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src/main/kotlin/com/team4099/robot2023/auto/mode/FourNoteAutoPathWithFirstCenterSide.kt
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,186 @@ | ||
| package com.team4099.robot2023.auto.mode | ||
|
|
||
| import com.team4099.lib.trajectory.FieldWaypoint | ||
| import com.team4099.robot2023.commands.drivetrain.DrivePathCommand | ||
| import com.team4099.robot2023.config.constants.FlywheelConstants | ||
| import com.team4099.robot2023.subsystems.drivetrain.drive.Drivetrain | ||
| import com.team4099.robot2023.subsystems.superstructure.Superstructure | ||
| import edu.wpi.first.wpilibj2.command.ParallelCommandGroup | ||
| import edu.wpi.first.wpilibj2.command.SequentialCommandGroup | ||
| import edu.wpi.first.wpilibj2.command.WaitCommand | ||
| import org.team4099.lib.geometry.Pose2d | ||
| import org.team4099.lib.geometry.Translation2d | ||
| import org.team4099.lib.units.base.inSeconds | ||
| import org.team4099.lib.units.base.inches | ||
| import org.team4099.lib.units.base.meters | ||
| import org.team4099.lib.units.derived.degrees | ||
| import org.team4099.lib.units.derived.inRotation2ds | ||
|
|
||
| class FourNoteAutoPathWithFirstCenterSide(val drivetrain: Drivetrain, val superstructure: Superstructure) : | ||
| SequentialCommandGroup() { | ||
| init { | ||
| addRequirements(drivetrain, superstructure) | ||
|
|
||
| addCommands( | ||
| superstructure.prepSpeakerLowCommand(), | ||
| superstructure.scoreCommand().withTimeout(0.5), | ||
| WaitCommand(0.5), | ||
| ParallelCommandGroup( | ||
| DrivePathCommand.createPathInFieldFrame( | ||
| drivetrain, | ||
| { | ||
| listOf( | ||
| FieldWaypoint( | ||
| startingPose.translation.translation2d, | ||
| null, | ||
| 180.degrees.inRotation2ds | ||
| ), | ||
| FieldWaypoint( | ||
| Translation2d( | ||
| ((1.43.meters) + (2.34.meters + 0.3.meters)) / 2 + | ||
| 0.25.meters, | ||
| 5.55.meters | ||
| ) | ||
| .translation2d, | ||
| null, | ||
| 180.degrees.inRotation2ds | ||
| ), | ||
| FieldWaypoint( | ||
| Translation2d(2.34.meters + 0.3.meters + 0.25.meters, 5.535.meters) | ||
| .translation2d, | ||
| null, | ||
| 180.degrees.inRotation2ds | ||
| ), | ||
| FieldWaypoint( | ||
| Translation2d( | ||
| ((1.43.meters) + (2.34.meters + 0.3.meters)) / 2 + | ||
| 0.25.meters, | ||
| 5.45.meters | ||
| ) | ||
| .translation2d, | ||
| null, | ||
| 180.degrees.inRotation2ds | ||
| ), | ||
| FieldWaypoint( | ||
| startingPose.translation.translation2d, | ||
| null, | ||
| 180.degrees.inRotation2ds | ||
| ) // Subwoofer | ||
| ) | ||
| } | ||
| ) | ||
| .withTimeout(3.235 + 0.5), | ||
| WaitCommand(0.3).andThen(superstructure.groundIntakeCommand()) | ||
| ), | ||
| superstructure.prepSpeakerLowCommand(), | ||
| superstructure | ||
| .scoreCommand() | ||
| .withTimeout(FlywheelConstants.SPEAKER_SCORE_TIME.inSeconds + 0.5), | ||
| WaitCommand(FlywheelConstants.SPEAKER_SCORE_TIME.inSeconds), | ||
| ParallelCommandGroup( | ||
| DrivePathCommand.createPathInFieldFrame( | ||
