team2059/ford-java
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This commit is contained in:
Austen Adler 2016-09-22 10:19:57 -04:00
parent fc7c6545a4
commit 2d5b3699b6
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GPG Key ID: 7ECEE590CCDFE3F1
4 changed files with 15 additions and 17 deletions
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2
src/org/usfirst/frc/team2059/robot/Robot.java
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@ -15,10 +15,8 @@ public class Robot extends IterativeRobot {
CommandBase.init();
oi = new OI();
chooser = new SendableChooser();
chooser.addDefault("Time based drive", new RoutineDriveTime());
chooser.addObject("Time based defense", new RoutineDefenseTime());
SmartDashboard.putData("Auto mode", chooser);
SmartDashboard.putData("MainArm", CommandBase.mainArm.getPIDController());
SmartDashboard.putData("LeftEncoderController", CommandBase.driveBase.getLeftController());

4
src/org/usfirst/frc/team2059/robot/commands/autonomous/AutoDriveTime.java
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@ -5,13 +5,13 @@ public class AutoDriveTime extends CommandBase {
double power;
public AutoDriveTime(double timeout, double power) {
requires(driveBase);
this.power=power;
this.power = power;
setTimeout(timeout);
}
protected void initialize() {
}
protected void execute() {
driveBase.driveArcade(0,-power,0,0);
driveBase.driveArcade(0, -power, 0, 0);
}
protected void end() {
driveBase.stopDriving();

16
src/org/usfirst/frc/team2059/robot/commands/autonomous/RoutineDefenseTime.java
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@ -2,13 +2,13 @@ package org.usfirst.frc.team2059.robot.commands.autonomous;
import org.usfirst.frc.team2059.robot.commands.CommandBase;
import edu.wpi.first.wpilibj.command.CommandGroup;
import org.usfirst.frc.team2059.robot.Robot;
public class RoutineDefenseTime extends CommandGroup{
public RoutineDefenseTime(){
addSequential(new AutoSetArmStopState(true));
addSequential(new AutoResetLower(-1));
addSequential(new AutoSetArmPosition(15));
addSequential(new AutoSetArmStopState(false));
addSequential(new AutoSetArmPosition(11));
public class RoutineDefenseTime extends CommandGroup {
public RoutineDefenseTime() {
addSequential(new AutoSetArmStopState(true));
addSequential(new AutoResetLower(-1));
addSequential(new AutoSetArmPosition(15));
addSequential(new AutoSetArmStopState(false));
addSequential(new AutoSetArmPosition(11));
// addSequential(new AutoDriveTime(2,.5));
}
}
}

10
src/org/usfirst/frc/team2059/robot/commands/autonomous/RoutineDriveTime.java
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@ -2,9 +2,9 @@ package org.usfirst.frc.team2059.robot.commands.autonomous;
import org.usfirst.frc.team2059.robot.commands.CommandBase;
import edu.wpi.first.wpilibj.command.CommandGroup;
import org.usfirst.frc.team2059.robot.Robot;
public class RoutineDriveTime extends CommandGroup{
public RoutineDriveTime(){
addSequential(new AutoResetLower(-1));
addSequential(new AutoDriveTime(2,.5));
}
public class RoutineDriveTime extends CommandGroup {
public RoutineDriveTime() {
addSequential(new AutoResetLower(-1));
addSequential(new AutoDriveTime(2, .5));
}
}