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DefaultMode.java
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DefaultMode.java
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package com.team254.frc2022.auto.modes;
import com.team254.frc2022.auto.AutoModeEndedException;
import com.team254.frc2022.auto.actions.*;
import com.team254.frc2022.paths.TrajectoryGenerator;
import com.team254.lib.trajectory.Trajectory;
public class DefaultMode extends AutoModeBase {
@Override
protected void routine() throws AutoModeEndedException {
// outdated (diagonal ball approach angle isn't very good)
// runAction(
// new ParallelAction(
// new DeployIntakeAction(false, true),
// new DeployIntakeAction(true, true),
// new RunIntakeAction(false),
// new RunIntakeAction(true),
// new DriveTrajectoryAction(TrajectoryGenerator.getInstance().getTrajectorySet().startToRightBall));
// ));
// runAction(
// new ParallelAction(
// new DriveTrajectoryAction(TrajectoryGenerator.getInstance().getTrajectorySet().rightBallToLeftBall),
// new DeployIntakeAction(false, false)));
// runAction(new DriveTrajectoryAction(TrajectoryGenerator.getInstance().getTrajectorySet().leftBallToHP));
// runAction(new DriveTrajectoryAction(TrajectoryGenerator.getInstance().getTrajectorySet().HPToCloseShoot));
runAction(new RunIntakeAction(false));
runAction(new WaitAction(1));
runAction(new StowIntakeAction(false));
runAction(new WaitAction(1));
runAction(new RunIntakeAction(true));
runAction(new WaitAction(1));
runAction(new StowIntakeAction(true));
runAction(new ShootAction(1));
}
}