadlineGroup( | ||
| new WaitCommand(Constants.Auto.DriveToAmp.DRIVE_TO_AMP_TIME), | ||
| new DriveFieldOrientedHeadingSnapping( | ||
| () -> 0.0, | ||
| () -> -1.0, | ||
| () -> 0.0, | ||
| () -> false, | ||
| () -> false, | ||
| () -> false, | ||
| () -> false))); | ||
| } | ||
| } |
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