Skip to content

Commit

Permalink
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
added led to some parts
Browse files Browse the repository at this point in the history
siyoyoCode committed Feb 24, 2024
1 parent b425ed5 commit 1189f7a
Showing 3 changed files with 7 additions and 4 deletions.
7 changes: 5 additions & 2 deletions src/main/java/frc/robot/commands/auton/BaseAutonSequence.java
Original file line number Diff line number Diff line change
@@ -15,6 +15,7 @@
import frc.robot.subsystems.elevator.ElevatorSubsystem;
import frc.robot.subsystems.intake.IntakePivotSubsystem;
import frc.robot.subsystems.intake.IntakeRollersSubsystem;
import frc.robot.subsystems.leds.LEDSubsystem;
import frc.robot.subsystems.shooter.ShooterFeederSubsystem;
import frc.robot.subsystems.shooter.ShooterFlywheelSubsystem;
import frc.robot.subsystems.shooter.ShooterPivotSubsystem;
@@ -34,20 +35,22 @@ public class BaseAutonSequence extends SequentialCommandGroup{
private final ShooterPivotSubsystem shooterPivotSubsystem;
private final ShooterFlywheelSubsystem shooterFlywheelSubsystem;
private final ElevatorSubsystem elevatorSubsystem;
private final LEDSubsystem ledSubsystem;
private final SwerveSubsystem swerveSubsystem;
private final PIDController thetaController;
private PIDController xPID;
private PIDController yPID;
private boolean isRed;
private double driveforwardtime = 1;

public BaseAutonSequence(IntakePivotSubsystem intakePivotSubsystem, IntakeRollersSubsystem intakeRollersSubsystem, ShooterFeederSubsystem shooterFeederSubsystem, ShooterFlywheelSubsystem shooterFlywheelSubsystem, ShooterPivotSubsystem shooterPivotSubsystem, ElevatorSubsystem elevatorSubsystem, BaseSwerveSubsystem swerveSubsystem){
public BaseAutonSequence(IntakePivotSubsystem intakePivotSubsystem, IntakeRollersSubsystem intakeRollersSubsystem, ShooterFeederSubsystem shooterFeederSubsystem, ShooterFlywheelSubsystem shooterFlywheelSubsystem, ShooterPivotSubsystem shooterPivotSubsystem, ElevatorSubsystem elevatorSubsystem, BaseSwerveSubsystem swerveSubsystem, LEDSubsystem ledSubsystem){
this.intakePivotSubsystem = intakePivotSubsystem;
this.intakeRollersSubsystem = intakeRollersSubsystem;
this.shooterFeederSubsystem = shooterFeederSubsystem;
this.shooterFlywheelSubsystem = shooterFlywheelSubsystem;
this.shooterPivotSubsystem = shooterPivotSubsystem;
this.elevatorSubsystem = elevatorSubsystem;
this.ledSubsystem = ledSubsystem;
this.swerveSubsystem = (SwerveSubsystem) swerveSubsystem;

addRequirements(swerveSubsystem, intakeRollersSubsystem,intakePivotSubsystem);
@@ -83,7 +86,7 @@ public SequentialCommandGroup goIntake(ChoreoTrajectory intaketraj){
return followPath(intaketraj)
//.andThen(new ElevatorToChuteCommand(elevatorSubsystem))
.andThen(new IntakePivotExtendedCommand(intakePivotSubsystem))
.andThen(new IntakeRollerIntakeCommand(intakeRollersSubsystem).raceWith(new DriveForwardCommand(swerveSubsystem).withTimeout(driveforwardtime)));
.andThen(new IntakeRollerIntakeCommand(intakeRollersSubsystem, ledSubsystem).raceWith(new DriveForwardCommand(swerveSubsystem).withTimeout(driveforwardtime)));
//.andThen(new IntakeRollerFeedCommand(intakeRollersSubsystem));
//.andThen(new IntakePivotVerticalCommand(intakePivotSubsystem));
}
Original file line number Diff line number Diff line change
@@ -18,7 +18,7 @@ public class speakertomiddletoamp extends BaseAutonSequence{
private ChoreoTrajectory ampnoteintaketraj;
private ChoreoTrajectory shootampnotetraj;

public speakertomiddletoamp(IntakePivotSubsystem intakePivotSubsystem, IntakeRollersSubsystem intakeRollersSubsystem, ShooterFeederSubsystem shooterFeederSubsystem, ShooterFlywheelSubsystem shooterFlywheelSubsystem, ShooterPivotSubsystem shooterPivotSubsystem, ElevatorSubsystem elevatorSubsystem, BaseSwerveSubsystem swerveSubsystem) {
public speakertomiddletoamp(IntakePivotSubsystem intakePivotSubsystem, IntakeRollersSubsystem intakeRollersSubsystem, ShooterFeederSubsystem shooterFeederSubsystem, ShooterFlywheelSubsystem shooterFlywheelSubsystem, ShooterPivotSubsystem shooterPivotSubsystem, ElevatorSubsystem elevatorSubsystem, BaseSwerveSubsystem swerveSubsystem, LEDSubsystem ledSubsystem) {
super(intakePivotSubsystem, intakeRollersSubsystem, shooterFeederSubsystem, shooterFlywheelSubsystem, shooterPivotSubsystem, elevatorSubsystem, swerveSubsystem);

middlenoteintaketraj = Choreo.getTrajectory("Turn90");
Original file line number Diff line number Diff line change
@@ -32,7 +32,7 @@
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import edu.wpi.first.wpilibj2.command.WaitCommand;
import frc.robot.util.Util;
import frc.robot.vision.PhotonWrapper;
// import frc.robot.vision.PhotonWrapper;

import static frc.robot.Constants.SwerveConstants.*;
import static frc.robot.Constants.VisionConstants.*;

0 comments on commit 1189f7a

Please sign in to comment.