| drivetrain, | ||
| { | ||
| listOf( | ||
| FieldWaypoint( | ||
| startingPose.translation.translation2d, | ||
| null, | ||
| 180.degrees.inRotation2ds | ||
| ), // Subwoofer | ||
| FieldWaypoint( | ||
| Translation2d(2.41.meters - 0.4.meters, 4.4.meters).translation2d, | ||
| null, | ||
| 180.degrees.inRotation2ds | ||
| ), | ||
| FieldWaypoint( | ||
| Translation2d(2.41.meters, 4.1.meters).translation2d, | ||
| 0.degrees.inRotation2ds, | ||
| 180.degrees.inRotation2ds | ||
| ), | ||
| FieldWaypoint( | ||
| startingPose.translation.translation2d, | ||
| null, | ||
| 180.degrees.inRotation2ds | ||
| ) | ||
| ) | ||
| } | ||
| ) | ||
| .withTimeout(3.235 + 0.5), | ||
| WaitCommand(0.5).andThen(superstructure.groundIntakeCommand()) | ||
| ), | ||
| superstructure.prepSpeakerLowCommand(), | ||
| superstructure | ||
| .scoreCommand() | ||
| .withTimeout(FlywheelConstants.SPEAKER_SCORE_TIME.inSeconds + 0.5), | ||
| WaitCommand(FlywheelConstants.SPEAKER_SCORE_TIME.inSeconds), | ||
| ParallelCommandGroup( | ||
| DrivePathCommand.createPathInFieldFrame( | ||
| drivetrain, | ||
| { | ||
| listOf( | ||
| FieldWaypoint( | ||
| startingPose.translation.translation2d, | ||
| null, | ||
| startingPose.rotation.inRotation2ds | ||
| ), | ||
| FieldWaypoint( | ||
| Translation2d(2.91.meters - 0.75.meters, 6.9.meters) | ||
| .translation2d, | ||
| null, | ||
| 180.degrees.inRotation2ds, | ||
| ), | ||
| FieldWaypoint( | ||
| Translation2d(2.91.meters - 0.25.meters, 7.1.meters).translation2d, | ||
| 0.degrees.inRotation2ds, | ||
| 180.degrees.inRotation2ds, | ||
| ), | ||
| FieldWaypoint( | ||
| startingPose.translation.translation2d, | ||
| null, | ||
| 180.degrees.inRotation2ds | ||
| ) | ||
| ) | ||
| } | ||
| ) | ||
| .withTimeout(3.235 + 0.5), | ||
| WaitCommand(0.5).andThen(superstructure.groundIntakeCommand()) | ||
| ), | ||
| superstructure.prepSpeakerLowCommand(), | ||
| superstructure | ||
| .scoreCommand() | ||
| .withTimeout(FlywheelConstants.SPEAKER_SCORE_TIME.inSeconds + 0.5), | ||
| ParallelCommandGroup( | ||
| DrivePathCommand.createPathInFieldFrame( | ||
| drivetrain, | ||
| { | ||
| listOf( | ||
| FieldWaypoint( | ||
| startingPose.translation.translation2d, null, 180.degrees.inRotation2ds | ||
| ), | ||
| FieldWaypoint( | ||
| Translation2d(4.35.meters, 4.85.meters).translation2d, | ||
| null, | ||
| 180.degrees.inRotation2ds | ||
| ), | ||
| FieldWaypoint( | ||
| Translation2d(5.92.meters, 3.9.meters).translation2d, | ||
| null, | ||
| 180.degrees.inRotation2ds | ||
| ), | ||
| FieldWaypoint( | ||
| Translation2d(8.29.meters, 4.09.meters).translation2d, | ||
| null, | ||
| 180.degrees.inRotation2ds | ||
| ) | ||
| ) | ||
| } | ||
| ), | ||
| WaitCommand(1.0).andThen(superstructure.groundIntakeCommand()) | ||
| ) | ||
| ) | ||
| } | ||
|
|
||
| companion object { | ||
| val startingPose = Pose2d(Translation2d(1.42.meters + 1.inches, 5.535.meters), 180.degrees) | ||
| } | ||
| } |
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