From 640d37da471148cdc49b2dbfea25b5c2c7579059 Mon Sep 17 00:00:00 2001 From: DriverStationComputer Date: Fri, 6 Oct 2023 18:38:40 -0700 Subject: [PATCH] finish commenting autos --- .../carlmontrobotics/robotcode2023/RobotContainer.java | 10 ++++------ 1 file changed, 4 insertions(+), 6 deletions(-) diff --git a/src/main/java/org/carlmontrobotics/robotcode2023/RobotContainer.java b/src/main/java/org/carlmontrobotics/robotcode2023/RobotContainer.java index 1838a88..d22a34b 100644 --- a/src/main/java/org/carlmontrobotics/robotcode2023/RobotContainer.java +++ b/src/main/java/org/carlmontrobotics/robotcode2023/RobotContainer.java @@ -112,18 +112,16 @@ public RobotContainer() { autoPaths = new Command[] { null, - //Mid Basic: drive over the charging station | positions: middle + //0 Mid Basic: cone ground outtake, balance onto driverstation | positions: middle new PPRobotPath("Mid Basic", drivetrain, false, eventMap).getPathCommand(true, true), - //nobody nose - new PPRobotPath("Side Basic", drivetrain, false, eventMap).getPathCommand(true, true), - //Place Cone: place cone ?? behind us | positions: everywhere + //1 Place Cone: place mid cone behind us | positions: everywhere new PPRobotPath("Place Cone", drivetrain, false, eventMap).getPathCommand(true, true), - //Side Basic combined: place object low behind, go over to center and grab ??? peice, then come back and ??? + //2 Side Basic combined: place high cube behind, go over to center and grab cube, then come back and place (usually not enough time to place) new PPRobotPath(PathPlanner.loadPathGroup("Side Basic 1", drivetrain.getMaxSpeedMps(), 1, false), drivetrain, eventMap) .getPathCommand(true, true).andThen( new PPRobotPath("Side Basic 2", drivetrain, false, eventMap).getPathCommand(false, true) ), - //No clue, goes to charging station and ???? (??balances??) + //3 spit cone, drives over chare station, then drives back to balance (doesn't work, too much time) new SequentialCommandGroup( new PPRobotPath("Mid Basic 5-1", drivetrain, false, eventMap).getPathCommand(true, true), new ProxyCommand(new RotateToFieldRelativeAngle(new Rotation2d(Units.degreesToRadians(drivetrain.getHeadingDeg() + 180)), drivetrain)),