PLS5618/Reefscape-2025
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This commit is contained in:
Antoine PerreaultE
2025-03-04 09:34:50 -05:00
parent 9f4142d7aa
commit b1124bd3f0
5 changed files with 70 additions and 14 deletions
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25
src/main/java/frc/robot/RobotContainer.java
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@@ -28,8 +28,10 @@ import edu.wpi.first.wpilibj2.command.Commands;
import edu.wpi.first.wpilibj2.command.InstantCommand;
import edu.wpi.first.wpilibj2.command.RunCommand;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
import edu.wpi.first.wpilibj2.command.WaitUntilCommand;
import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
import frc.robot.TunerConstants.TunerConstants;
import frc.robot.commands.AvancerAuto;
import frc.robot.commands.RainBow;
import frc.robot.commands.reset;
import frc.robot.commands.Elevateur.Depart;
@@ -177,14 +179,19 @@ public class RobotContainer {
}
public Command getAutonomousCommand() {
return new SequentialCommandGroup(Commands.runOnce(()->{
boolean flip = DriverStation.getAlliance().orElse(Alliance.Blue) == Alliance.Red;
if(flip){
drivetrain.resetPose(FlippingUtil.flipFieldPose(((PathPlannerAuto)autoChooser.getSelected()).getStartingPose()));
}
else{
drivetrain.resetPose(((PathPlannerAuto)autoChooser.getSelected()).getStartingPose());
}
}),autoChooser.getSelected(), new RainBow(bougie));
return new SequentialCommandGroup(
new AvancerAuto(drive).withTimeout(2),
new L1Requin(requin, bougie).withTimeout(2),
new ExpireCorail(requin, bougie).withTimeout(2),
new RainBow(bougie));
// return new SequentialCommandGroup(Commands.runOnce(()->{
// boolean flip = DriverStation.getAlliance().orElse(Alliance.Blue) == Alliance.Red;
// if(flip){
// drivetrain.resetPose(FlippingUtil.flipFieldPose(((PathPlannerAuto)autoChooser.getSelected()).getStartingPose()));
// }
// else{
// drivetrain.resetPose(((PathPlannerAuto)autoChooser.getSelected()).getStartingPose());
// }
// }),autoChooser.getSelected(), new RainBow(bougie));
}
}