Remove autos

Mechanical-Advantage · Oct 28, 2024 · 144eee7 · 144eee7
1 parent 35d5d61
commit 144eee7
Showing 1 changed file with 77 additions and 69 deletions.
diff --git a/src/main/java/org/littletonrobotics/frc2024/RobotContainer.java b/src/main/java/org/littletonrobotics/frc2024/RobotContainer.java
@@ -332,90 +332,98 @@ private void configureAutos() {
             new AutoQuestion(
                 "Starting location?",
                 List.of(
-                    AutoQuestionResponse.AMP,
-                    AutoQuestionResponse.CENTER,
-                    AutoQuestionResponse.SOURCE)),
+                    // AutoQuestionResponse.AMP,
+                    AutoQuestionResponse.CENTER
+                    // AutoQuestionResponse.SOURCE
+                    )),
             new AutoQuestion(
                 "How many spike notes?",
-                List.of(AutoQuestionResponse.TWO, AutoQuestionResponse.THREE)),
+                List.of(
+                    // AutoQuestionResponse.TWO,
+                    AutoQuestionResponse.THREE)),
             new AutoQuestion(
                 "First center note?", List.of(AutoQuestionResponse.THINKING_ON_YOUR_FEET)),
             new AutoQuestion(
                 "Second center note?", List.of(AutoQuestionResponse.THINKING_ON_YOUR_FEET))),
         autoBuilder.davisSpikyAuto());
-    autoSelector.addRoutine(
-        "Davis CA Auto",
-        List.of(
-            new AutoQuestion(
-                "Return to spikes?", List.of(AutoQuestionResponse.YES, AutoQuestionResponse.NO))),
-        autoBuilder.davisCAAuto());
-    autoSelector.addRoutine("Davis Speedy Auto", autoBuilder.davisSpeedyAuto());
-    autoSelector.addRoutine("Davis Ethical Auto", autoBuilder.davisEthicalAuto());
+    // autoSelector.addRoutine(
+    //     "Davis CA Auto",
+    //     List.of(
+    //         new AutoQuestion(
+    //             "Return to spikes?", List.of(AutoQuestionResponse.YES,
+    // AutoQuestionResponse.NO))),
+    //     autoBuilder.davisCAAuto());
+    // autoSelector.addRoutine("Davis Speedy Auto", autoBuilder.davisSpeedyAuto());
+    // autoSelector.addRoutine("Davis Ethical Auto", autoBuilder.davisEthicalAuto());
     autoSelector.addRoutine(
         "Davis Unethical Auto",
         List.of(
             new AutoQuestion(
                 "First center note?",
-                List.of(AutoQuestionResponse.SOURCE_WALL, AutoQuestionResponse.SOURCE_MIDDLE))),
-        autoBuilder.davisUnethicalAuto());
-    autoSelector.addRoutine(
-        "Davis Inspirational Auto",
-        List.of(
-            new AutoQuestion(
-                "Starting subwoofer location?",
-                List.of(
-                    AutoQuestionResponse.SOURCE,
-                    AutoQuestionResponse.CENTER,
-                    AutoQuestionResponse.AMP)),
-            new AutoQuestion(
-                "Earn mobility bonus?", List.of(AutoQuestionResponse.YES, AutoQuestionResponse.NO)),
-            new AutoQuestion(
-                "Mobility delay time?",
                 List.of(
-                    AutoQuestionResponse.IMMEDIATELY,
-                    AutoQuestionResponse.SIX_SECONDS,
-                    AutoQuestionResponse.LAST_SECOND))),
-        autoBuilder.davisInspirationalAuto());
-    DemoAutos demoAutos = new DemoAutos(drive, superstructure, autoSelector::getResponses);
-    autoSelector.addRoutine(
-        "Davis Demo Auto",
-        List.of(
-            new AutoQuestion(
-                "Follow Tag?", List.of(AutoQuestionResponse.YES, AutoQuestionResponse.NO))),
-        demoAutos.davisDemoAuto());
+                    AutoQuestionResponse.SOURCE_WALL
+                    //  AutoQuestionResponse.SOURCE_MIDDLE
+                    ))),
+        autoBuilder.davisUnethicalAuto());
+    // autoSelector.addRoutine(
+    //     "Davis Inspirational Auto",
+    //     List.of(
+    //         new AutoQuestion(
+    //             "Starting subwoofer location?",
+    //             List.of(
+    //                 AutoQuestionResponse.SOURCE,
+    //                 AutoQuestionResponse.CENTER,
+    //                 AutoQuestionResponse.AMP)),
+    //         new AutoQuestion(
+    //             "Earn mobility bonus?", List.of(AutoQuestionResponse.YES,
+    // AutoQuestionResponse.NO)),
+    //         new AutoQuestion(
+    //             "Mobility delay time?",
+    //             List.of(
+    //                 AutoQuestionResponse.IMMEDIATELY,
+    //                 AutoQuestionResponse.SIX_SECONDS,
+    //                 AutoQuestionResponse.LAST_SECOND))),
+    //     autoBuilder.davisInspirationalAuto());
+    // DemoAutos demoAutos = new DemoAutos(drive, superstructure, autoSelector::getResponses);
+    // autoSelector.addRoutine(
+    //     "Davis Demo Auto",
+    //     List.of(
+    //         new AutoQuestion(
+    //             "Follow Tag?", List.of(AutoQuestionResponse.YES, AutoQuestionResponse.NO))),
+    //     demoAutos.davisDemoAuto());
 
