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Bunch of stuff changed on desktop repo (???)

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gatorbotics committed Oct 3, 2018
1 parent af953f0 commit bc7a74678f17d8561f1bcbbdcedbc214af902ccd
Showing with 538 additions and 205 deletions.
  1. BIN bin/org/usfirst/frc/team1700/robot/OI.class
  2. BIN bin/org/usfirst/frc/team1700/robot/Robot.class
  3. BIN bin/org/usfirst/frc/team1700/robot/RobotMap.class
  4. BIN bin/org/usfirst/frc/team1700/robot/commands/AutoCGs/CenterSwitchAutoCG.class
  5. BIN bin/org/usfirst/frc/team1700/robot/commands/AutoCGs/CrossScaleAutoCG.class
  6. BIN bin/org/usfirst/frc/team1700/robot/commands/AutoCGs/SideScaleAutoCG.class
  7. BIN bin/org/usfirst/frc/team1700/robot/commands/Drivetrain/DriveCommand.class
  8. BIN bin/org/usfirst/frc/team1700/robot/commands/Drivetrain/DriveToAngleCommand.class
  9. BIN bin/org/usfirst/frc/team1700/robot/commands/Drivetrain/DriveToDistanceCommand.class
  10. BIN bin/org/usfirst/frc/team1700/robot/commands/Elevator/ElevatorStopCommand.class
  11. BIN bin/org/usfirst/frc/team1700/robot/commands/Elevator/ElevatorToTicksCommand.class
  12. BIN bin/org/usfirst/frc/team1700/robot/commands/Elevator/ElevatorUpCommand.class
  13. BIN bin/org/usfirst/frc/team1700/robot/commands/Intake/FoldIntakeCommand.class
  14. BIN bin/org/usfirst/frc/team1700/robot/commands/Intake/ReleaseIntakeCommand.class
  15. BIN bin/org/usfirst/frc/team1700/robot/commands/Intake/RunIntakeCommand.class
  16. BIN bin/org/usfirst/frc/team1700/robot/subsystems/DriveSubsystem.class
  17. BIN bin/org/usfirst/frc/team1700/robot/subsystems/ElevatorSubsystem.class
  18. BIN bin/org/usfirst/frc/team1700/robot/subsystems/IntakeSubsystem$IntakeState.class
  19. BIN bin/org/usfirst/frc/team1700/robot/subsystems/IntakeSubsystem.class
  20. BIN build/org/usfirst/frc/team1700/robot/OI.class
  21. BIN build/org/usfirst/frc/team1700/robot/Robot.class
  22. BIN build/org/usfirst/frc/team1700/robot/RobotMap.class
  23. BIN build/org/usfirst/frc/team1700/robot/commands/AutoCGs/AutoForward.class
  24. BIN build/org/usfirst/frc/team1700/robot/commands/AutoCGs/CenterScaleAuto.class
  25. BIN build/org/usfirst/frc/team1700/robot/commands/AutoCGs/CenterSwitchAuto.class
  26. BIN build/org/usfirst/frc/team1700/robot/commands/AutoCGs/CenterSwitchAutoCG.class
  27. BIN build/org/usfirst/frc/team1700/robot/commands/AutoCGs/LeftScaleAuto.class
  28. BIN build/org/usfirst/frc/team1700/robot/commands/AutoCGs/LeftSwitchAuto.class
  29. BIN build/org/usfirst/frc/team1700/robot/commands/AutoCGs/RightScaleAuto.class
  30. BIN build/org/usfirst/frc/team1700/robot/commands/AutoCGs/RightSwitchAuto.class
  31. BIN build/org/usfirst/frc/team1700/robot/commands/Drivetrain/DriveAutoCommand.class
  32. BIN build/org/usfirst/frc/team1700/robot/commands/Drivetrain/DriveCommand.class
  33. BIN build/org/usfirst/frc/team1700/robot/commands/Drivetrain/DriveToAngleCommand.class
  34. BIN build/org/usfirst/frc/team1700/robot/commands/Drivetrain/DriveToDistanceCommand.class
  35. BIN build/org/usfirst/frc/team1700/robot/commands/Elevator/ElevatorMoveCommand.class
  36. BIN build/org/usfirst/frc/team1700/robot/commands/Elevator/ElevatorResetCommand.class
  37. BIN build/org/usfirst/frc/team1700/robot/commands/Elevator/ElevatorToInchesCommand.class
