From 2bfbe28ba99072420a5344a1e66f62c27af15325 Mon Sep 17 00:00:00 2001 From: fcuellar13 <105395555+fcuellar13@users.noreply.github.com> Date: Tue, 19 Nov 2024 16:48:52 -0800 Subject: [PATCH] Red OP auto --- .../java/frc/robot/autos/red/amp/RedOp345Auto.java | 14 ++++++++++++-- 1 file changed, 12 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc/robot/autos/red/amp/RedOp345Auto.java b/src/main/java/frc/robot/autos/red/amp/RedOp345Auto.java index 2aa379b..6909fc4 100644 --- a/src/main/java/frc/robot/autos/red/amp/RedOp345Auto.java +++ b/src/main/java/frc/robot/autos/red/amp/RedOp345Auto.java @@ -7,11 +7,12 @@ import frc.robot.autos.BaseAuto; import frc.robot.autos.trailblazer.AutoPoint; import frc.robot.autos.trailblazer.AutoSegment; +import frc.robot.robot_manager.RobotCommands; import frc.robot.autos.trailblazer.Trailblazer; import frc.robot.robot_manager.RobotManager; public class RedOp345Auto extends BaseAuto { - public RedOp345Auto(RobotManager robotManager, Trailblazer trailblazer) { + public RedOp345Auto(RobotManager robotManager, Trailblazer trailblazer, RobotCommands actions) { super(robotManager, trailblazer); } @@ -19,6 +20,15 @@ public Command getAutoCommand() { return Commands.sequence( Commands.print("example command on auto start"), trailblazer.followSegment( - new AutoSegment(new AutoPoint(new Pose2d(2, 4, new Rotation2d()))))); + new AutoSegment( + new AutoPoint(new Pose2d(15.811, 6.713, new Rotation2d(-170.80))), + new AutoPoint(new Pose2d(14.676, 6.767, new Rotation2d(-26.85)), Commands.sequence(autoCommands.speakerShotWithTimeout(), actions.intakeAssistCommand())), + new AutoPoint(new Pose2d(13.959, 6.872, new Rotation2d())), + new AutoPoint(new Pose2d(12.64, 7.063, new Rotation2d()), Commands.sequence(autoCommands.speakerShotWithTimeout(), actions.intakeAssistCommand())), + new AutoPoint(new Pose2d(8.605, 7.449, new Rotation2d(0.0))), + new AutoPoint(new Pose2d(12.64, 7.063, new Rotation2d(-8.0)), autoCommands.speakerShotWithTimeout()), + new AutoPoint(new Pose2d(11.033, 6.879, new Rotation2d()), actions.intakeAssistCommand()), + new AutoPoint(new Pose2d(10.827, 6.42, new Rotation2d())), + new AutoPoint(new Pose2d(12.553, 6.036, new Rotation2d(-8.0)), autoCommands.speakerShotWithTimeout())))); } }