public Shoot1BallBackAutonomousHot() { addSequential(new TransmissionShift(Transmission.LO_GEAR)); addParallel(new ChassisMove(Chassis.MOVE_AUTON_BACK_LONG_DISTANCE, Chassis.MOVE_AUTON_SPEED, true)); addSequential(new PivotSetAngle(Pivot.PIVOT_POSITION_REVERSE_LONG_SHOT)); addSequential(new WaitForChildren()); addSequential(new WaitOnCheesyVision(5)); addSequential(new WingsSetPosition(PneumaticSubsystem.EXTEND)); addSequential(new WaitTimer(0.1)); addSequential(new WinchFire()); addParallel(new WingsSetPosition(PneumaticSubsystem.RETRACT)); addParallel(new WinchSetPositionLongShot(Winch.WINCH_DISTANCE_LONG_SHOT, 1.0)); addParallel(new PivotSetAngle(Pivot.PIVOT_POSITION_UP)); }
public DriveAndShoot2Ball() { addSequential(new Shift(true)); addSequential(new SetLatched(true)); addSequential(new SetArmPosition(2,false)); addParallel(new SpinRoller((float) -0.6)); addSequential(new WaitCommand(0.3)); addParallel(_waitAndLetRoll()); addSequential(new DriveForward(1, 4200)); addSequential(new WaitCommand(1.0)); addSequential(new WaitForChildren()); // addSequential(new ); addSequential(new Launch()); addParallel(_waitAndIntake()); addSequential(new Reset()); addParallel(new PreFire()); addSequential(new WaitCommand(0.5)); addSequential(new SpinRoller(0)); addSequential(new SetArmPosition(0, false)); addSequential(new WaitCommand(0.5)); addSequential(new SetArmPosition(2, false)); addSequential(new WaitCommand(1.0)); addSequential(new Launch()); addSequential(new Reset()); }
public Shoot1BallBackAutonomous() { addSequential(new TransmissionShift(Transmission.LO_GEAR)); addParallel(new ChassisMove(Chassis.MOVE_AUTON_BACK_LONG_DISTANCE, Chassis.MOVE_AUTON_SPEED, true)); addSequential(new PivotSetAngle(Pivot.PIVOT_POSITION_REVERSE_LONG_SHOT)); addSequential(new WaitForChildren()); addSequential(new WingsSetPosition(PneumaticSubsystem.EXTEND)); addSequential(new WaitTimer(0.1)); addSequential(new WinchFire()); addParallel(new WingsSetPosition(PneumaticSubsystem.RETRACT)); addParallel(new WinchSetPositionLongShot(Winch.WINCH_DISTANCE_LONG_SHOT, 1.0)); addParallel(new PivotSetAngle(Pivot.PIVOT_POSITION_UP)); }
public Shoot1BallShortAutonomousHot() { addParallel(new PivotSetAngle(Pivot.PIVOT_POSITION_FORWARD_SHORT_SHOT)); addParallel(new ChassisMove(158, Chassis.MOVE_AUTON_SPEED, true)); addSequential(new WaitForChildren()); addSequential(new WaitOnCheesyVision(3)); addParallel(new ShootSequence(Winch.WINCH_DISTANCE_SHORT_SHOT)); addSequential(new ChassisMoveForTime(1.0, -0.5)); }
public Shoot2BallAutonomous() { addSequential(new TransmissionShift(Transmission.LO_GEAR)); addSequential(new PivotSetAngle(Pivot.PIVOT_POSITION_FORWARD_AUTO_HOLD)); addSequential(new ChassisMove(Chassis.MOVE_AUTON_FORWARD_LONG_DISTANCE, Chassis.MOVE_AUTON_SPEED, true)); addSequential(new PivotSetAngle(Pivot.PIVOT_POSITION_LONG_SHOT)); addSequential(new IntakeSetArmPosition(PneumaticSubsystem.EXTEND)); addSequential(new WingsSetPosition(PneumaticSubsystem.EXTEND)); addSequential(new WaitTimer(0.1)); addSequential(new WinchFire()); addParallel(new WinchSetPositionLongShot(Winch.WINCH_DISTANCE_LONG_SHOT, 1.0)); addSequential(new IntakeSetArmPosition(PneumaticSubsystem.RETRACT)); addSequential(new ChassisMove(-25, Chassis.MOVE_AUTON_SPEED, true)); addSequential(new PivotSetAngle(Pivot.PIVOT_POSITION_FORWARD_INTAKE)); addSequential(new WaitForChildren()); addParallel(new IntakeLoadBall()); addSequential(new ChassisMove(40, Chassis.MOVE_AUTON_SPEED, true)); addSequential(new WaitForChildren()); addParallel(new ChassisMove(-15, Chassis.MOVE_AUTON_SPEED, true)); addSequential(new PivotSetAngle(Pivot.PIVOT_POSITION_LONG_SHOT)); addSequential(new WaitForChildren()); addSequential(new IntakeOnTimed(0.2, Intake.INTAKE_ROLLER_SPEED_BALL_PICKUP)); addSequential(new IntakeSetArmPosition(PneumaticSubsystem.EXTEND)); addSequential(new WingsSetPosition(PneumaticSubsystem.EXTEND)); addSequential(new WaitTimer(0.1)); addSequential(new WinchFire()); addSequential(new IntakeSetArmPosition(PneumaticSubsystem.RETRACT)); addParallel(new WingsSetPosition(PneumaticSubsystem.RETRACT)); addParallel(new PivotSetAngle(Pivot.PIVOT_POSITION_UP)); addParallel(new TransmissionShift(Transmission.HI_GEAR)); }
