From 53ea55bab900881a4327ce4b5f70a7702057d450 Mon Sep 17 00:00:00 2001 From: Simon Weil <113215817+WeilSimon@users.noreply.github.com> Date: Thu, 4 Apr 2024 07:57:05 -0700 Subject: [PATCH] feat: auto ordering options --- paths.chor | 30368 +++++++++------- src/main/deploy/choreo/AmpLanePAEDF.1.traj | 185 + src/main/deploy/choreo/AmpLanePAEDF.2.traj | 86 + src/main/deploy/choreo/AmpLanePAEDF.3.traj | 536 + src/main/deploy/choreo/AmpLanePAEDF.4.traj | 338 + src/main/deploy/choreo/AmpLanePAEDF.5.traj | 473 + src/main/deploy/choreo/AmpLanePAEDF.traj | 1562 + src/main/deploy/choreo/AmpLanePdChaos.traj | 770 - .../deploy/choreo/CenterLanePCBAEF.1.traj | 275 + .../deploy/choreo/CenterLanePCBAEF.2.traj | 86 + .../deploy/choreo/CenterLanePCBAEF.3.traj | 176 + .../deploy/choreo/CenterLanePCBAEF.4.traj | 644 + .../deploy/choreo/CenterLanePCBAEF.5.traj | 572 + src/main/deploy/choreo/CenterLanePCBAEF.traj | 1697 + .../deploy/choreo/CenterLanePCBAFE.1.traj | 536 +- .../deploy/choreo/CenterLanePCBAFE.2.traj | 130 +- .../deploy/choreo/CenterLanePCBAFE.3.traj | 308 +- .../deploy/choreo/CenterLanePCBAFE.4.traj | 1391 +- .../deploy/choreo/CenterLanePCBAFE.5.traj | 1135 +- src/main/deploy/choreo/CenterLanePCBAFE.traj | 3502 +- .../deploy/choreo/CenterLanePCBAFG.1.traj | 275 + .../deploy/choreo/CenterLanePCBAFG.2.traj | 86 + .../deploy/choreo/CenterLanePCBAFG.3.traj | 176 + .../deploy/choreo/CenterLanePCBAFG.4.traj | 644 + .../deploy/choreo/CenterLanePCBAFG.5.traj | 536 + src/main/deploy/choreo/CenterLanePCBAFG.traj | 1661 + .../deploy/choreo/CenterLanePCBAGF.1.traj | 275 + .../deploy/choreo/CenterLanePCBAGF.2.traj | 86 + .../deploy/choreo/CenterLanePCBAGF.3.traj | 176 + .../deploy/choreo/CenterLanePCBAGF.4.traj | 662 + .../deploy/choreo/CenterLanePCBAGF.5.traj | 509 + src/main/deploy/choreo/CenterLanePCBAGF.traj | 1652 + .../deploy/choreo/CenterLanePDEABC.6.traj | 212 + .../deploy/choreo/CenterLanePEDABC.1.traj | 599 + .../deploy/choreo/CenterLanePEDABC.2.traj | 716 + .../deploy/choreo/CenterLanePEDABC.3.traj | 86 + .../deploy/choreo/CenterLanePEDABC.4.traj | 248 + .../deploy/choreo/CenterLanePEDABC.5.traj | 212 + src/main/deploy/choreo/SourceLanephChaos.traj | 1481 - .../team1540/robot2024/RobotContainer.java | 12 +- .../commands/autos/AmpLanePAEDF.java | 68 + .../commands/autos/CenterLanePCBAEF.java | 48 + .../commands/autos/CenterLanePCBAFE.java | 26 +- .../commands/autos/CenterLanePCBAFG.java | 48 + .../commands/autos/CenterLanePCBAGF.java | 48 + ...ourceLanePGHF.java => SourceLanePHGF.java} | 4 +- 46 files changed, 36171 insertions(+), 19145 deletions(-) create mode 100644 src/main/deploy/choreo/AmpLanePAEDF.1.traj create mode 100644 src/main/deploy/choreo/AmpLanePAEDF.2.traj create mode 100644 src/main/deploy/choreo/AmpLanePAEDF.3.traj create mode 100644 src/main/deploy/choreo/AmpLanePAEDF.4.traj create mode 100644 src/main/deploy/choreo/AmpLanePAEDF.5.traj create mode 100644 src/main/deploy/choreo/AmpLanePAEDF.traj delete mode 100644 src/main/deploy/choreo/AmpLanePdChaos.traj create mode 100644 src/main/deploy/choreo/CenterLanePCBAEF.1.traj create mode 100644 src/main/deploy/choreo/CenterLanePCBAEF.2.traj create mode 100644 src/main/deploy/choreo/CenterLanePCBAEF.3.traj create mode 100644 src/main/deploy/choreo/CenterLanePCBAEF.4.traj create mode 100644 src/main/deploy/choreo/CenterLanePCBAEF.5.traj create mode 100644 src/main/deploy/choreo/CenterLanePCBAEF.traj create mode 100644 src/main/deploy/choreo/CenterLanePCBAFG.1.traj create mode 100644 