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basic paths all done, will add rerouting stuff at future date
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34 changes: 34 additions & 0 deletions
34
src/main/java/com/stuypulse/robot/commands/auton/ADEF/FivePieceADEF.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,34 @@ | ||
| package com.stuypulse.robot.commands.auton.ADEF; | ||
|
|
||
| import com.pathplanner.lib.path.PathPlannerPath; | ||
| import com.stuypulse.robot.commands.auton.FollowPathAlignAndShoot; | ||
| import com.stuypulse.robot.commands.auton.FollowPathAndIntake; | ||
| import com.stuypulse.robot.commands.shooter.ShooterScoreSpeaker; | ||
| import com.stuypulse.robot.commands.shooter.ShooterWaitForTarget; | ||
| import com.stuypulse.robot.commands.shooter.SwerveDriveToShoot; | ||
|
|
||
| import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; | ||
|
|
||
| public class FivePieceADEF extends SequentialCommandGroup { | ||
|
|
||
| public FivePieceADEF(PathPlannerPath... paths) { | ||
| addCommands( | ||
| new ShooterScoreSpeaker(), | ||
|
|
||
| new ShooterWaitForTarget() | ||
| .withTimeout(1.0), | ||
|
|
||
| new FollowPathAndIntake(paths[0]), | ||
| new SwerveDriveToShoot(), | ||
|
|
||
| new FollowPathAndIntake(paths[1]), | ||
| new FollowPathAlignAndShoot(paths[2], new SwerveDriveToShoot()), | ||
|
|
||
| new FollowPathAndIntake(paths[3]), | ||
| new FollowPathAlignAndShoot(paths[4], new SwerveDriveToShoot()), | ||
|
|
||
| new FollowPathAndIntake(paths[5]) | ||
| ); | ||
| } | ||
|
|
||
| } |
36 changes: 36 additions & 0 deletions
36
src/main/java/com/stuypulse/robot/commands/auton/BF_Series/FivePieceBFAC.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,36 @@ | ||
| package com.stuypulse.robot.commands.auton.BF_Series; | ||
|
|
||
| import com.pathplanner.lib.path.PathPlannerPath; | ||
| import com.stuypulse.robot.commands.auton.FollowPathAlignAndShoot; | ||
| import com.stuypulse.robot.commands.auton.FollowPathAndIntake; | ||
| import com.stuypulse.robot.commands.shooter.ShooterScoreSpeaker; | ||
| import com.stuypulse.robot.commands.shooter.ShooterWaitForTarget; | ||
| import com.stuypulse.robot.commands.shooter.SwerveDriveToShoot; | ||
|
|
||
| import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; | ||
|
|
||
| public class FivePieceBFAC extends SequentialCommandGroup { | ||
|
|
||
| public FivePieceBFAC(PathPlannerPath... paths) { | ||
|
|
||
| addCommands( | ||
| new ShooterScoreSpeaker(), | ||
|
|
||
| new ShooterWaitForTarget() | ||
| .withTimeout(1.0), | ||
|
|
||
| new FollowPathAndIntake(paths[0]), | ||
| new SwerveDriveToShoot(), | ||
|
|
||
| new FollowPathAndIntake(paths[1]), | ||
| new FollowPathAlignAndShoot(paths[2], new SwerveDriveToShoot()), | ||
|
|
||
| new FollowPathAndIntake(paths[3]), | ||
| new FollowPathAlignAndShoot(paths[4], new SwerveDriveToShoot()), | ||
|
|
||
| new FollowPathAndIntake(paths[5]) | ||
| ); | ||
|
|
||
| } | ||
|
|
||
| } |
36 changes: 36 additions & 0 deletions
36
src/main/java/com/stuypulse/robot/commands/auton/BF_Series/FivePieceBFCA.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,36 @@ | ||
| package com.stuypulse.robot.commands.auton.BF_Series; | ||
|
|
||
| import com.pathplanner.lib.path.PathPlannerPath; | ||
| import com.stuypulse.robot.commands.auton.FollowPathAlignAndShoot; | ||
| import com.stuypulse.robot.commands.auton.FollowPathAndIntake; | ||
| import com.stuypulse.robot.commands.shooter.ShooterScoreSpeaker; | ||
| import com.stuypulse.robot.commands.shooter.ShooterWaitForTarget; | ||
| import com.stuypulse.robot.commands.shooter.SwerveDriveToShoot; | ||
|
|
||
| import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; | ||
|
|
||
| public class FivePieceBFCA extends SequentialCommandGroup { | ||
|
|
||
| public FivePieceBFCA(PathPlannerPath... paths) { | ||
|
|
||
| addCommands( | ||
| new ShooterScoreSpeaker(), | ||
|
|
||
| new ShooterWaitForTarget() | ||
| .withTimeout(1.0), | ||
|
|
||
| new FollowPathAndIntake(paths[0]), | ||
| new SwerveDriveToShoot(), | ||
|
|
||
| new FollowPathAndIntake(paths[1]), | ||
| new FollowPathAlignAndShoot(paths[2], new SwerveDriveToShoot()), | ||
|
|
||
| new FollowPathAndIntake(paths[3]), | ||
| new FollowPathAlignAndShoot(paths[4], new SwerveDriveToShoot()), | ||
|
|
||
| new FollowPathAndIntake(paths[5]) | ||
| ); | ||
|
|
||
| } | ||
|
|
||
| } |
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