public Shoot1BallAutonomous() { addSequential(new TransmissionShift(Transmission.LO_GEAR)); addParallel(new ChassisMove(Chassis.MOVE_AUTON_FORWARD_LONG_DISTANCE, Chassis.MOVE_AUTON_SPEED, true)); addSequential(new PivotSetAngle(Pivot.PIVOT_POSITION_LONG_SHOT)); addSequential(new WaitForChildren()); addSequential(new WaitCommand(1)); addSequential(new ShootSequence(Winch.WINCH_DISTANCE_LONG_SHOT)); }
public Shoot1BallAutonomousHot() { addSequential(new TransmissionShift(Transmission.LO_GEAR)); addParallel(new ChassisMove(Chassis.MOVE_AUTON_FORWARD_LONG_DISTANCE, Chassis.MOVE_AUTON_SPEED, true)); addSequential(new PivotSetAngle(Pivot.PIVOT_POSITION_LONG_SHOT)); addSequential(new WaitForChildren()); addSequential(new WaitOnCheesyVision(5)); addSequential(new ShootSequence(Winch.WINCH_DISTANCE_LONG_SHOT)); }
public Shoot1BallShortAutonomous() { addParallel(new PivotSetAngle(Pivot.PIVOT_POSITION_FORWARD_SHORT_SHOT)); addParallel(new ChassisMove(158, Chassis.MOVE_AUTON_SPEED, true)); addSequential(new WaitForChildren()); addSequential(new ChassisMoveForTime(1.0, -0.5)); addSequential(new ShootSequence(Winch.WINCH_DISTANCE_SHORT_SHOT)); }
public Shoot2BallBackAutonomous() { addSequential(new TransmissionShift(Transmission.HI_GEAR)); addParallel(new ChassisMove(Chassis.MOVE_AUTON_BACK_LONG_DISTANCE, Chassis.MOVE_AUTON_SPEED, true)); addSequential(new PivotSetAngle(Pivot.PIVOT_POSITION_REVERSE_LONG_SHOT)); addSequential(new WaitForChildren()); addSequential(new WingsSetPosition(PneumaticSubsystem.EXTEND)); addSequential(new WaitTimer(0.1)); addSequential(new WinchFire()); addParallel(new WinchSetPositionLongShot(Winch.WINCH_DISTANCE_LONG_SHOT, 1.0)); addParallel(new PivotSetAngle(Pivot.PIVOT_POSITION_FORWARD_INTAKE)); addSequential(new ChassisMove(60, Chassis.MOVE_AUTON_SPEED, true)); addSequential(new WaitForChildren()); addParallel(new IntakeLoadBall()); addSequential(new ChassisMove(40, Chassis.MOVE_AUTON_SPEED, true)); addSequential(new WaitForChildren()); addParallel(new ChassisMove(-95, Chassis.MOVE_AUTON_SPEED, true)); addSequential(new PivotSetAngle(Pivot.PIVOT_POSITION_REVERSE_LONG_SHOT)); addSequential(new WaitForChildren()); addSequential(new IntakeOnTimed(0.3, Intake.INTAKE_ROLLER_SPEED_BALL_PICKUP)); addSequential(new WingsSetPosition(PneumaticSubsystem.EXTEND)); addSequential(new WaitTimer(1.0)); addSequential(new WinchFire()); addParallel(new WingsSetPosition(PneumaticSubsystem.RETRACT)); addParallel(new PivotSetAngle(Pivot.PIVOT_POSITION_UP)); addParallel(new TransmissionShift(Transmission.HI_GEAR)); }
public Center_RotDrvFwdHotGoal_1Ball(double firstHotGoalTimeOut) { // wait for hot goal, assume camera is facing right hot goal addParallel(new TusksLongShotPosition()); addParallel(new IntakeDown()); addSequential(new WaitForFirstHot(), firstHotGoalTimeOut); // lets see if this works addSequential(new WaitForChildren()); // Rotate DriveTrain based on angle from camera. Drive to the goal the // camera thinks is NOT hot, since it will take more than 5sec to get // to position to fire the ball. addSequential(new RotateDrivetrainRelative(0.0, true, true)); //addSequential(new Sleep(), 1.0); // Drive forward to inscrease likelyhood of shoot and gain 5 pts, should run 55 inches forward // addSequential(new AutoDriveXDistance(RobotMap.autoDriveDistance.getDouble())); //Let the ball settle before a shot addSequential(new Sleep(), 2.0); // fire addSequential(new FireAndReload()); addSequential(new AutoDriveXDistance(RobotMap.autoDriveDistance.getDouble())); }