src/main/deploy/choreo/CenterLanePCBAFG.2.traj create mode 100644 src/main/deploy/choreo/CenterLanePCBAFG.3.traj create mode 100644 src/main/deploy/choreo/CenterLanePCBAFG.4.traj create mode 100644 src/main/deploy/choreo/CenterLanePCBAFG.5.traj create mode 100644 src/main/deploy/choreo/CenterLanePCBAFG.traj create mode 100644 src/main/deploy/choreo/CenterLanePCBAGF.1.traj create mode 100644 src/main/deploy/choreo/CenterLanePCBAGF.2.traj create mode 100644 src/main/deploy/choreo/CenterLanePCBAGF.3.traj create mode 100644 src/main/deploy/choreo/CenterLanePCBAGF.4.traj create mode 100644 src/main/deploy/choreo/CenterLanePCBAGF.5.traj create mode 100644 src/main/deploy/choreo/CenterLanePCBAGF.traj create mode 100644 src/main/deploy/choreo/CenterLanePDEABC.6.traj create mode 100644 src/main/deploy/choreo/CenterLanePEDABC.1.traj create mode 100644 src/main/deploy/choreo/CenterLanePEDABC.2.traj create mode 100644 src/main/deploy/choreo/CenterLanePEDABC.3.traj create mode 100644 src/main/deploy/choreo/CenterLanePEDABC.4.traj create mode 100644 src/main/deploy/choreo/CenterLanePEDABC.5.traj delete mode 100644 src/main/deploy/choreo/SourceLanephChaos.traj create mode 100644 src/main/java/org/team1540/robot2024/commands/autos/AmpLanePAEDF.java create mode 100644 src/main/java/org/team1540/robot2024/commands/autos/CenterLanePCBAEF.java create mode 100644 src/main/java/org/team1540/robot2024/commands/autos/CenterLanePCBAFG.java create mode 100644 src/main/java/org/team1540/robot2024/commands/autos/CenterLanePCBAGF.java rename src/main/java/org/team1540/robot2024/commands/autos/{SourceLanePGHF.java => SourceLanePHGF.java} (92%) diff --git a/paths.chor b/paths.chor index 2c583f13..31fa786d 100644 --- a/paths.chor +++ b/paths.chor @@ -20672,7 +20672,7 @@ "eventMarkers": [], "isTrajectoryStale": true }, - "CenterLanePCBAFE": { + "CenterLanePCBFSprint": { "waypoints": [ { "x": 1.2899744510650635, @@ -20708,25 +20708,7 @@ "isInitialGuess": false, "translationConstrained": true, "headingConstrained": true, - "controlIntervalCount": 14 - }, - { - "x": 2.3293724060058594, - "y": 6.6973748207092285, - "heading": 0.5125504196, - "isInitialGuess": false, - "translationConstrained": true, - "headingConstrained": true, - "controlIntervalCount": 6 - }, - { - "x": 2.6483445167541504, - "y": 6.879644870758057, - "heading": 0.5125504196, - 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6.198406259165596 - }, - { - "x": 8.321097373962402, - "y": 7.527496814727783, - "heading": 3.709032536356956, - "angularVelocity": -5.082729725441752e-29, - "velocityX": 4.680465584518782e-28, - "velocityY": 3.556470741173404e-29, - "timestamp": 6.274937771466296 - } - ], - "eventMarkers": [] -} \ No newline at end of file diff --git a/src/main/java/org/team1540/robot2024/RobotContainer.java b/src/main/java/org/team1540/robot2024/RobotContainer.java index 0e355ae7..89ad8907 100644 --- a/src/main/java/org/team1540/robot2024/RobotContainer.java +++ b/src/main/java/org/team1540/robot2024/RobotContainer.java @@ -262,10 +262,7 @@ private void configureAutoRoutines() { } autos.addDefault(new AutoCommand("Dwayne :skull:")); autos.add(new AmpLanePADEF(drivetrain, shooter, indexer)); - autos.add(new CenterLanePDEABC(drivetrain, shooter, indexer)); - autos.add(new SourceLanePGHF(drivetrain, shooter, indexer)); - autos.add(new AmpLanepdChaos(drivetrain, shooter, indexer)); - autos.add(new SoureLanephChaos(drivetrain, shooter, indexer)); + autos.add(new AmpLanePAEDF(drivetrain, shooter, indexer)); // autos.add(new