From b7fae7d4a4b0f4c51f408b88bfeba93305cbd6f3 Mon Sep 17 00:00:00 2001 From: Rong Date: Tue, 2 Apr 2024 19:52:02 -0700 Subject: [PATCH] Added a DriveToGivenNoteWithBearingVisionAndVisionAssistanceConsiderationCommand fork to determine our speed if not using vision? Possible plan B? --- ...dVisionAssistanceConsiderationCommand.java | 29 +++++++++++++++++++ 1 file changed, 29 insertions(+) create mode 100644 src/main/java/competition/subsystems/drive/commands/DriveToGivenNoteWithBearingVisionAndVisionAssistanceConsiderationCommand.java diff --git a/src/main/java/competition/subsystems/drive/commands/DriveToGivenNoteWithBearingVisionAndVisionAssistanceConsiderationCommand.java b/src/main/java/competition/subsystems/drive/commands/DriveToGivenNoteWithBearingVisionAndVisionAssistanceConsiderationCommand.java new file mode 100644 index 00000000..c12efd09 --- /dev/null +++ b/src/main/java/competition/subsystems/drive/commands/DriveToGivenNoteWithBearingVisionAndVisionAssistanceConsiderationCommand.java @@ -0,0 +1,29 @@ +package competition.subsystems.drive.commands; + +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; + +import javax.inject.Inject; + +public class DriveToGivenNoteWithBearingVisionAndVisionAssistanceConsiderationCommand extends DriveToGivenNoteWithBearingVisionCommand{ + + VisionSubsystem vision; + + @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; + } + + @Override + public void execute() { + super.setMaximumSpeedOverride(vision.getSpeedForAuto()); + super.execute(); + } +}