Gave autonomous sequences names based on driver's perspective, commen…

…ted autonomous code, and added autonomous network table control.
team4976 · Feb 29, 2020 · 729e0a0 · 729e0a0
1 parent 4f42eb5
commit 729e0a0
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Showing 5 changed files with 39 additions and 34 deletions.
diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
@@ -2,9 +2,6 @@
 
 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.AutoSequenceCentre;
@@ -128,23 +125,19 @@ public void robotPeriodic() {
 
   @Override
   public void autonomousInit() {
-//
-//    new AutoSequenceRight().start();
-//
 ////    Drive.leftParent.set(ControlMode.PercentOutput, 0.75);
 ////    Drive.rightParent.set(ControlMode.PercentOutput, -0.75);
-//
-//    int position = (int) SmartDashboard.getNumber("autoPos", SmartDashboard.getNumber("autoPos", 0));
-//
-//    if (position == 0){
-//      new AutoSequenceLeft().start();
-//    }else if (position == 1){
-//      new AutoSequenceCentre().start();
-//    }else if (position == 2){
-//      new AutoSequenceRight().start();
-//    }else{
-//      new AutoSequenceTest().start();
-//    }
+    int position = (int) SmartDashboard.getNumber("autoPos", SmartDashboard.getNumber("autoPos", 0));
+
+    if (position == 0){
+      new AutoSequenceRight().start();
+    }else if (position == 1){
+      new AutoSequenceCentre().start();
+    }else if (position == 2){
+      new AutoSequenceLeft().start();
+    }else{
+      new AutoSequenceTest().start();
+    }
   }
 
   @Override

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/AutoSequenceLeft.java b/src/main/java/frc/robot/commands/auto/AutoSequenceLeft.java
@@ -9,14 +9,25 @@ public class AutoSequenceLeft extends CommandGroup {
 
     public AutoSequenceLeft(){
 
+        //The autonomous sequence beginning on the LEFT side of the field, from the driver's perspective.
+        //Assumes the Limelight cannot initially see the target.
+
         addSequential(new ResetEncoderCounts());
+        addSequential(new FindTarget());
         addSequential(new Shoot(SmartDashboard.getNumber("shooterCloseSpeed", SmartDashboard.getNumber("shooterCloseSpeed", 0))));
-        addSequential(new AngleOfAttack(0));
-        addSequential(new ResetEncoderCounts());
-        addSequential(new RunIntake());
-        addSequential(new MoveToPoint("", 3));
-        addSequential(new StopIntake());
-        addSequential(new Shoot(SmartDashboard.getNumber("shooterFarSpeed", SmartDashboard.getNumber("shooterFarSpeed", 0))));
+        addSequential(new AngleOfAttack(70));
+        addSequential(new MoveToPoint("", 1.5));
+        addSequential(new TurnToDegrees("", -70));
+
+        //Optional trench run pickup code...
+
+//        addSequential(new RunIntake());
+//        addSequential(new MoveToPoint("",1.8288));
+//        addSequential(new Delay(500));
+//        addSequential(new StopIntake());
+//        addSequential(new MoveToPoint("", (-1.8288)));
+//        addSequential(new Shoot(SmartDashboard.getNumber("shooterFarSpeed", SmartDashboard.getNumber("shooterFarSpeed", 0))));
+//        addSequential(new StraightenOut());
     }
 
 }
diff --git a/src/main/java/frc/robot/commands/auto/AutoSequenceRight.java b/src/main/java/frc/robot/commands/auto/AutoSequenceRight.java
@@ -8,19 +8,18 @@
 public class AutoSequenceRight extends CommandGroup {
 
     public AutoSequenceRight(){
+
+        //The autonomous sequence beginning on the right side of the field, from the driver's perspective;
+        //In line with the trench run, just right of being centred with the power port.
+
         addSequential(new ResetEncoderCounts());
-        addSequential(new FindTarget());
         addSequential(new Shoot(SmartDashboard.getNumber("shooterCloseSpeed", SmartDashboard.getNumber("shooterCloseSpeed", 0))));
-        addSequential(new AngleOfAttack(70));
-        addSequential(new MoveToPoint("", 1.5));
-        addSequential(new TurnToDegrees("", -45));
+        addSequential(new AngleOfAttack(0));
+        addSequential(new ResetEncoderCounts());
         addSequential(new RunIntake());
-        addSequential(new MoveToPoint("",1.8288));
-        addSequential(new Delay(500));
+        addSequential(new MoveToPoint("", 3));
         addSequential(new StopIntake());
-        addSequential(new MoveToPoint("", (-1.8288)));
         addSequential(new Shoot(SmartDashboard.getNumber("shooterFarSpeed", SmartDashboard.getNumber("shooterFarSpeed", 0))));
-        addSequential(new StraightenOut());
     }
 
 }
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();