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AHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHH mark 2 electric booglaoo
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| @@ -0,0 +1,74 @@ | ||
| { | ||
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,65 @@ | ||
| // 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. | ||
|
|
||
| package frc.robot.commands.Autos; | ||
|
|
||
| import edu.wpi.first.math.trajectory.TrajectoryConfig; | ||
| import edu.wpi.first.wpilibj2.command.InstantCommand; | ||
| import edu.wpi.first.wpilibj2.command.ParallelCommandGroup; | ||
| import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; | ||
| import edu.wpi.first.wpilibj2.command.WaitCommand; | ||
| import frc.robot.SharedConstants; | ||
| import frc.robot.RobotMap.Crocodile; | ||
| import frc.robot.commands.AutoIntakeCommand; | ||
| import frc.robot.commands.ResetTelescope; | ||
| import frc.robot.commands.RotatorToPosition; | ||
| import frc.robot.commands.SwerveTrajectoryFollowCommand; | ||
| import frc.robot.commands.TelescopeToPosition; | ||
| import frc.robot.commands.Presets.HighPresetSequence; | ||
| import frc.robot.commands.Presets.PickupPresetSequence; | ||
| import frc.robot.commands.Presets.StowPresetSequence; | ||
| import frc.robot.subsystems.CrocodileSubsystem; | ||
| import frc.robot.subsystems.RotatorSubsystem; | ||
| import frc.robot.subsystems.TelescopeSubsystem; | ||
| import frc.robot.subsystems.CrocodileSubsystem.GamePiece; | ||
| import frc.robot.subsystems.Swerve.DrivebaseSubsystem; | ||
|
|
||
| public class DO_NOTHING extends SequentialCommandGroup { | ||
|
|
||
| public DO_NOTHING(DrivebaseSubsystem driveBase, CrocodileSubsystem croc, RotatorSubsystem rotator, | ||
| TelescopeSubsystem telescope) { | ||
| addCommands( | ||
| new InstantCommand() | ||
|
|
||
| /* | ||
| * start | ||
| * rotate telescope to scoring position | ||
| * extend telescope to top position | ||
| * move wrist to 90 degrees | ||
| * drop cone using chomper | ||
| * move wrist back up to original position | ||
| * retract arm | ||
| * rotate arm to standby/pickup position | ||
| * move forward to the cone | ||
| * extend arm out | ||
| * move wrist down to grabbing position | ||
| * move forward some more while wrist is sucking up cone to pick it up | ||
| * retract arm in | ||
| * move back to starting position | ||
| * more over to the left/right in line up with poles | ||
| * flip arm over | ||
| * extend arm to top position | ||
| * move wrist to 90 degrees | ||
| * drop cone using chomper | ||
| * move wrist back up to original position | ||
| * retract arm back in | ||
| * rotate arm to standby/pickup position | ||
| * end | ||
| */ | ||
|
|
||
| ); | ||
| // grabs any requirements needed for the drivebase from other running commands. | ||
| addRequirements(driveBase); | ||
| } | ||
| } |
68 changes: 68 additions & 0 deletions
68
src/main/java/frc/robot/commands/Autos/EXIT_COMMUNITY.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,68 @@ | ||
| // 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. | ||
|
|
||
| package frc.robot.commands.Autos; | ||
|
|
||
| import edu.wpi.first.math.trajectory.TrajectoryConfig; | ||
| import edu.wpi.first.wpilibj2.command.InstantCommand; | ||
| import edu.wpi.first.wpilibj2.command.ParallelCommandGroup; | ||
| import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; | ||
| import edu.wpi.first.wpilibj2.command.WaitCommand; | ||
| import frc.robot.SharedConstants; | ||
| import frc.robot.RobotMap.Crocodile; | ||
| import frc.robot.commands.AutoIntakeCommand; | ||
| import frc.robot.commands.ResetTelescope; | ||
| import frc.robot.commands.RotatorToPosition; | ||
| import frc.robot.commands.SwerveTrajectoryFollowCommand; | ||
| import frc.robot.commands.TelescopeToPosition; | ||
| import frc.robot.commands.Presets.HighPresetSequence; | ||
| import frc.robot.commands.Presets.PickupPresetSequence; | ||
| import frc.robot.commands.Presets.StowPresetSequence; | ||
| import frc.robot.subsystems.CrocodileSubsystem; | ||
| import frc.robot.subsystems.RotatorSubsystem; | ||
| import frc.robot.subsystems.TelescopeSubsystem; | ||
| import frc.robot.subsystems.CrocodileSubsystem.GamePiece; | ||
| import frc.robot.subsystems.Swerve.DrivebaseSubsystem; | ||
|
|
||
| public class EXIT_COMMUNITY extends SequentialCommandGroup { | ||
| private final TrajectoryConfig defaultConfig; | ||
|
|
||
| public EXIT_COMMUNITY(DrivebaseSubsystem driveBase, CrocodileSubsystem croc, RotatorSubsystem rotator, | ||
| TelescopeSubsystem telescope) { | ||
| this.defaultConfig = new TrajectoryConfig(SharedConstants.AutoConstants.k_MAX_SPEED_MPS, | ||
| SharedConstants.AutoConstants.k_MAX_ACCEL_MPS_SQUARED); | ||
| addCommands( | ||
| new SwerveTrajectoryFollowCommand(driveBase, "moveOut", defaultConfig, true) | ||
|
|
||
| /* | ||
| * start | ||
| * rotate telescope to scoring position | ||
| * extend telescope to top position | ||
| * move wrist to 90 degrees | ||
| * drop cone using chomper | ||
| * move wrist back up to original position | ||
| * retract arm | ||
| * rotate arm to standby/pickup position | ||
| * move forward to the cone | ||
| * extend arm out | ||
| * move wrist down to grabbing position | ||
| * move forward some more while wrist is sucking up cone to pick it up | ||
| * retract arm in | ||
| * move back to starting position | ||
| * more over to the left/right in line up with poles | ||
| * flip arm over | ||
| * extend arm to top position | ||
| * move wrist to 90 degrees | ||
| * drop cone using chomper | ||
| * move wrist back up to original position | ||
| * retract arm back in | ||
| * rotate arm to standby/pickup position | ||
| * end | ||
| */ | ||
|
|
||
| ); | ||
| // grabs any requirements needed for the drivebase from other running commands. | ||
| addRequirements(driveBase); | ||
| } | ||
| } |
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