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Added a DriveToGivenNoteWithBearingVisionAndVisionAssistanceConsidera…
…tionCommand fork to determine our speed if not using vision? Possible plan B?
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...ve/commands/DriveToGivenNoteWithBearingVisionAndVisionAssistanceConsiderationCommand.java
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package competition.subsystems.drive.commands; | ||
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import competition.subsystems.collector.CollectorSubsystem; | ||
import competition.subsystems.drive.DriveSubsystem; | ||
import competition.subsystems.oracle.DynamicOracle; | ||
import competition.subsystems.pose.PoseSubsystem; | ||
import competition.subsystems.vision.NoteSeekLogic; | ||
import competition.subsystems.vision.VisionSubsystem; | ||
import xbot.common.properties.PropertyFactory; | ||
import xbot.common.subsystems.drive.control_logic.HeadingModule; | ||
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import javax.inject.Inject; | ||
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public class DriveToGivenNoteWithBearingVisionAndVisionAssistanceConsiderationCommand extends DriveToGivenNoteWithBearingVisionCommand{ | ||
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VisionSubsystem vision; | ||
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@Inject | ||
DriveToGivenNoteWithBearingVisionAndVisionAssistanceConsiderationCommand(PoseSubsystem pose, DriveSubsystem drive, DynamicOracle oracle, PropertyFactory pf, HeadingModule.HeadingModuleFactory headingModuleFactory, VisionSubsystem vision, CollectorSubsystem collector, NoteSeekLogic noteSeekLogic) { | ||
super(pose, drive, oracle, pf, headingModuleFactory, vision, collector, noteSeekLogic); | ||
this.vision = vision; | ||
} | ||
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@Override | ||
public void execute() { | ||
super.setMaximumSpeedOverride(vision.getSpeedForAuto()); | ||
super.execute(); | ||
} | ||
} |