  38. BIN build/org/usfirst/frc/team1700/robot/commands/Intake/AutoReleaseIntakeCommand.class
  39. BIN build/org/usfirst/frc/team1700/robot/commands/Intake/FoldIntakeCommand.class
  40. BIN build/org/usfirst/frc/team1700/robot/commands/Intake/IntakeInCommand.class
  41. BIN build/org/usfirst/frc/team1700/robot/commands/Intake/ReleaseIntakeCommand.class
  42. BIN build/org/usfirst/frc/team1700/robot/commands/Intake/RunIntakeCommand.class
  43. BIN build/org/usfirst/frc/team1700/robot/commands/Intake/StopIntakeCommand.class
  44. BIN build/org/usfirst/frc/team1700/robot/commands/Intake/grabIntakeCommand.class
  45. BIN build/org/usfirst/frc/team1700/robot/subsystems/DriveSubsystem$AngleType.class
  46. BIN build/org/usfirst/frc/team1700/robot/subsystems/DriveSubsystem.class
  47. BIN build/org/usfirst/frc/team1700/robot/subsystems/ElevatorSubsystem.class
  48. BIN build/org/usfirst/frc/team1700/robot/subsystems/IntakeSubsystem.class
  49. BIN dist/FRCUserProgram.jar
  50. +5 −4 src/org/usfirst/frc/team1700/robot/OI.java
  51. +20 −14 src/org/usfirst/frc/team1700/robot/Robot.java
  52. +13 −11 src/org/usfirst/frc/team1700/robot/RobotMap.java
  53. +11 −0 src/org/usfirst/frc/team1700/robot/commands/AutoCGs/AutoForward.java
  54. +2 −0 src/org/usfirst/frc/team1700/robot/commands/AutoCGs/CenterScaleAuto.java
  55. +60 −11 src/org/usfirst/frc/team1700/robot/commands/AutoCGs/CenterSwitchAuto.java
  56. +7 −4 src/org/usfirst/frc/team1700/robot/commands/AutoCGs/LeftScaleAuto.java
  57. +106 −6 src/org/usfirst/frc/team1700/robot/commands/AutoCGs/LeftSwitchAuto.java
  58. +7 −3 src/org/usfirst/frc/team1700/robot/commands/AutoCGs/RightScaleAuto.java
  59. +115 −8 src/org/usfirst/frc/team1700/robot/commands/AutoCGs/RightSwitchAuto.java
  60. +56 −32 src/org/usfirst/frc/team1700/robot/commands/Drivetrain/DriveAutoCommand.java
  61. +2 −2 src/org/usfirst/frc/team1700/robot/commands/Drivetrain/DriveCommand.java
  62. +1 −15 src/org/usfirst/frc/team1700/robot/commands/Drivetrain/DriveToAngleCommand.java
  63. +1 −19 src/org/usfirst/frc/team1700/robot/commands/Drivetrain/DriveToDistanceCommand.java
  64. +0 −1 src/org/usfirst/frc/team1700/robot/commands/Elevator/ElevatorMoveCommand.java
  65. +6 −1 src/org/usfirst/frc/team1700/robot/commands/Elevator/ElevatorResetCommand.java
  66. +1 −1 src/org/usfirst/frc/team1700/robot/commands/Elevator/ElevatorToInchesCommand.java
  67. +1 −1 src/org/usfirst/frc/team1700/robot/commands/Intake/AutoReleaseIntakeCommand.java
  68. +3 −1 src/org/usfirst/frc/team1700/robot/commands/Intake/FoldIntakeCommand.java
  69. +1 −3 src/org/usfirst/frc/team1700/robot/commands/Intake/GrabIntakeCommand.java
  70. +41 −0 src/org/usfirst/frc/team1700/robot/commands/Intake/IntakeInCommand.java
  71. +6 −5 src/org/usfirst/frc/team1700/robot/commands/Intake/ReleaseIntakeCommand.java
  72. +23 −25 src/org/usfirst/frc/team1700/robot/commands/Intake/RunIntakeCommand.java
  73. +1 −1 src/org/usfirst/frc/team1700/robot/commands/Intake/StopIntakeCommand.java
  74. +21 −5 src/org/usfirst/frc/team1700/robot/subsystems/DriveSubsystem.java
  75. +9 −6 src/org/usfirst/frc/team1700/robot/subsystems/ElevatorSubsystem.java
  76. +19 −26 src/org/usfirst/frc/team1700/robot/subsystems/IntakeSubsystem.java
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BIN +3.24 KB (100%) dist/FRCUserProgram.jar
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@@ -16,17 +16,18 @@

