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createSegmentSequence(drivetrain, shooter, indexer, 3, false, false, true) + createSegmentSequence(drivetrain, shooter, indexer, 3, false, false, true), + getPath(4).getCommand(drivetrain) ) - ), - getPath(4).getCommand(drivetrain) + ) ); addRequirements(drivetrain, shooter, indexer); diff --git a/src/main/java/org/team1540/robot2024/commands/autos/CenterLanePCBFSprint.java b/src/main/java/org/team1540/robot2024/commands/autos/CenterLanePCBFSprint.java index f71b6978..3f1bc86e 100644 --- a/src/main/java/org/team1540/robot2024/commands/autos/CenterLanePCBFSprint.java +++ b/src/main/java/org/team1540/robot2024/commands/autos/CenterLanePCBFSprint.java @@ -10,15 +10,15 @@ import org.team1540.robot2024.util.auto.PathHelper; public class CenterLanePCBFSprint extends AutoCommand { - public CenterLanePCBFSprint(Drivetrain drivetrain, Shooter shooter, Indexer indexer){ - super("!!CenterLanePCBFSprint"); + public CenterLanePCBFSprint(Drivetrain drivetrain, Shooter shooter, Indexer indexer) { + super("!CenterLanePCBFSprint"); addPath( - PathHelper.fromChoreoPath("CenterLanePCBFSprint.1", true, true), + PathHelper.fromChoreoPath("CenterLanePCBAFSprint.1", false, true), PathHelper.fromChoreoPath("CenterLanePCBFSprint.2"), PathHelper.fromChoreoPath("CenterLanePCBFSprint.3"), - PathHelper.fromChoreoPath("CenterLanePCBFSprint.4"), - PathHelper.fromChoreoPath("CenterLanePCBFSprint.5") + PathHelper.fromChoreoPath("CenterLanePCBFSprint.4") + ); addCommands( @@ -26,14 +26,15 @@ public CenterLanePCBFSprint(Drivetrain drivetrain, Shooter shooter, Indexer inde Commands.parallel( new AutoShootPrepare(drivetrain, shooter), Commands.sequence( - createSegmentSequence(drivetrain, shooter, indexer, 0), - createSegmentSequence(drivetrain, shooter, indexer, 1), - getPath(2).getCommand(drivetrain), - Commands.runOnce(drivetrain::copyVisionPose), - createSegmentSequence(drivetrain, shooter, indexer, 3) + drivetrain.commandCopyVisionPose(), + createSegmentSequence(drivetrain, shooter, indexer, 0, false, false, false), + createSegmentSequence(drivetrain, shooter, indexer, 1, false, false, true), + createSegmentSequence(drivetrain, shooter, indexer, 2, false, false, true), + getPath(3).getCommand(drivetrain) ) - ), - getPath(4).getCommand(drivetrain) + ) ); + + addRequirements(drivetrain, shooter, indexer); } } diff --git a/src/main/java/org/team1540/robot2024/commands/autos/SourceLanePGHSprint.java b/src/main/java/org/team1540/robot2024/commands/autos/SourceLanePGHSprint.java index 198ec0da..0a265843 100644 --- a/src/main/java/org/team1540/robot2024/commands/autos/SourceLanePGHSprint.java +++ b/src/main/java/org/team1540/robot2024/commands/autos/SourceLanePGHSprint.java @@ -9,8 +9,9 @@ import org.team1540.robot2024.util.auto.PathHelper; public class SourceLanePGHSprint extends AutoCommand { + private static final double SHOT_WAIT = 0.2; public SourceLanePGHSprint(Drivetrain drivetrain, Shooter shooter, Indexer indexer){ - super("!SourceLanePGHSprint"); + super("!!SourceLanePGHSprint"); addPath( PathHelper.fromChoreoPath("SourceLanePGHSprint.1", true, true), PathHelper.fromChoreoPath("SourceLanePGHSprint.2"), @@ -22,11 +23,11 @@ public SourceLanePGHSprint(Drivetrain