/** * This function is called once at the start of autonomous mode. */ public void autonomousInit(){ DriverStation driverStation = DriverStation.getInstance(); double delayTime = driverStation.getAnalogIn(1); boolean trackHighGoal = driverStation.getDigitalIn(1); boolean trackMiddleGoal = driverStation.getDigitalIn(2); boolean shootInAuto = true; betweenModes(); DrivetrainStrafe drivetrainStrafe = Components.getInstance().drivetrainStrafe; drivetrainStrafe.setDefaultCommand(new MaintainStateCommand(drivetrainStrafe)); DrivetrainRotation drivetrainRotation = Components.getInstance().drivetrainRotation; drivetrainRotation.setDefaultCommand(new MaintainStateCommand(drivetrainRotation)); CommandGroup fastAugerSequence = new CommandGroup(); fastAugerSequence.addSequential(new PrintCommand("Dispensing auger")); fastAugerSequence.addSequential(new AugerRotateCommand(Auger.AugerDirection.AUGER_DOWN)); fastAugerSequence.addSequential(new WaitCommand(0.8)); CommandGroup augerSequence = new CommandGroup(); augerSequence.addSequential(new PrintCommand("Dispensing auger")); augerSequence.addSequential(new AugerRotateCommand(Auger.AugerDirection.AUGER_DOWN)); augerSequence.addSequential(new WaitCommand(2)); CommandGroup firstAugerDrop = new CommandGroup(); firstAugerDrop.addSequential(new AugerRotateCommand(Auger.AugerDirection.AUGER_DOWN)); firstAugerDrop.addSequential(new WaitCommand(0.5)); firstAugerDrop.addSequential(new AugerRotateCommand(Auger.AugerDirection.AUGER_DOWN)); CommandGroup autoCommand = new CommandGroup(); autoCommand.addSequential(new PrintCommand("Starting autonomous")); autoCommand.addSequential(new WaitCommand(delayTime)); if(shootInAuto){ autoCommand.addSequential(new FixedPointVisionTrackingCommand(FixedPointVisionTrackingCommand.PYRAMID_BACK_MIDDLE, TargetType.HIGH_GOAL), 4); autoCommand.addParallel(firstAugerDrop); autoCommand.addSequential(new SetShooterCommand(Shooter.SHOOTER_ON)); autoCommand.addSequential(new WaitCommand(2)); autoCommand.addSequential(new SetConveyorCommand(Conveyor.CONVEYOR_SHOOT_IN)); autoCommand.addSequential(new WaitCommand(1)); autoCommand.addSequential(new PrintCommand("Dispensing auger")); autoCommand.addSequential(new AugerRotateCommand(Auger.AugerDirection.AUGER_DOWN)); autoCommand.addSequential(new WaitCommand(1.75)); autoCommand.addSequential(new PrintCommand("Dispensing auger")); autoCommand.addSequential(new AugerRotateCommand(Auger.AugerDirection.AUGER_DOWN)); autoCommand.addSequential(new WaitCommand(1.75)); autoCommand.addSequential(new PrintCommand("Dispensing auger")); autoCommand.addSequential(new AugerRotateCommand(Auger.AugerDirection.AUGER_DOWN)); autoCommand.addSequential(new WaitCommand(1.75)); autoCommand.addSequential(new PrintCommand("Dispensing auger")); autoCommand.addSequential(new AugerRotateCommand(Auger.AugerDirection.AUGER_DOWN)); autoCommand.addSequential(new WaitCommand(2)); autoCommand.addSequential(new PrintCommand("Dispensing auger")); autoCommand.addSequential(new AugerRotateCommand(Auger.AugerDirection.AUGER_DOWN)); autoCommand.addSequential(new WaitCommand(2)); autoCommand.addSequential(new PrintCommand("Dispensing auger")); autoCommand.addSequential(new AugerRotateCommand(Auger.AugerDirection.AUGER_DOWN)); autoCommand.addSequential(new WaitCommand(2)); autoCommand.addSequential(new WaitForChildren()); autoCommand.addSequential(new WaitCommand(2)); } //autoCommand.addSequential(new RepeatCommand(new PrintCommand("Testing print"), 5)); //autoCommand.addSequential(augerSequence, 5); autonomousCommand = autoCommand; autonomousCommand.start(); }