// BUTTONS
// Christy
public static Button stopIntake = new JoystickButton(leftJoy, 3);
public static Button releaseIntakeSlow = new JoystickButton(rightJoy, 4);
public static Button releaseIntakeFast = new JoystickButton(rightJoy, 5);
public static Button stopIntake = new JoystickButton(coJoy, 10);
public static Button releaseIntakeSlow = new JoystickButton(rightJoy, 5);
public static Button releaseIntakeFast = new JoystickButton(rightJoy, 4);

// Lauren
public static Button letGo = new JoystickButton(coJoy, 1);
public static Button foldUp = new JoystickButton(coJoy, 2);
public static Button foldDown = new JoystickButton(coJoy, 3);
public static Button squeeze = new JoystickButton(coJoy, 4);

public static Button elevatorReset = new JoystickButton(coJoy, 5);
public static Button elevatorSwitch = new JoystickButton(coJoy, 6);
public static Button elevatorScale = new JoystickButton(coJoy, 7);
public static Button elevatorOverride = new JoystickButton(coJoy, 10);
// public static Button elevatorOverride = new JoystickButton(coJoy, 10);
}
@@ -9,6 +9,7 @@
import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;

import org.usfirst.frc.team1700.robot.commands.Intake.IntakeInCommand;
import org.usfirst.frc.team1700.robot.commands.AutoCGs.AutoForward;
import org.usfirst.frc.team1700.robot.commands.AutoCGs.LeftScaleAuto;
import org.usfirst.frc.team1700.robot.commands.AutoCGs.LeftSwitchAuto;
@@ -59,12 +60,15 @@
@Override
public void robotInit() {
oi = new OI();
chooser.addDefault("Default Auto (Drive Forward)", new AutoForward());
chooser.addObject("Left Switch Auto", new LeftSwitchAuto());
chooser.addObject("Center Switch Auto", new CenterSwitchAuto());
chooser.addObject("Right Switch Auto", new RightSwitchAuto());
chooser.addObject("Test (DON'T USE THIS IN COMPETITION!)", new testAutoCG());
SmartDashboard.putData("Auto Mode", chooser);
// chooser.addDefault("Default Auto (Drive Forward)", new AutoForward());
// chooser.addObject("Left Switch Auto", new LeftSwitchAuto());
// chooser.addObject("Center Switch Auto", new CenterSwitchAuto());
// chooser.addObject("Right Switch Auto", new RightSwitchAuto());
// chooser.addObject("Left Scale Auto", new LeftScaleAuto());
// chooser.addObject("Center Scale Auto", new CenterScaleAuto());
// chooser.addObject("Right Scale Auto", new RightScaleAuto());
// chooser.addObject("Test (DON'T USE THIS IN COMPETITION!)", new testAutoCG());
// SmartDashboard.putData("Auto Mode", chooser);
System.out.println("ROBOT INITIATED!! :)");
}

@@ -95,15 +99,16 @@ public void disabledPeriodic() {
*/
@Override
public void autonomousInit() {
autonomousCommand = chooser.getSelected();
autonomousCommand = new LeftSwitchAuto();
// chooser.getSelected();
if (autonomousCommand.getName() == "testAutoCG" && DriverStation.getInstance().isFMSAttached()) {
autonomousCommand = new AutoForward();
autonomousCommand = new CenterSwitchAuto();
}
DriverStation.getInstance().reportWarning(autonomousCommand.getName(), false);
if (autonomousCommand != null) {
autonomousCommand.start();
}
System.out.println("AUTO INIT!!");
DriverStation.getInstance().reportWarning("AUTO INIT!!", false);
}

