Auton #12
Auton #12
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renamed setMotorSpeed to setSpeed created defaultOnSpeed and defaultOffSpeed
Replaced flywheel with original version
Wraps the lift belts and flippers only. Does not include runup belt. No longer extends SubsystemBase Changed some member names for clarity make subsystem data members public
intake now wraps the intake rollers, the funnel motor, and the intake extension solenoid added different default speed constants added various speed setters made subsystem data members public so commands can access them
…4/2020-Code into shooter-commands
…or the spline visualizer
…er implementation
…nd movement commands
| class JustMove extends AutonRoutine { | ||
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| public JustMove() { | ||
| this.andThen(new ChassisMoveDistance(RobotMap.Component.chassis, 10, null)); // TODO: what motioncontroller? |
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I may be mistaken, but doesn't andThen require you to already have some commands in the group?
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What do you do instead to add the first command?
| class JustMove extends AutonRoutine { | ||
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| public JustMove() { | ||
| this.andThen(new ChassisMoveDistance(RobotMap.Component.chassis, 10, null)); // TODO: what motioncontroller? |
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why not just use SimpleSplines?
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No need to if the robot is just moving forwards?
src/main/java/org/usfirst/frc4904/auton/PickupAndShootCenter.java
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| class PickupAndShootCenter extends AutonRoutine { | ||
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| public PickupAndShootCenter() { |
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maybe clarify that this is PickupAndShootCenter, where we don't reevaluate our position.
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you mean that it doesn't use localization?
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| import edu.wpi.first.wpilibj.trajectory.Trajectory; | ||
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| class PickupAndShootSide extends AutonRoutine { |
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similar comments to PickupAndShootCenter...
| import edu.wpi.first.wpilibj.geometry.Pose2d; | ||
| import edu.wpi.first.wpilibj.geometry.Rotation2d; | ||
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| class Poses { |
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I'm not gonna bother with checking all of these constants right now, but just remember that - is right and clockwise, + is left and ccw.
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yeah most of these are probably wrong, especially the rotations
| this.andThen(collectSpline); | ||
| andThen(new VisionMoveHighPort()); | ||
| double FlywheelSpeed = 0.0; | ||
| andThen(new Shoot(RobotMap.Component.indexer, RobotMap.Component.shooter, FlywheelSpeed)); |
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if you move to the high port, use the BoxShot command instead of Shoot
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AutonRoutine is used as a wrapper for the spline visualizer to access auton commands
| Trajectory collect = RobotMap.Component.sensorChassis | ||
| .generateQuinticTrajectory(Arrays.asList(Poses.sideCollectStart, Poses.sideCollectEnd)); | ||
| SimpleSplines collectSpline = new SimpleSplines(RobotMap.Component.sensorChassis, collect); | ||
| this.andThen(collectSpline); |
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intake should be called in parallel
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| class PickupAndShootSide extends AutonRoutine { | ||
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| public PickupAndShootSide() { |
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instead of using andThen, you can use the addCommands method and pass in all your commands in order
| // All measurements are in inches, starting at the bottom left corner of the | ||
| // field (I hope) |
| // | ||
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| // Useful constants | ||
| static final int topOfField = 319; |
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constants should be in THIS_CASE
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| class ShootAndPickupSide extends AutonRoutine { | ||
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| public ShootAndPickupSide() { |
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same thing with addCommands
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| class ShootandPickupCenter extends AutonRoutine { | ||
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| public ShootandPickupCenter() { // TODO: Splining from the shooting pose to the balls will probably just make it |
All of the constants in Poses.java still need tuning, and we might want more routines later.