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update autons before testing #56

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Merged
Apetrock24 merged 1 commit into from
Apr 25, 2025
Merged

update autons before testing #56

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11 changes: 4 additions & 7 deletions src/main/java/com/stuypulse/robot/commands/auton/combinations/PushBackwardsCoralAuton.java
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Original file line number Diff line number Diff line change
Expand Up @@ -2,9 +2,8 @@

import com.stuypulse.robot.commands.drive.DriveTank;
import com.stuypulse.robot.commands.leds.LEDApplyPattern;
import com.stuypulse.robot.commands.pivot.PivotToDirection;
import com.stuypulse.robot.commands.pivot.roller.PivotRollerToDirection;
import com.stuypulse.robot.constants.Settings;
import com.stuypulse.robot.commands.pivot.roller.PivotCoralOuttake;
import com.stuypulse.robot.commands.pivot.roller.PivotRollerStop;
import com.stuypulse.robot.constants.Settings.LEDPatterns;

import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
Expand All @@ -24,11 +23,9 @@ public PushBackwardsCoralAuton() {
new DriveTank(.3, .3, true),
new WaitUntilCommand(10),
new DriveTank(0, 0, true),
new PivotRollerToDirection(Settings.Pivot.CORAL_SHOOT_SPEED.getAsDouble()),
new PivotToDirection(Settings.Pivot.PIVOT_LOWER_SPEED.getAsDouble()),
new PivotCoralOuttake(),
new WaitUntilCommand(1),
new PivotRollerToDirection(0),
new PivotToDirection(Settings.Pivot.PIVOT_RAISE_SPEED.getAsDouble())
new PivotRollerStop()
);
}
}
17 changes: 6 additions & 11 deletions src/main/java/com/stuypulse/robot/commands/auton/coral/DoubleCoralAuton.java
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Original file line number Diff line number Diff line change
@@ -1,11 +1,10 @@
package com.stuypulse.robot.commands.auton.coral;

import com.stuypulse.robot.constants.Settings;
import com.stuypulse.robot.constants.Settings.LEDPatterns;
import com.stuypulse.robot.commands.drive.DriveTank;
import com.stuypulse.robot.commands.leds.LEDApplyPattern;
import com.stuypulse.robot.commands.pivot.PivotToDirection;
import com.stuypulse.robot.commands.pivot.roller.PivotRollerToDirection;
import com.stuypulse.robot.commands.pivot.roller.PivotCoralOuttake;
import com.stuypulse.robot.commands.pivot.roller.PivotRollerStop;

import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
import edu.wpi.first.wpilibj2.command.WaitUntilCommand;
Expand All @@ -22,11 +21,9 @@ public DoubleCoralAuton() {
new DriveTank(.5,.5,true),
new WaitUntilCommand(2),
new DriveTank(0,0,true),
new PivotRollerToDirection(Settings.Pivot.CORAL_SHOOT_SPEED.getAsDouble()),
new PivotToDirection(Settings.Pivot.PIVOT_LOWER_SPEED.getAsDouble()),
new PivotCoralOuttake(),
new WaitUntilCommand(1),
new PivotRollerToDirection(0),
new PivotToDirection(Settings.Pivot.PIVOT_RAISE_SPEED.getAsDouble()),
new PivotRollerStop(),
new DriveTank(-.5,-.5,true),
new WaitUntilCommand(1),
new DriveTank(.4,.5,true),
Expand All @@ -41,11 +38,9 @@ public DoubleCoralAuton() {
new DriveTank(.5,.5,true),
new WaitUntilCommand(2),
new DriveTank(0,0,true),
new PivotRollerToDirection(Settings.Pivot.CORAL_SHOOT_SPEED.getAsDouble()),
new PivotToDirection(Settings.Pivot.PIVOT_LOWER_SPEED.getAsDouble()),
new PivotCoralOuttake(),
new WaitUntilCommand(1),
new PivotRollerToDirection(0),
new PivotToDirection(Settings.Pivot.PIVOT_RAISE_SPEED.getAsDouble())
new PivotRollerStop()
);
}
}
12 changes: 3 additions & 9 deletions src/main/java/com/stuypulse/robot/commands/auton/coral/SingleCoralAuton.java
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Original file line number Diff line number Diff line change
Expand Up @@ -9,9 +9,7 @@

import com.stuypulse.robot.commands.drive.DriveTank;
import com.stuypulse.robot.commands.leds.LEDApplyPattern;
import com.stuypulse.robot.commands.pivot.PivotToDirection;
import com.stuypulse.robot.commands.pivot.roller.PivotRollerToDirection;
import com.stuypulse.robot.constants.Settings;
import com.stuypulse.robot.commands.pivot.roller.PivotCoralOuttake;
import com.stuypulse.robot.constants.Settings.LEDPatterns;

/**
Expand All @@ -25,13 +23,9 @@ public SingleCoralAuton() {
addCommands(
new LEDApplyPattern(LEDPatterns.SINGLE_L1_AUTON),
new DriveTank(.25, .25, true),
new WaitUntilCommand(5.00),
new WaitUntilCommand(7.00),
new DriveTank(0, 0, true),
new PivotRollerToDirection(Settings.Pivot.CORAL_SHOOT_SPEED.getAsDouble()),
new PivotToDirection(Settings.Pivot.PIVOT_LOWER_SPEED.getAsDouble()),
new WaitUntilCommand(1),
new PivotRollerToDirection(0),
new PivotToDirection(Settings.Pivot.PIVOT_RAISE_SPEED.getAsDouble())
new PivotCoralOuttake()
);
}
}