/**
@@ -132,7 +137,7 @@ public void teleopInit() {
Scheduler.getInstance().add(new GrabIntakeCommand(true));
Scheduler.getInstance().add(new RunIntakeCommand());
driveSubsystem.resetEncoders();
// Scheduler.getInstance().add(new RunIntakeCommand());
Scheduler.getInstance().add(new ElevatorMoveCommand());
// DriverStation.getInstance().reportWarning("TeleopInit!", false);
// new ElevatorUpCommand(); //ElevatorUp currently used as coJoy speed control
}
@@ -143,15 +148,16 @@ public void teleopInit() {
@Override
public void teleopPeriodic() {
Scheduler.getInstance().run();

// INTAKE
OI.foldUp.whenPressed(new FoldIntakeCommand(true));
OI.foldDown.whenPressed(new FoldIntakeCommand(false));
OI.stopIntake.whileHeld(new StopIntakeCommand());
OI.stopIntake.whenReleased(new RunIntakeCommand());
OI.letGo.whenPressed(new GrabIntakeCommand(true));
OI.stopIntake.whenReleased(new IntakeInCommand());
OI.letGo.whileHeld(new GrabIntakeCommand(true));
OI.letGo.whenReleased(new RunIntakeCommand());
OI.squeeze.whenPressed(new GrabIntakeCommand(false));
OI.squeeze.whenPressed(new IntakeInCommand());
OI.releaseIntakeFast.whileHeld(new ReleaseIntakeCommand(-1));
OI.releaseIntakeFast.whenReleased(new RunIntakeCommand());
OI.releaseIntakeFast.whenReleased(new GrabIntakeCommand(true));
@@ -163,7 +169,7 @@ public void teleopPeriodic() {
OI.elevatorSwitch.whenPressed(new ElevatorToInchesCommand(elevatorSubsystem.switchHeight));
OI.elevatorScale.whenPressed(new ElevatorToInchesCommand(elevatorSubsystem.scaleHeight));
OI.elevatorReset.whenPressed(new ElevatorResetCommand());
OI.elevatorOverride.whenPressed(new ElevatorMoveCommand());
// OI.elevatorOverride.whenPressed(new ElevatorMoveCommand());
}

/**
@@ -24,15 +24,16 @@
// DRIVE TALONS
public static VictorSPX leftFrontDrive = new VictorSPX(3),
rightFrontDrive = new VictorSPX(4);

// public static TalonSRX leftFrontDrive = new TalonSRX(3),
// rightFrontDrive = new TalonSRX(4;)

public static TalonSRX leftBackDrive = new TalonSRX(5),
rightBackDrive = new TalonSRX(6); //6
public static TalonSRX leftBackDrive = new TalonSRX(1),
rightBackDrive = new TalonSRX(2); //6

// OTHER TALONS
public static TalonSRX elevatorMotor = new TalonSRX(7), //7
leftIntakeMotor = new TalonSRX(1),
rightIntakeMotor = new TalonSRX(2);
leftIntakeMotor = new TalonSRX(5),
rightIntakeMotor = new TalonSRX(6);

// PNEUMATICS
public static DoubleSolenoid intakeArmSol = new DoubleSolenoid(0, 1),
@@ -44,15 +45,16 @@
public static AHRS ahrs = new AHRS(SPI.Port.kMXP, (byte) 200); /* Alternatives: SPI.Port.kMXP, I2C.Port.kMXP or SerialPort.Port.kUSB */

// DIGITAL SENSORS
public static DigitalInput elevatorTopLimitSwitch = new DigitalInput(6),
elevatorBottomLimitSwitch = new DigitalInput(9),
intakeLeftLimitSwitch = new DigitalInput(8),
intakeRightLimitSwitch = new DigitalInput(7),
intakeArmLimitSwitch = new DigitalInput(10);
public static DigitalInput beamBreak = new DigitalInput(7),
elevatorTopLimitSwitch = new DigitalInput(9),
elevatorBottomLimitSwitch = new DigitalInput(8);

public static Encoder leftDriveEncoder = new Encoder(new DigitalInput(1), new DigitalInput(0)),
rightDriveEncoder = new Encoder(new DigitalInput(5), new DigitalInput(4)),
elevatorEncoder = new Encoder(new DigitalInput(2),new DigitalInput (3));
elevatorEncoder = new Encoder(new DigitalInput(2), new DigitalInput (3));

