feat:small fix

SaintsRobotics · Feb 27, 2024 · 3bd14fc · 3bd14fc
1 parent 905328d
commit 3bd14fc
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Showing 4 changed files with 19 additions and 71 deletions.
diff --git a/src/main/deploy/pathplanner/paths/Bot_Dis_1.path b/src/main/deploy/pathplanner/paths/Bot_Dis_1.path
@@ -81,25 +81,6 @@
         "type": "sequential",
         "data": {
           "commands": [
-            {
-              "type": "parallel",
-              "data": {
-                "commands": [
-                  {
-                    "type": "wait",
-                    "data": {
-                      "waitTime": 0.5
-                    }
-                  },
-                  {
-                    "type": "named",
-                    "data": {
-                      "name": "align"
-                    }
-                  }
-                ]
-              }
-            },
             {
               "type": "parallel",
               "data": {

diff --git a/src/main/deploy/pathplanner/paths/Shoot_Top1.path b/src/main/deploy/pathplanner/paths/Shoot_Top1.path
@@ -86,25 +86,6 @@
         "type": "sequential",
         "data": {
           "commands": [
-            {
-              "type": "parallel",
-              "data": {
-                "commands": [
-                  {
-                    "type": "wait",
-                    "data": {
-                      "waitTime": 0.5
-                    }
-                  },
-                  {
-                    "type": "named",
-                    "data": {
-                      "name": "align"
-                    }
-                  }
-                ]
-              }
-            },
             {
               "type": "parallel",
               "data": {
@@ -226,25 +207,6 @@
         "type": "sequential",
         "data": {
           "commands": [
-            {
-              "type": "parallel",
-              "data": {
-                "commands": [
-                  {
-                    "type": "wait",
-                    "data": {
-                      "waitTime": 0.5
-                    }
-                  },
-                  {
-                    "type": "named",
-                    "data": {
-                      "name": "align"
-                    }
-                  }
-                ]
-              }
-            },
             {
               "type": "parallel",
               "data": {

diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -116,6 +116,7 @@ public static final class ShooterConstants {
     public static final int kTopShooterMotorPort = 35;
     public static final int kBottomShooterMotorPort = 20;
     public static final double kTimeShoot = 5;
+    public static final double kShooterMotorSpeed = 0;
   }
 
   public static final class VisionConstants {

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -45,7 +45,7 @@ public class RobotContainer {
   private final ShooterSubsystem m_shooterSubsystem = new ShooterSubsystem();
   public final IntakeSubsystem m_intakeSubsystem = new IntakeSubsystem();
   private final SendableChooser<Command> autoChooser;
-  
+
   private boolean IntakeDropped = false;
   private boolean lastAButton = false;
 
@@ -56,17 +56,19 @@ public class RobotContainer {
    * The container for the robot. Contains subsystems, IO devices, and commands.
    */
   public RobotContainer() {
-        //Registering Named Commands for autonpaths
-    //registerCommand is looking for XXXXXXCommand, so things may need to be renamed. 
-   NamedCommands.registerCommand("shoot", new InstantCommand(() -> m_shooterSubsystem.shooterTimedRun(Constants.ShooterConstants.kTimeShoot, Constants.ShooterConstants.kSpinSpeedTrue)));
-   //NamedCommands.registerCommand("align", DriverSubsystem.autoAlign());
-   NamedCommands.registerCommand("intake", new InstantCommand(() -> m_intakeSubsystem.intakeTimedRun(Constants.IntakeConstants.kTimeIntake), m_intakeSubsystem));
-
-    //All paths automatically 
+    // Registering Named Commands for autonpaths
+    // registerCommand is looking for XXXXXXCommand, so things may need to be
+    // renamed.
+    NamedCommands.registerCommand("shoot", new InstantCommand(() -> m_shooterSubsystem
+        .shooterTimedRun(Constants.ShooterConstants.kTimeShoot, Constants.ShooterConstants.kShooterMotorSpeed)));
+
+    NamedCommands.registerCommand("intake", new InstantCommand(
+        () -> m_intakeSubsystem.intakeTimedRun(Constants.IntakeConstants.kTimeIntake), m_intakeSubsystem));
+
+    // All paths automatically
     autoChooser = AutoBuilder.buildAutoChooser();
     SmartDashboard.putData("Auto Chooser", autoChooser);
 
-
     AutoBuilder.configureHolonomic(m_robotDrive::getPose, m_robotDrive::resetOdometry,
         m_robotDrive::getChassisSpeeds,
         m_robotDrive::autonDrive,
@@ -121,8 +123,10 @@ private void configureBindings() {
         .onTrue(new InstantCommand(m_robotDrive::zeroHeading, m_robotDrive));
 
     // new JoystickButton(m_driverController, Button.kA.value).whileTrue(
-    //     AutoBuilder.pathfindToPose(new Pose2d(2.8, 5.5, new Rotation2d()), new PathConstraints(
-    //         DriveConstants.kMaxSpeedMetersPerSecond - 1, 5, DriveConstants.kMaxAngularSpeedRadiansPerSecond - 1, 5)));
+    // AutoBuilder.pathfindToPose(new Pose2d(2.8, 5.5, new Rotation2d()), new
+    // PathConstraints(
+    // DriveConstants.kMaxSpeedMetersPerSecond - 1, 5,
+    // DriveConstants.kMaxAngularSpeedRadiansPerSecond - 1, 5)));
 
     new JoystickButton(m_operatorController, Button.kX.value)
         .onTrue(new InstantCommand(() -> m_shooterSubsystem.spin(0.75), m_shooterSubsystem))
@@ -136,16 +140,16 @@ private void configureBindings() {
     }).whileTrue(new IntakeCommand(m_intakeSubsystem));
   }
 
-
-  //adding auton Path options 
+  // adding auton Path options
 
   /**
    * Use this to pass the autonomous command to the main {@link Robot} class.
    *
    * @return the command to run in autonomous
    */
   public Command getAutonomousCommand() {
-    PathPlannerPath path = PathPlannerPath.fromPathFile("New New Path");
+    Command follow = autoChooser.getSelected();
+    PathPlannerPath path = PathPlannerPath.fromPathFile(follow.getName());
 
     var alliance = DriverStation.getAlliance();
     PathPlannerPath autonPath = path;