     // Set up feedforward characterization
-    autoSelector.addRoutine(
-        "Drive Static Characterization",
-        new StaticCharacterization(
-                drive, drive::runCharacterization, drive::getCharacterizationVelocity)
-            .finallyDo(drive::endCharacterization));
-    autoSelector.addRoutine(
-        "Drive FF Characterization",
-        new FeedForwardCharacterization(
-                drive, drive::runCharacterization, drive::getCharacterizationVelocity)
-            .finallyDo(drive::endCharacterization));
-    autoSelector.addRoutine(
-        "Flywheels FF Characterization",
-        new FeedForwardCharacterization(
-            flywheels, flywheels::runCharacterization, flywheels::getCharacterizationVelocity));
-    autoSelector.addRoutine(
-        "Arm Static Characterization",
-        new StaticCharacterization(
-                superstructure,
-                superstructure::runArmCharacterization,
-                superstructure::getArmCharacterizationVelocity)
-            .finallyDo(superstructure::endArmCharacterization));
-    autoSelector.addRoutine(
-        "Drive Wheel Radius Characterization",
-        drive
-            .orientModules(Drive.getCircleOrientations())
-            .andThen(
-                new WheelRadiusCharacterization(
-                    drive, WheelRadiusCharacterization.Direction.COUNTER_CLOCKWISE))
-            .withName("Drive Wheel Radius Characterization"));
-    autoSelector.addRoutine(
-        "Diagnose Arm", superstructure.setGoalCommand(Superstructure.Goal.DIAGNOSTIC_ARM));
+    // autoSelector.addRoutine(
+    //     "Drive Static Characterization",
+    //     new StaticCharacterization(
+    //             drive, drive::runCharacterization, drive::getCharacterizationVelocity)
+    //         .finallyDo(drive::endCharacterization));
+    // autoSelector.addRoutine(
+    //     "Drive FF Characterization",
+    //     new FeedForwardCharacterization(
+    //             drive, drive::runCharacterization, drive::getCharacterizationVelocity)
+    //         .finallyDo(drive::endCharacterization));
+    // autoSelector.addRoutine(
+    //     "Flywheels FF Characterization",
+    //     new FeedForwardCharacterization(
+    //         flywheels, flywheels::runCharacterization, flywheels::getCharacterizationVelocity));
+    // autoSelector.addRoutine(
+    //     "Arm Static Characterization",
+    //     new StaticCharacterization(
+    //             superstructure,
+    //             superstructure::runArmCharacterization,
+    //             superstructure::getArmCharacterizationVelocity)
+    //         .finallyDo(superstructure::endArmCharacterization));
+    // autoSelector.addRoutine(
+    //     "Drive Wheel Radius Characterization",
+    //     drive
+    //         .orientModules(Drive.getCircleOrientations())
+    //         .andThen(
+    //             new WheelRadiusCharacterization(
+    //                 drive, WheelRadiusCharacterization.Direction.COUNTER_CLOCKWISE))
+    //         .withName("Drive Wheel Radius Characterization"));
+    // autoSelector.addRoutine(
+    //     "Diagnose Arm", superstructure.setGoalCommand(Superstructure.Goal.DIAGNOSTIC_ARM));
 
     // Add options to demo mode
     demoControls.addOption("YES", true);