// DIGITAL OUTPUT
public static DigitalOutput arduinoTrigger = new DigitalOutput(10);


}
@@ -1,9 +1,15 @@
package org.usfirst.frc.team1700.robot.commands.AutoCGs;

import java.time.Duration;
import java.time.Instant;

import org.usfirst.frc.team1700.robot.Robot;
import org.usfirst.frc.team1700.robot.commands.Drivetrain.DriveToDistanceCommand;
import org.usfirst.frc.team1700.robot.commands.Drivetrain.SimpleDriveForwardCommand;
import org.usfirst.frc.team1700.robot.commands.Elevator.ElevatorResetCommand;
import org.usfirst.frc.team1700.robot.commands.Intake.IntakeInCommand;

import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.command.CommandGroup;

/**
@@ -13,6 +19,11 @@

public AutoForward() {
requires(Robot.driveSubsystem);

Instant start = Instant.now();
String gameData = DriverStation.getInstance().getGameSpecificMessage();
addSequential(new DriveToDistanceCommand(Robot.driveSubsystem.finalDistToScale, 0)); //distance given in inches

// Add Commands here:
// e.g. addSequential(new Command1());
// addSequential(new Command2());
@@ -1,3 +1,5 @@
// DO NOT USE THIS

package org.usfirst.frc.team1700.robot.commands.AutoCGs;

import org.usfirst.frc.team1700.robot.Robot;
@@ -1,15 +1,21 @@
package org.usfirst.frc.team1700.robot.commands.AutoCGs;

import java.time.Duration;
import java.time.Instant;

import org.usfirst.frc.team1700.robot.Robot;
import org.usfirst.frc.team1700.robot.commands.Drivetrain.DriveForwardTimeOutCommand;
import org.usfirst.frc.team1700.robot.commands.Drivetrain.DriveToAngleCommand;
import org.usfirst.frc.team1700.robot.commands.Drivetrain.DriveToDistanceCommand;
import org.usfirst.frc.team1700.robot.commands.Elevator.ElevatorResetCommand;
import org.usfirst.frc.team1700.robot.commands.Elevator.ElevatorToInchesCommand;
import org.usfirst.frc.team1700.robot.commands.Intake.FoldIntakeCommand;
import org.usfirst.frc.team1700.robot.commands.Intake.GrabIntakeCommand;
import org.usfirst.frc.team1700.robot.commands.Intake.IntakeInCommand;
import org.usfirst.frc.team1700.robot.commands.Intake.ReleaseIntakeCommand;
import org.usfirst.frc.team1700.robot.subsystems.DriveSubsystem;

import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.command.CommandGroup;

/**
@@ -18,17 +24,60 @@
public class CenterSwitchAuto extends CommandGroup {

public CenterSwitchAuto() {
addSequential(new DriveForwardTimeOutCommand());
addSequential(new ElevatorResetCommand());
addParallel(new ElevatorToInchesCommand(Robot.elevatorSubsystem.switchHeight));
// addSequential(new DriveForwardTimeOutCommand());
addSequential(new ElevatorResetCommand());
addParallel(new IntakeInCommand());

Instant start = Instant.now();
String gameData = DriverStation.getInstance().getGameSpecificMessage();
while (gameData.length() < 3) {
gameData = DriverStation.getInstance().getGameSpecificMessage();
if (Duration.between(start, Instant.now()).toMillis() > 100) {
DriverStation.getInstance().reportWarning("timed out :(", false);
addSequential(new DriveToDistanceCommand(Robot.driveSubsystem.distToAutoLine, 0)); //distance given in inches
return;
}
}
DriverStation.getInstance().reportWarning("at drivetodistance logic", false);
if(gameData.charAt(0) == 'L') {
DriverStation.getInstance().reportWarning("Switch on left; switch", false);
addSequential(new DriveToDistanceCommand(Robot.driveSubsystem.distToSwitch, 0)); //distance given in inches

