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14 changes: 14 additions & 0 deletions
14
...a/org/frc5687/powerup/robot/commands/MoveCarriageToSetpointPIDButWaitForNInchesFirst.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,14 @@ | ||
| package org.frc5687.powerup.robot.commands; | ||
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|
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| import edu.wpi.first.wpilibj.command.CommandGroup; | ||
| import org.frc5687.powerup.robot.commands.auto.AutoWaitForDistance; | ||
| import org.frc5687.powerup.robot.commands.auto.AutoWaitForMillis; | ||
| import org.frc5687.powerup.robot.subsystems.Carriage; | ||
| import org.frc5687.powerup.robot.subsystems.DriveTrain; | ||
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|
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| public class MoveCarriageToSetpointPIDButWaitForNInchesFirst extends CommandGroup { | ||
| public MoveCarriageToSetpointPIDButWaitForNInchesFirst(DriveTrain drivetrain, Carriage carriage, int target, double inches) { | ||
| addSequential(new AutoWaitForDistance(drivetrain, inches, 5000)); | ||
| addSequential(new MoveCarriageToSetpointPIDButFirstZeroIt(carriage, target)); | ||
| } | ||
| } |
37 changes: 37 additions & 0 deletions
37
src/main/java/org/frc5687/powerup/robot/commands/auto/AbortIfCubeNotSecured.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,37 @@ | ||
| package org.frc5687.powerup.robot.commands.auto; | ||
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| import edu.wpi.first.wpilibj.DriverStation; | ||
| import edu.wpi.first.wpilibj.command.Command; | ||
| import org.frc5687.powerup.robot.Robot; | ||
| import org.frc5687.powerup.robot.subsystems.Intake; | ||
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| public class AbortIfCubeNotSecured extends Command { | ||
| private Robot _robot; | ||
| private Intake _intake; | ||
| private boolean _isFinished; | ||
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| public AbortIfCubeNotSecured(Robot robot) { | ||
| _robot = robot; | ||
| _intake = robot.getIntake(); | ||
| } | ||
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| @Override | ||
| protected void initialize() { | ||
| DriverStation.reportError("AbortIfCubeNotSecured initialized", false); | ||
| _isFinished = true; | ||
| if (!_intake.cubeIsSecured()) { | ||
| DriverStation.reportError("AbortIfCubeNotSecured cube not secured!!.. calling robot.requestAbortAuton()", false); | ||
| _robot.requestAbortAuton(); | ||
| } | ||
| } | ||
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| @Override | ||
| protected boolean isFinished() { | ||
| return _isFinished; | ||
| } | ||
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| @Override | ||
| protected void end() { | ||
| DriverStation.reportError("AbortIfNoCubeDetected ending", false); | ||
| } | ||
| } |
37 changes: 37 additions & 0 deletions
37
src/main/java/org/frc5687/powerup/robot/commands/auto/AbortIfNoCubeDetected.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,37 @@ | ||
| package org.frc5687.powerup.robot.commands.auto; | ||
|
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| import edu.wpi.first.wpilibj.DriverStation; | ||
| import edu.wpi.first.wpilibj.command.Command; | ||
| import org.frc5687.powerup.robot.Robot; | ||
| import org.frc5687.powerup.robot.subsystems.Intake; | ||
|
|
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| public class AbortIfNoCubeDetected extends Command { | ||
| private Robot _robot; | ||
| private Intake _intake; | ||
| private boolean _isFinished; | ||
|
|
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| public AbortIfNoCubeDetected(Robot robot) { | ||
| _robot = robot; | ||
| _intake = robot.getIntake(); | ||
| } | ||
|
|
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| @Override | ||
| protected void initialize() { | ||
| DriverStation.reportError("AbortIfNoCubeDetected initialized", false); | ||
| _isFinished = true; | ||
| if (!_intake.cubeIsDetected()) { | ||
| DriverStation.reportError("AbortIfNoCubeDetected no cube detected.. calling robot.requestAbortAuton()", false); | ||
| _robot.requestAbortAuton(); | ||
| } | ||
| } | ||
|
|
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| @Override | ||
| protected boolean isFinished() { | ||
| return _isFinished; | ||
| } | ||
|
|
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| @Override | ||
| protected void end() { | ||
| DriverStation.reportError("AbortIfNoCubeDetected ending", false); | ||
| } | ||
| } |
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