AutoCommand("SubwooferShot", new ShootSequence(shooter, indexer))); // autos.add(new DriveSinglePath("Taxi", drivetrain)); // autos.add(new DriveSinglePath("Sprint", drivetrain)); @@ -274,12 +271,17 @@ private void configureAutoRoutines() { // autos.add(new CenterLanePSubSprint(drivetrain, shooter, indexer)); // autos.add(new CenterLanePCBADSprint(drivetrain, shooter, indexer)); autos.add(new CenterLanePCBAFSprint(drivetrain, shooter, indexer)); -//// autos.add(new CenterLanePCBAFE(drivetrain, shooter, indexer)); + autos.add(new CenterLanePCBAFE(drivetrain, shooter, indexer)); + autos.add(new CenterLanePDEABC(drivetrain, shooter, indexer)); + autos.add(new CenterLanePCBAFG(drivetrain, shooter, indexer)); + autos.add(new CenterLanePCBAEF(drivetrain, shooter, indexer)); + autos.add(new CenterLanePCBAGF(drivetrain, shooter, indexer)); // autos.add(new CenterLanePCBA(drivetrain, shooter, indexer)); // autos.add(new CenterLanePBDA(drivetrain, shooter, indexer)); // autos.add(new CenterLanePSubCSubBSubASubFSub(drivetrain, shooter, indexer)); //// autos.add(new CenterLanePSubCSubBSubFSub(drivetrain, shooter, indexer)); // autos.add(new CenterLanePSubCSubBSubASub(drivetrain, shooter, indexer)); + autos.add(new SourceLanePHGF(drivetrain, shooter, indexer)); autos.add(new SourceLanePGHSprint(drivetrain, shooter, indexer)); // autos.addDefault(new ATestAuto(drivetrain, shooter, indexer)); } diff --git a/src/main/java/org/team1540/robot2024/commands/autos/AmpLanePAEDF.java b/src/main/java/org/team1540/robot2024/commands/autos/AmpLanePAEDF.java new file mode 100644 index 00000000..dd20fd74 --- /dev/null +++ b/src/main/java/org/team1540/robot2024/commands/autos/AmpLanePAEDF.java @@ -0,0 +1,68 @@ +package org.team1540.robot2024.commands.autos; + +import edu.wpi.first.wpilibj2.command.Commands; +import org.team1540.robot2024.commands.shooter.AutoShootPrepare; +import org.team1540.robot2024.commands.shooter.LeadingShootPrepare; +import org.team1540.robot2024.subsystems.drive.Drivetrain; +import org.team1540.robot2024.subsystems.indexer.Indexer; +import org.team1540.robot2024.subsystems.shooter.Shooter; +import org.team1540.robot2024.util.auto.AutoCommand; +import org.team1540.robot2024.util.auto.PathHelper; + +public class AmpLanePAEDF extends AutoCommand { + + public AmpLanePAEDF(Drivetrain drivetrain, Shooter shooter, Indexer indexer) { + super("AmpLanePAEDF"); + + addPath( + PathHelper.fromChoreoPath("AmpLanePAEDF.1", true, true), + PathHelper.fromChoreoPath("AmpLanePAEDF.2"), + PathHelper.fromChoreoPath("AmpLanePAEDF.3"), + PathHelper.fromChoreoPath("AmpLanePAEDF.4"), + PathHelper.fromChoreoPath("AmpLanePAEDF.5") + ); + + addCommands( +// Commands.runOnce(drivetrain::unblockTags), + Commands.parallel( + new AutoShootPrepare(drivetrain, shooter), +// Commands.sequence( +// Commands.deadline( +// getPath(0).getCommand(drivetrain), +// Commands.sequence( +// Commands.waitSeconds(0.25), +// new InstantCommand(shooter::zeroPivotToCancoder), +// Commands.waitSeconds(1), +// IntakeAndFeed.withDefaults(indexer).withTimeout(2), +// new IntakeCommand(indexer, () -> false, 1) +// ) +// ), +// Commands.sequence( +// Commands.waitSeconds(0.25), +// new InstantCommand(shooter::zeroPivotToCancoder) +// ), +// drivetrain.commandCopyVisionPose(), +// Commands.parallel( +// new DriveWithTargetingCommand(drivetrain, null).withTimeout(0.4), +// Commands.sequence( +// new