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Cube confirm and better default arm position #43

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merged 2 commits into from
Oct 20, 2023
Merged

Cube confirm and better default arm position #43

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51183a5
feat: made arm reset position more vertical
mimizh2418 Oct 17, 2023
dd66936
feat: add cube confirm
mimizh2418 Oct 20, 2023
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2 changes: 1 addition & 1 deletion src/main/java/org/team1540/robot2023/commands/arm/ResetArmPositionCommand.java
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Original file line number Diff line number Diff line change
Expand Up @@ -27,7 +27,7 @@ public ResetArmPositionCommand(Arm arm) {
public ResetArmPositionCommand(Arm arm, boolean shouldZero) {
this.arm = arm;
this.shouldZero = shouldZero;
this.setpoint = ArmState.fromRotationExtension(Rotation2d.fromDegrees(-30), Constants.ArmConstants.ARM_BASE_LENGTH);
this.setpoint = ArmState.fromRotationExtension(Rotation2d.fromDegrees(-15), Constants.ArmConstants.ARM_BASE_LENGTH);
addRequirements(arm);
}

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13 changes: 3 additions & 10 deletions src/main/java/org/team1540/robot2023/commands/auto/AutoCube.java
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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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