taxi back!

BitBucketsFRC4183 · Mar 8, 2025 · 179912e · 179912e
1 parent 4dc48b7
commit 179912e
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Showing 3 changed files with 13 additions and 2 deletions.
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -204,6 +204,7 @@ public RobotContainer() {
 //    autoChooser.addRoutine("OneL4CoralMid", AutoSubsystem::OneL4CoralMidRoutine);
     autoChooser.addCmd("Score1L4Coral", autoSubsystem::OneL4Score);
     autoChooser.addCmd("nothing", Commands::none);
+    autoChooser.addCmd("TaxiBack", autoSubsystem::TaxiBack);
 //    autoChooser.addCmd("DriveSysIDQuasistaticForward", () -> driveSubsystem.sysIdQuasistatic(SysIdRoutine.Direction.kForward));
 //    autoChooser.addCmd("DriveSysIDQuasistaticReverse", () -> driveSubsystem.sysIdQuasistatic(SysIdRoutine.Direction.kReverse));
 //    autoChooser.addCmd("DriveSysIDDynamicForward", () -> driveSubsystem.sysIdDynamic(SysIdRoutine.Direction.kForward));

diff --git a/src/main/java/frc/robot/constants/Constants.java b/src/main/java/frc/robot/constants/Constants.java
@@ -22,7 +22,7 @@
  * constants are needed, to reduce verbosity.
  */
 public final class Constants {
-  public static final Mode currentMode = Mode.REPLAY;
+  public static final Mode currentMode = Mode.REAL;
   public static final double commandTimeout = 5;
   public static enum Mode {
     /*

diff --git a/src/main/java/frc/robot/subsystems/AutoSubsystem/AutoSubsystem.java b/src/main/java/frc/robot/subsystems/AutoSubsystem/AutoSubsystem.java
@@ -426,8 +426,18 @@ public Command OneL4Score() {
                     Commands.waitSeconds(1),
                     Commands.deadline(Commands.waitSeconds(0.1), new RobotRelativeDriveCommand(drive, () -> 0, () -> yValue, () -> 0))
                     );
+    }
 
-}}
+    public Command TaxiBack() {
+        return Commands.sequence(
+                Commands.waitSeconds(0),
+                Commands.deadline(
+                        Commands.waitSeconds(3),
+                        new RobotRelativeDriveCommand(drive, () -> -0.5, () -> 0, () -> 0)
+                )
+        );
+    };
+}