ParallelDeadlineGroup( +// Commands.sequence( +// Commands.waitUntil(()->!indexer.isNoteStaged()), +// Commands.waitSeconds(0.2) +// ).withTimeout(1), +// IntakeAndFeed.withDefaults(indexer) +// ) +// ) +// ), + Commands.sequence( + createCancoderSegmentSequence(drivetrain, shooter, indexer, 0), + createSegmentSequence(drivetrain, shooter, indexer, 1), + createSegmentSequence(drivetrain, shooter, indexer, 2), + createSegmentSequence(drivetrain, shooter, indexer, 3), + createSegmentSequence(drivetrain, shooter, indexer, 4) + ) +// ) + ) + ); + } +} diff --git a/src/main/java/org/team1540/robot2024/commands/autos/CenterLanePCBAEF.java b/src/main/java/org/team1540/robot2024/commands/autos/CenterLanePCBAEF.java new file mode 100644 index 00000000..acd63041 --- /dev/null +++ b/src/main/java/org/team1540/robot2024/commands/autos/CenterLanePCBAEF.java @@ -0,0 +1,48 @@ +package org.team1540.robot2024.commands.autos; + +import edu.wpi.first.wpilibj2.command.Commands; +import org.team1540.robot2024.commands.indexer.IntakeAndFeed; +import org.team1540.robot2024.commands.shooter.LeadingShootPrepare; +import org.team1540.robot2024.subsystems.drive.Drivetrain; +import org.team1540.robot2024.subsystems.indexer.Indexer; +import org.team1540.robot2024.subsystems.shooter.Shooter; +import org.team1540.robot2024.util.auto.AutoCommand; +import org.team1540.robot2024.util.auto.PathHelper; + +public class CenterLanePCBAEF extends AutoCommand { + + public CenterLanePCBAEF(Drivetrain drivetrain, Shooter shooter, Indexer indexer) { + super("CenterLanePCBAEF"); + addPath( + PathHelper.fromChoreoPath("CenterLanePCBAEF.1", false, true), + PathHelper.fromChoreoPath("CenterLanePCBAEF.2"), + PathHelper.fromChoreoPath("CenterLanePCBAEF.3"), + PathHelper.fromChoreoPath("CenterLanePCBAEF.4"), + PathHelper.fromChoreoPath("CenterLanePCBAEF.5") + + ); + + addCommands( + Commands.parallel( + new LeadingShootPrepare(drivetrain, shooter), + Commands.sequence( + Commands.deadline( + Commands.sequence( + Commands.waitSeconds(0.1), + Commands.waitUntil(()->!indexer.isNoteStaged()), + Commands.waitSeconds(0.1) + ).withTimeout(1.1), + Commands.waitSeconds(0.2).andThen(IntakeAndFeed.withDefaults(indexer)) + ), + createSegmentSequence(drivetrain, shooter, indexer, 0, true, true, true, 0, 0.1), + createSegmentSequence(drivetrain, shooter, indexer, 1, false, true, true, 0, 0.1), + createSegmentSequence(drivetrain, shooter, indexer, 2, false, true, true, 0, 0.1), + createSegmentSequence(drivetrain, shooter, indexer, 3, false, true, true, 0, 0.1), + createSegmentSequence(drivetrain, shooter, indexer, 4, false, true, true, 0, 0.1) + ) + ) + ); + + addRequirements(drivetrain, shooter, indexer); + } +} diff --git a/src/main/java/org/team1540/robot2024/commands/autos/CenterLanePCBAFE.java b/src/main/java/org/team1540/robot2024/commands/autos/CenterLanePCBAFE.java index 1e3b3b54..544ceccc 100644 --- a/src/main/java/org/team1540/robot2024/commands/autos/CenterLanePCBAFE.java +++ b/src/main/java/org/team1540/robot2024/commands/autos/CenterLanePCBAFE.java @@ -1,7 +1,9 @@ package org.team1540.robot2024.commands.autos; import edu.wpi.first.wpilibj2.command.Commands; +import org.team1540.robot2024.commands.indexer.IntakeAndFeed; import org.team1540.robot2024.commands.shooter.AutoShootPrepare; +import org.team1540.robot2024.commands.shooter.LeadingShootPrepare; import org.team1540.robot2024.commands.shooter.ShootSequence; import org.team1540.robot2024.subsystems.drive.Drivetrain; import org.team1540.robot2024.subsystems.indexer.Indexer; @@ -12,7 +14,7 @@ public class CenterLanePCBAFE extends AutoCommand { public CenterLanePCBAFE(Drivetrain drivetrain, Shooter shooter, Indexer indexer) { - super("!CenterLanePCBAFE"); + super("CenterLanePCBAFE"); addPath( PathHelper.fromChoreoPath("CenterLanePCBAFE.1", false, true), PathHelper.fromChoreoPath("CenterLanePCBAFE.2"), @@ -23,16 +25,22 @@ public CenterLanePCBAFE(Drivetrain drivetrain, Shooter shooter, Indexer indexer) ); addCommands( - ShootSequence.forAutoSubwoofer(shooter, indexer), Commands.parallel( - new AutoShootPrepare(drivetrain, shooter), + new LeadingShootPrepare(drivetrain, shooter), Commands.sequence( - drivetrain.commandCopyVisionPose(), - createSegmentSequence(drivetrain, shooter, indexer, 0, false, false, false), - createSegmentSequence(drivetrain, shooter, indexer, 1, false, false, true), - createSegmentSequence(drivetrain, shooter, indexer, 2, false, false, true), - createSegmentSequence(drivetrain, shooter, indexer, 3, false, false, true), - createSegmentSequence(drivetrain, shooter, indexer, 4, false, false, true) + Commands.deadline( + Commands.sequence( + Commands.waitSeconds(0.1), + Commands.waitUntil(()->!indexer.isNoteStaged()), + Commands.waitSeconds(0.1) + ).withTimeout(1.1), + Commands.waitSeconds(0.2).andThen(IntakeAndFeed.withDefaults(indexer)) + ), + createSegmentSequence(drivetrain, shooter, indexer, 0, true, true, true, 0, 0.1), + createSegmentSequence(drivetrain, shooter, indexer, 1, false, true, true, 0, 0.1), + createSegmentSequence(drivetrain, shooter, indexer, 2, false, true, true, 0, 0.1), + createSegmentSequence(drivetrain, shooter, indexer, 3, false, true, true, 0, 0.1), + createSegmentSequence(drivetrain, shooter, indexer, 4, false, true, true, 0, 0.1) ) ) ); diff --git a/src/main/java/org/team1540/robot2024/commands/autos/CenterLanePCBAFG.java b/src/main/java/org/team1540/robot2024/commands/autos/CenterLanePCBAFG.java new file mode 100644 index 00000000..b7d692aa --- /dev/null +++ b/src/main/java/org/team1540/robot2024/commands/autos/CenterLanePCBAFG.java @@ -0,0 +1,48 @@ +package org.team1540.robot2024.commands.autos; + +import edu.wpi.first.wpilibj2.command.Commands; +import org.team1540.robot2024.commands.indexer.IntakeAndFeed; +import org.team1540.robot2024.commands.shooter.LeadingShootPrepare; +import org.team1540.robot2024.subsystems.drive.Drivetrain; +import org.team1540.robot2024.subsystems.indexer.Indexer; +import org.team1540.robot2024.subsystems.shooter.Shooter; +import org.team1540.robot2024.util.auto.AutoCommand; +import org.team1540.robot2024.util.auto.PathHelper; + +public class CenterLanePCBAFG extends AutoCommand { + + public CenterLanePCBAFG(Drivetrain drivetrain, Shooter shooter, Indexer indexer) { + super("CenterLanePCBAFG"); + addPath( + PathHelper.fromChoreoPath("CenterLanePCBAFG.1", false, true), + PathHelper.fromChoreoPath("CenterLanePCBAFG.2"), + PathHelper.fromChoreoPath("CenterLanePCBAFG.3"), + PathHelper.fromChoreoPath("CenterLanePCBAFG.4"), + PathHelper.fromChoreoPath("CenterLanePCBAFG.5") + + ); + + addCommands( + Commands.parallel( + new LeadingShootPrepare(drivetrain, shooter), + Commands.sequence( + Commands.deadline( + Commands.sequence( + Commands.waitSeconds(0.1), + Commands.waitUntil(()->!indexer.isNoteStaged()), + Commands.waitSeconds(0.1) + ).withTimeout(1.1), + Commands.waitSeconds(0.2).andThen(IntakeAndFeed.withDefaults(indexer)) + ), + createSegmentSequence(drivetrain, shooter, indexer, 0, true, true, true, 0, 0.1), + createSegmentSequence(drivetrain, shooter, indexer, 1, false, true, true, 0, 