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feat: add cube confirm
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mimizh2418 committed Oct 20, 2023
1 parent 51183a5 commit dd66936
Showing 1 changed file with 3 additions and 10 deletions.
13 changes: 3 additions & 10 deletions src/main/java/org/team1540/robot2023/commands/auto/AutoCube.java
Original file line number Diff line number Diff line change
Expand Up @@ -24,18 +24,11 @@ public AutoCube(Drivetrain drivetrain, Arm arm, GridScoreData positions, Wheeled
new ConditionalCommand(
Commands.sequence(
new AutoGridAlign(drivetrain, positions, shouldAlign),
// new ProxiedGridDriveCommand(drivetrain, positions),
Commands.deadline(
new SetArmPosition(arm, positions.approach),
Commands.sequence(
new ProxyCommand(() -> new WaitCommand((arm.timeToState(positions.approach)-150)/1000)),

new GrabberOuttakeCommand(intake)

)
),
new SetArmPosition(arm, positions.approach),
new WaitUntilCommand(() -> controller.getLeftTriggerAxis() > 0.95).unless(() -> controller == null),
Commands.deadline(
Commands.sequence(
new WaitCommand(0.1),
new SetArmPosition(arm, AutoHybrid.catchNull(positions.retreat)).unless(() -> positions.retreat == null),
new ResetArmPositionCommand(arm, false),
new ResetArmPositionCommand(arm, true)
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