Merge remote-tracking branch 'origin/master'

# Conflicts: # src/main/java/frc/robot/Robot.java # src/main/java/frc/robot/commands/auto/AutoSequenceFar.java # src/main/java/frc/robot/commands/auto/AutoSequenceLeft.java
team4976 · Feb 29, 2020 · 519c89e · 519c89e
2 parents 3e3b5e7 + 729e0a0
commit 519c89e
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Showing 3 changed files with 12 additions and 21 deletions.
diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
@@ -2,9 +2,15 @@
 
 import com.ctre.phoenix.motorcontrol.ControlMode;
 import com.ctre.phoenix.motorcontrol.FeedbackDevice;
+import edu.wpi.first.networktables.NetworkTable;
+import edu.wpi.first.networktables.NetworkTableEntry;
+import edu.wpi.first.networktables.NetworkTableInstance;
 import edu.wpi.first.wpilibj.PowerDistributionPanel;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
-import frc.robot.commands.auto.*;
+import frc.robot.commands.auto.AutoSequenceCentre;
+import frc.robot.commands.auto.AutoSequenceLeft;
+import frc.robot.commands.auto.AutoSequenceRight;
+import frc.robot.commands.auto.AutoSequenceTest;
 import frc.robot.subsystems.*;
 import edu.wpi.first.wpilibj.command.Scheduler;
 import edu.wpi.first.wpilibj.TimedRobot;
@@ -125,21 +131,8 @@ public void robotPeriodic() {
   @Override
   public void autonomousInit() {
 //
-//    AUTO SEQUENCE CODE:
-//   ---------------------------------
+//    new AutoSequenceRight().start();
 //
-      new AutoSequenceTrench().start();
-//    new AutoSequenceTrench8Ball.start();
-//    new AutoSequenceTrenchReturn().start();
-//    new AutoSequenceCentre().start();
-//    new AutoSequenceFar().start();
-//    new AutoSequenceTest().start();
-//
-
-//    NETWORK TABLE AUTO SEQUENCE CODE:
-//    ---------------------------------
-
-
 ////    Drive.leftParent.set(ControlMode.PercentOutput, 0.75);
 ////    Drive.rightParent.set(ControlMode.PercentOutput, -0.75);
 //
@@ -151,10 +144,6 @@ public void autonomousInit() {
 //      new AutoSequenceCentre().start();
 //    }else if (position == 2){
 //      new AutoSequenceRight().start();
-//    }else if (position == 3){
-//      new AutoSequenceDelta.start();
-//    }else if (position == 4){
-//      new AutoSequenceLeft8Ball.start();
 //    }else{
 //      new AutoSequenceTest().start();
 //    }

diff --git a/src/main/java/frc/robot/commands/auto/AutoSequenceCentre.java b/src/main/java/frc/robot/commands/auto/AutoSequenceCentre.java
@@ -9,6 +9,8 @@ public class AutoSequenceCentre extends CommandGroup {
 
     public AutoSequenceCentre(){
 
+        //The autonomous sequence beginning in the CENTRE of the field.
+
         addSequential(new ResetEncoderCounts());
         addSequential(new Shoot(SmartDashboard.getNumber("shooterCloseSpeed", SmartDashboard.getNumber("shooterCloseSpeed", 0))));
         addSequential(new AngleOfAttack(45));

diff --git a/src/main/java/frc/robot/commands/auto/MoveToPoint.java b/src/main/java/frc/robot/commands/auto/MoveToPoint.java
@@ -24,8 +24,8 @@ public void initialize(){
         Drive.leftParent.selectProfileSlot(0, 0);
         Drive.rightParent.selectProfileSlot(0, 0);
         Drive.leftParent.configMotionCruiseVelocity(2000);
-        Drive.leftParent.configMotionAcceleration(2000);
-        Drive.rightParent.configMotionAcceleration(2000);
+        Drive.leftParent.configMotionAcceleration(3105);
+        Drive.rightParent.configMotionAcceleration(3105);
         Drive.rightParent.configMotionCruiseVelocity(2000);
 
         double leftStart = Drive.leftParent.getSelectedSensorPosition();