0.1), + createSegmentSequence(drivetrain, shooter, indexer, 2, false, true, true, 0, 0.1), + createSegmentSequence(drivetrain, shooter, indexer, 3, false, true, true, 0, 0.1), + createSegmentSequence(drivetrain, shooter, indexer, 4, false, true, true, 0, 0.1) + ) + ) + ); + + addRequirements(drivetrain, shooter, indexer); + } +} diff --git a/src/main/java/org/team1540/robot2024/commands/autos/CenterLanePCBAGF.java b/src/main/java/org/team1540/robot2024/commands/autos/CenterLanePCBAGF.java new file mode 100644 index 00000000..f2800b6f --- /dev/null +++ b/src/main/java/org/team1540/robot2024/commands/autos/CenterLanePCBAGF.java @@ -0,0 +1,48 @@ +package org.team1540.robot2024.commands.autos; + +import edu.wpi.first.wpilibj2.command.Commands; +import org.team1540.robot2024.commands.indexer.IntakeAndFeed; +import org.team1540.robot2024.commands.shooter.LeadingShootPrepare; +import org.team1540.robot2024.subsystems.drive.Drivetrain; +import org.team1540.robot2024.subsystems.indexer.Indexer; +import org.team1540.robot2024.subsystems.shooter.Shooter; +import org.team1540.robot2024.util.auto.AutoCommand; +import org.team1540.robot2024.util.auto.PathHelper; + +public class CenterLanePCBAGF extends AutoCommand { + + public CenterLanePCBAGF(Drivetrain drivetrain, Shooter shooter, Indexer indexer) { + super("CenterLanePCBAGF"); + addPath( + PathHelper.fromChoreoPath("CenterLanePCBAGF.1", false, true), + PathHelper.fromChoreoPath("CenterLanePCBAGF.2"), + PathHelper.fromChoreoPath("CenterLanePCBAGF.3"), + PathHelper.fromChoreoPath("CenterLanePCBAGF.4"), + PathHelper.fromChoreoPath("CenterLanePCBAGF.5") + + ); + + addCommands( + Commands.parallel( + new LeadingShootPrepare(drivetrain, shooter), + Commands.sequence( + Commands.deadline( + Commands.sequence( + Commands.waitSeconds(0.1), + Commands.waitUntil(()->!indexer.isNoteStaged()), + Commands.waitSeconds(0.1) + ).withTimeout(1.1), + Commands.waitSeconds(0.2).andThen(IntakeAndFeed.withDefaults(indexer)) + ), + createSegmentSequence(drivetrain, shooter, indexer, 0, true, true, true, 0, 0.1), + createSegmentSequence(drivetrain, shooter, indexer, 1, false, true, true, 0, 0.1), + createSegmentSequence(drivetrain, shooter, indexer, 2, false, true, true, 0, 0.1), + createSegmentSequence(drivetrain, shooter, indexer, 3, false, true, true, 0, 0.1), + createSegmentSequence(drivetrain, shooter, indexer, 4, false, true, true, 0, 0.1) + ) + ) + ); + + addRequirements(drivetrain, shooter, indexer); + } +} diff --git a/src/main/java/org/team1540/robot2024/commands/autos/SourceLanePGHF.java b/src/main/java/org/team1540/robot2024/commands/autos/SourceLanePHGF.java similarity index 92% rename from src/main/java/org/team1540/robot2024/commands/autos/SourceLanePGHF.java rename to src/main/java/org/team1540/robot2024/commands/autos/SourceLanePHGF.java index 25cce318..b53fd7cd 100644 --- a/src/main/java/org/team1540/robot2024/commands/autos/SourceLanePGHF.java +++ b/src/main/java/org/team1540/robot2024/commands/autos/SourceLanePHGF.java @@ -8,9 +8,9 @@ import org.team1540.robot2024.util.auto.AutoCommand; import org.team1540.robot2024.util.auto.PathHelper; -public class SourceLanePGHF extends AutoCommand { +public class SourceLanePHGF extends AutoCommand { private static final double SHOT_WAIT = 0.2; - public SourceLanePGHF(Drivetrain drivetrain, Shooter shooter, Indexer indexer){ + public SourceLanePHGF(Drivetrain drivetrain, Shooter shooter, Indexer indexer){ super("!SourceLanePHGF"); addPath( PathHelper.fromChoreoPath("SourceLanePHGF.1", true, true),