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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,50 @@ | ||
| { | ||
| "version": 1.0, | ||
| "startingPose": null, | ||
| "command": { | ||
| "type": "sequential", | ||
| "data": { | ||
| "commands": [ | ||
| { | ||
| "type": "named", | ||
| "data": { | ||
| "name": "Cand-Sub" | ||
| } | ||
| }, | ||
| { | ||
| "type": "deadline", | ||
| "data": { | ||
| "commands": [ | ||
| { | ||
| "type": "path", | ||
| "data": { | ||
| "pathName": "Move Forward" | ||
| } | ||
| }, | ||
| { | ||
| "type": "named", | ||
| "data": { | ||
| "name": "Collect" | ||
| } | ||
| } | ||
| ] | ||
| } | ||
| }, | ||
| { | ||
| "type": "path", | ||
| "data": { | ||
| "pathName": "Move Back" | ||
| } | ||
| }, | ||
| { | ||
| "type": "named", | ||
| "data": { | ||
| "name": "Smart-Shoot" | ||
| } | ||
| } | ||
| ] | ||
| } | ||
| }, | ||
| "folder": null, | ||
| "choreoAuto": false | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,52 @@ | ||
| { | ||
| "version": 1.0, | ||
| "waypoints": [ | ||
| { | ||
| "anchor": { | ||
| "x": 2.65, | ||
| "y": 5.539225686154654 | ||
| }, | ||
| "prevControl": null, | ||
| "nextControl": { | ||
| "x": 1.6233924503512331, | ||
| "y": 5.531608026126181 | ||
| }, | ||
| "isLocked": false, | ||
| "linkedName": "C2" | ||
| }, | ||
| { | ||
| "anchor": { | ||
| "x": 1.334102025955381, | ||
| "y": 5.567399971117918 | ||
| }, | ||
| "prevControl": { | ||
| "x": 2.483157024493337, | ||
| "y": 5.559782311089444 | ||
| }, | ||
| "nextControl": null, | ||
| "isLocked": false, | ||
| "linkedName": "SubwooferMiddle" | ||
| } | ||
| ], | ||
| "rotationTargets": [], | ||
| "constraintZones": [], | ||
| "eventMarkers": [], | ||
| "globalConstraints": { | ||
| "maxVelocity": 3.0, | ||
| "maxAcceleration": 3.0, | ||
| "maxAngularVelocity": 540.0, | ||
| "maxAngularAcceleration": 720.0 | ||
| }, | ||
| "goalEndState": { | ||
| "velocity": 0, | ||
| "rotation": 0, | ||
| "rotateFast": false | ||
| }, | ||
| "reversed": false, | ||
| "folder": null, | ||
| "previewStartingState": { | ||
| "rotation": 0, | ||
| "velocity": 0 | ||
| }, | ||
| "useDefaultConstraints": true | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,52 @@ | ||
| { | ||
| "version": 1.0, | ||
| "waypoints": [ | ||
| { | ||
| "anchor": { | ||
| "x": 1.334102025955381, | ||
| "y": 5.567399971117918 | ||
| }, | ||
| "prevControl": null, | ||
| "nextControl": { | ||
| "x": 2.334102025955381, | ||
| "y": 5.567399971117918 | ||
| }, | ||
| "isLocked": false, | ||
| "linkedName": "SubwooferMiddle" | ||
| }, | ||
| { | ||
| "anchor": { | ||
| "x": 2.65, | ||
| "y": 5.539225686154654 | ||
| }, | ||
| "prevControl": { | ||
| "x": 1.65, | ||
| "y": 5.539225686154654 | ||
| }, | ||
| "nextControl": null, | ||
| "isLocked": false, | ||
| "linkedName": "C2" | ||
| } | ||
| ], | ||
| "rotationTargets": [], | ||
| "constraintZones": [], | ||
| "eventMarkers": [], | ||
| "globalConstraints": { | ||
| "maxVelocity": 3.0, | ||
| "maxAcceleration": 3.0, | ||
| "maxAngularVelocity": 540.0, | ||
| "maxAngularAcceleration": 720.0 | ||
| }, | ||
| "goalEndState": { | ||
| "velocity": 0.0, | ||
| "rotation": 0.0, | ||
| "rotateFast": false | ||
| }, | ||
| "reversed": false, | ||
| "folder": null, | ||
| "previewStartingState": { | ||
| "rotation": 0.0, | ||
| "velocity": 0 | ||
| }, | ||
| "useDefaultConstraints": true | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,42 @@ | ||
| // Copyright (c) FIRST and other WPILib contributors. | ||
| // Open Source Software; you can modify and/or share it under the terms of | ||
| // the WPILib BSD license file in the root directory of this project. | ||
|
|
||
| package frc.robot.command; | ||
|
|
||
| import edu.wpi.first.wpilibj2.command.Command; | ||
| import frc.robot.subsystems.Collector; | ||
| import frc.robot.Constants.CollectorConstants; | ||
|
|
||
| public class CollectAndGo extends Command { | ||
|
|
||
| private final Collector collector; | ||
|
|
||
| /** Creates a new CollectAndGo. | ||
| * @param collector subsystem | ||
| */ | ||
| public CollectAndGo(Collector collector) { | ||
| this.collector = collector; | ||
| addRequirements(collector); | ||
| } | ||
|
|
||
| @Override | ||
| public void initialize() { | ||
| collector.setPower(CollectorConstants.COLLECTOR_GRABANDGO_POWER); | ||
| } | ||
|
|
||
| @Override | ||
| public void execute() { | ||
| collector.setPower(CollectorConstants.COLLECTOR_GRABANDGO_POWER); | ||
| } | ||
|
|
||
| @Override | ||
| public void end(boolean interrupted) { | ||
| collector.stop(); | ||
| } | ||
|
|
||
| @Override | ||
| public boolean isFinished() { | ||
| return collector.getEntryBeamBreakState(); | ||
| } | ||
| } |
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