drivetrain, Shooter shooter, Indexer index Commands.parallel( new AutoShootPrepare(drivetrain, shooter), Commands.sequence( - createCancoderSegmentSequence(drivetrain, shooter, indexer, 0), + createSegmentSequence(drivetrain, shooter, indexer, 0, true, true, true, SHOT_WAIT), drivetrain.commandCopyVisionPose(), - createSegmentSequence(drivetrain, shooter, indexer, 1), + createSegmentSequence(drivetrain, shooter, indexer, 1, false, true, true, SHOT_WAIT), drivetrain.commandCopyVisionPose(), - createSegmentSequence(drivetrain, shooter, indexer, 2), + createSegmentSequence(drivetrain, shooter, indexer, 2, false, true, true, SHOT_WAIT), drivetrain.commandCopyVisionPose(), getPath(3).getCommand(drivetrain) ) diff --git a/src/main/java/org/team1540/robot2024/util/auto/AutoCommand.java b/src/main/java/org/team1540/robot2024/util/auto/AutoCommand.java index f82343b1..3948e432 100644 --- a/src/main/java/org/team1540/robot2024/util/auto/AutoCommand.java +++ b/src/main/java/org/team1540/robot2024/util/auto/AutoCommand.java @@ -84,7 +84,7 @@ public void setPathIndex(int index){ * @param pathIndex * @return the commands to run in the segment */ - protected Command createSegmentSequence(Drivetrain drivetrain, Shooter shooter, Indexer indexer, int pathIndex, boolean shouldZeroCancoder, boolean shouldRealignYaw, boolean shouldResetOdometry) { + protected Command createSegmentSequence(Drivetrain drivetrain, Shooter shooter, Indexer indexer, int pathIndex, boolean shouldZeroCancoder, boolean shouldRealignYaw, boolean shouldResetOdometry, double extraPreShotWait) { return Commands.sequence( Commands.deadline( getPath(pathIndex).getCommand(drivetrain), @@ -102,9 +102,10 @@ protected Command createSegmentSequence(Drivetrain drivetrain, Shooter shooter, // Commands.waitUntil(()->drivetrain.getPose().getRotation().minus(drivetrain.getTargetPose().getRotation()).getDegrees()<10).onlyIf(()->shouldRealignYaw), new ParallelDeadlineGroup( Commands.sequence( + Commands.waitSeconds(extraPreShotWait), Commands.waitUntil(()->!indexer.isNoteStaged()), Commands.waitSeconds(0.2) - ).withTimeout(1), + ).withTimeout(1+extraPreShotWait), IntakeAndFeed.withDefaults(indexer) ) ) @@ -112,11 +113,15 @@ protected Command createSegmentSequence(Drivetrain drivetrain, Shooter shooter, ); } protected Command createSegmentSequence(Drivetrain drivetrain, Shooter shooter, Indexer indexer, int pathIndex){ - return createSegmentSequence(drivetrain, shooter, indexer, pathIndex, false, true, true); + return createSegmentSequence(drivetrain, shooter, indexer, pathIndex, false, true, true,0); + } + + protected Command createSegmentSequence(Drivetrain drivetrain, Shooter shooter, Indexer indexer, int pathIndex, boolean shouldZeroCancoder, boolean shouldRealignYaw, boolean shouldResetOdometry){ + return createSegmentSequence(drivetrain, shooter, indexer, pathIndex, shouldZeroCancoder, shouldRealignYaw, shouldResetOdometry,0); } protected Command createCancoderSegmentSequence(Drivetrain drivetrain, Shooter shooter, Indexer indexer, int pathIndex) { - return createSegmentSequence(drivetrain, shooter, indexer, pathIndex, true, true, true); + return createSegmentSequence(drivetrain, shooter, indexer, pathIndex, true, true, true,0 ); } public List toTrajectory() {