DriverStation.getInstance().reportWarning("Driven to Distance", false);
addParallel(new ElevatorToInchesCommand(Robot.elevatorSubsystem.switchHeight));
addSequential(new DriveToAngleCommand(Robot.driveSubsystem.right,0));
DriverStation.getInstance().reportWarning("Driven to Angle", false);
addSequential(new DriveToDistanceCommand(Robot.driveSubsystem.finalDistToSwitch,0));

addSequential(new FoldIntakeCommand(false));
addSequential(new GrabIntakeCommand(true));
addSequential(new ReleaseIntakeCommand(-0.2));
DriverStation.getInstance().reportWarning("finished left switch auto", false);
} else if (gameData.charAt(0) == 'R') {
DriverStation.getInstance().reportWarning("Switch on right; switch", false);
addSequential(new DriveToDistanceCommand(Robot.driveSubsystem.distToSwitch, 0)); //distance given in inches

DriverStation.getInstance().reportWarning("Driven to distance", false);
addParallel(new ElevatorToInchesCommand(Robot.elevatorSubsystem.switchHeight));
addSequential(new DriveToAngleCommand(Robot.driveSubsystem.left,0));
DriverStation.getInstance().reportWarning("Driven to angle", false);
addSequential(new DriveToDistanceCommand(Robot.driveSubsystem.finalDistToSwitch, 0));

addSequential(new FoldIntakeCommand(false));
addSequential(new GrabIntakeCommand(true));
addSequential(new ReleaseIntakeCommand(-0.2));

} else {
addSequential(new DriveToDistanceCommand(Robot.driveSubsystem.distToAutoLine, 0)); //distance given in inches
}

addSequential(new DriveToDistanceCommand(Robot.driveSubsystem.crossSwitchDist1, Robot.driveSubsystem.sameSwitchDist)); //distance given in inches
addSequential(new DriveToAngleCommand(-45, 0));
addSequential(new DriveToDistanceCommand(Robot.driveSubsystem.crossSwitchDist2, 0));
addSequential(new DriveToAngleCommand(45, 0));
addSequential(new DriveToDistanceCommand(Robot.driveSubsystem.crossSwitchDist3, 0));
// Second Cube
// start = Instant.now();
// while (Duration.between(start, Instant.now()).toMillis() < 500) {
// }

addSequential(new FoldIntakeCommand(true));
addSequential(new ReleaseIntakeCommand(-0.4));
// addSequential(new DrivetoDistanceCommand(Robot.driveSubsystem.centerDistBack, 0));


}
}
}
@@ -1,3 +1,5 @@
// DO NOT USE THIS

package org.usfirst.frc.team1700.robot.commands.AutoCGs;

import org.usfirst.frc.team1700.robot.Robot;
@@ -7,6 +9,7 @@
import org.usfirst.frc.team1700.robot.commands.Elevator.ElevatorResetCommand;
import org.usfirst.frc.team1700.robot.commands.Elevator.ElevatorToInchesCommand;
import org.usfirst.frc.team1700.robot.commands.Intake.FoldIntakeCommand;
import org.usfirst.frc.team1700.robot.commands.Intake.GrabIntakeCommand;
import org.usfirst.frc.team1700.robot.commands.Intake.ReleaseIntakeCommand;

import edu.wpi.first.wpilibj.command.CommandGroup;
@@ -16,17 +19,17 @@
*/
public class LeftScaleAuto extends CommandGroup {
public LeftScaleAuto() {
addSequential(new DriveForwardTimeOutCommand());
// addSequential(new DriveForwardTimeOutCommand());
addSequential(new ElevatorResetCommand());
addParallel(new ElevatorToInchesCommand(Robot.elevatorSubsystem.scaleHeight));

addSequential(new FoldIntakeCommand(false));
addSequential(new DriveToDistanceCommand(Robot.driveSubsystem.sameScaleDist, Robot.driveSubsystem.crossScaleDist1)); //distance given in inches
addSequential(new DriveToAngleCommand(0, Robot.driveSubsystem.right));
addSequential(new DriveToDistanceCommand(0, Robot.driveSubsystem.crossScaleDist2));
addSequential(new DriveToAngleCommand(0, Robot.driveSubsystem.left));
addSequential(new DriveToDistanceCommand(0, Robot.driveSubsystem.crossScaleDist3));
addSequential(new FoldIntakeCommand(true));

addSequential(new GrabIntakeCommand(true));
addSequential(new ReleaseIntakeCommand(-1));
}
}
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