added commands for other autos

blair-robot-project · Feb 10, 2024 · e57531d · e57531d
1 parent d8fd3d0
commit e57531d
Show file tree

Hide file tree

Showing 3 changed files with 8 additions and 15 deletions.
diff --git a/src/main/kotlin/frc/team449/robot2024/auto/routines/Experimental1PieceTaxi.kt b/src/main/kotlin/frc/team449/robot2024/auto/routines/Experimental1PieceTaxi.kt
@@ -1,6 +1,5 @@
 package frc.team449.robot2024.auto.routines
 
-import edu.wpi.first.wpilibj2.command.WaitCommand
 import frc.team449.control.auto.ChoreoRoutine
 import frc.team449.control.auto.ChoreoRoutineStructure
 import frc.team449.control.auto.ChoreoTrajectory
@@ -17,9 +16,7 @@ class Experimental1PieceTaxi(
       drive = robot.drive,
       parallelEventMap = hashMapOf(),
       stopEventMap = hashMapOf(
-        0 to WaitCommand(1.5),
-        1 to WaitCommand(1.5),
-        2 to WaitCommand(1.5)
+        0 to AutoUtil.autoShoot(robot)
       ),
       debug = true
     )

diff --git a/src/main/kotlin/frc/team449/robot2024/auto/routines/Experimental3PieceMid.kt b/src/main/kotlin/frc/team449/robot2024/auto/routines/Experimental3PieceMid.kt
@@ -1,6 +1,5 @@
 package frc.team449.robot2024.auto.routines
 
-import edu.wpi.first.wpilibj2.command.WaitCommand
 import frc.team449.control.auto.ChoreoRoutine
 import frc.team449.control.auto.ChoreoRoutineStructure
 import frc.team449.control.auto.ChoreoTrajectory
@@ -15,11 +14,13 @@ class Experimental3PieceMid(
   override val routine =
     ChoreoRoutine(
       drive = robot.drive,
-      parallelEventMap = hashMapOf(),
+      parallelEventMap = hashMapOf(
+        0 to AutoUtil.autoIntake(robot)
+      ),
       stopEventMap = hashMapOf(
-        0 to WaitCommand(1.5),
-        1 to WaitCommand(1.5),
-        2 to WaitCommand(1.5)
+        0 to AutoUtil.autoShoot(robot),
+        1 to AutoUtil.autoShoot(robot),
+        2 to AutoUtil.autoShoot(robot)
       ),
       debug = true
     )

diff --git a/src/main/kotlin/frc/team449/robot2024/auto/routines/ExperimentalTaxi.kt b/src/main/kotlin/frc/team449/robot2024/auto/routines/ExperimentalTaxi.kt
@@ -1,6 +1,5 @@
 package frc.team449.robot2024.auto.routines
 
-import edu.wpi.first.wpilibj2.command.WaitCommand
 import frc.team449.control.auto.ChoreoRoutine
 import frc.team449.control.auto.ChoreoRoutineStructure
 import frc.team449.control.auto.ChoreoTrajectory
@@ -16,11 +15,7 @@ class ExperimentalTaxi(
     ChoreoRoutine(
       drive = robot.drive,
       parallelEventMap = hashMapOf(),
-      stopEventMap = hashMapOf(
-        0 to WaitCommand(1.5),
-        1 to WaitCommand(1.5),
-        2 to WaitCommand(1.5)
-      ),
+      stopEventMap = hashMapOf(),
       debug = true
     )